From 4eff17835248c62e2cd1333bfd6f8b06171989d8 Mon Sep 17 00:00:00 2001
From: Jai Moraes <jmoraes@blackberry.com>
Date: Fri, 29 Nov 2024 16:00:18 -0500
Subject: [PATCH] ADDED: Test Installation when building with QNX (Review this
 for upstreaming)

---
 cmake/GtsamTesting.cmake | 7 ++++++-
 gtsam/CMakeLists.txt     | 4 ++++
 gtsam/config.h.in        | 3 +++
 gtsam/slam/dataset.cpp   | 3 +++
 tests/CMakeLists.txt     | 5 +++++
 5 files changed, 21 insertions(+), 1 deletion(-)

diff --git a/cmake/GtsamTesting.cmake b/cmake/GtsamTesting.cmake
index 28965e6c6..24a340b79 100644
--- a/cmake/GtsamTesting.cmake
+++ b/cmake/GtsamTesting.cmake
@@ -196,8 +196,13 @@ macro(gtsamAddTestsGlob_impl groupName globPatterns excludedFiles linkLibraries)
 				# Add TOPSRCDIR
 				set_property(SOURCE ${script_src} APPEND PROPERTY COMPILE_DEFINITIONS "TOPSRCDIR=\"${GTSAM_SOURCE_DIR}\"")
 
+				if(QNX)
+				# Do not exclude from 'make all' and 'make install'
+				set_target_properties(${target_name} PROPERTIES EXCLUDE_FROM_ALL OFF)
+				else()
 				# Exclude from 'make all' and 'make install'
-				set_target_properties(${script_name} PROPERTIES EXCLUDE_FROM_ALL ON)
+				set_target_properties(${target_name} PROPERTIES EXCLUDE_FROM_ALL ON)
+				endif()
 
 				# Configure target folder (for MSVC and Xcode)
 				set_property(TARGET ${script_name} PROPERTY FOLDER "Unit tests/${groupName}")
diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt
index 535d60eb1..bf3d8556f 100644
--- a/gtsam/CMakeLists.txt
+++ b/gtsam/CMakeLists.txt
@@ -82,6 +82,10 @@ IF(MSVC)
 ENDIF(MSVC)
 
 # Generate and install config and dllexport files
+#For config.in searches
+if(DEFINED ENV{QNX})
+set(QNX_TARGET_DATASET_DIR "$ENV{QNX_TARGET_DATASET_DIR}")
+endif()
 configure_file(config.h.in config.h)
 set(library_name GTSAM) # For substitution in dllexport.h.in
 configure_file("${GTSAM_SOURCE_DIR}/cmake/dllexport.h.in" "dllexport.h")
diff --git a/gtsam/config.h.in b/gtsam/config.h.in
index e7623c52b..5691b8f7f 100644
--- a/gtsam/config.h.in
+++ b/gtsam/config.h.in
@@ -27,6 +27,9 @@
 // Paths to example datasets distributed with GTSAM
 #define GTSAM_SOURCE_TREE_DATASET_DIR "@GTSAM_SOURCE_DIR@/examples/Data"
 #define GTSAM_INSTALLED_DATASET_DIR "@GTSAM_TOOLBOX_INSTALL_PATH@/gtsam_examples/Data"
+#ifdef __QNX__
+#define QNX_INSTALLED_DATASET_DIR "@QNX_TARGET_DATASET_DIR@/gtsam_examples/Data"
+#endif
 
 // Whether GTSAM is compiled to use quaternions for Rot3 (otherwise uses rotation matrices)
 #cmakedefine GTSAM_USE_QUATERNIONS
diff --git a/gtsam/slam/dataset.cpp b/gtsam/slam/dataset.cpp
index d7e925bd9..0baaccf1b 100644
--- a/gtsam/slam/dataset.cpp
+++ b/gtsam/slam/dataset.cpp
@@ -69,6 +69,9 @@ string findExampleDataFile(const string &name) {
   // Constants below are defined by CMake, see gtsam/gtsam/CMakeLists.txt
   rootsToSearch.push_back(GTSAM_SOURCE_TREE_DATASET_DIR);
   rootsToSearch.push_back(GTSAM_INSTALLED_DATASET_DIR);
+  #ifdef __QNX__
+  rootsToSearch.push_back(QNX_INSTALLED_DATASET_DIR);
+  #endif
 
   // Search for filename as given, and with .graph and .txt extensions
   vector<string> namesToSearch;
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 068b39eca..78cf1614a 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -14,3 +14,8 @@ if(MSVC)
 	set_property(SOURCE "${CMAKE_CURRENT_SOURCE_DIR}/testSerializationSLAM.cpp"
 		APPEND PROPERTY COMPILE_FLAGS "/bigobj")
 endif()
+
+if(QNX)
+file(GLOB built_tests "${PROJECT_BINARY_DIR}/tests/test*")
+install(FILES ${built_tests} DESTINATION ${CMAKE_INSTALL_BINDIR}/gtsam_tests/)
+endif()
\ No newline at end of file