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  • cberge/dynamic-graph
  • ostasse/dynamic-graph
  • gsaurel/dynamic-graph
  • stack-of-tasks/dynamic-graph
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.gitmodules
View file @ 8a00b9e6
[submodule "cmake"]
path = cmake
url = git://github.com/jrl-umi3218/jrl-cmakemodules.git
[submodule ".travis"]
path = .travis
url = git://github.com/jrl-umi3218/jrl-travis.git
url = https://github.com/jrl-umi3218/jrl-cmakemodules.git
.travis @ cbc92f81
Compare cbc92f81...cbc92f81
Subproject commit cbc92f81bdd0dcfd7fc1eae56801d8111267937d
.travis.yml deleted 100644 → 0
View file @ ca1b2fc5
git:
depth: false
language: cpp
sudo: required
compiler:
- gcc
- clang
env:
global:
- DEBSIGN_KEYID=5AE5CD75
- secure: "lEJYxth3fNsmvNS7Ern9+kEpHk4X3Tjo51GBUQBNL6g+YyZJKm4xwBEfwK+sewlmhY3oLUds+5H/2zE27q517kIcpP2Tlp4sRfooJfnBS7YYyF+1boxbvOXrZ2aqev3rzkyvKKMBg0UJTvAiSf7JgVCkMv33GeAX3/I+djEh23U="
- secure: "QTw5QQDaeQWBz6APcUCyl9P9UPI/T3j1++9o9fPxygS9R/7bQYNCrSH++owcAVCJgUI5oY3RmnYk/PjVygOLM0vbFqB2mMySibAhO/U3pSLtZ/HyPjqI9fX0TV/Cf7ji7soeXKk8p6kI2InMILpODLBaLdfm/jgCdAfecr5sGQI="
- secure: "JEcGQsUgEND64cAGVEHSxg8j7SlwofuYtLamANszs/h8FGYZ82rEjmG7r2zqSfBj/i1WsnSbTSsh8WJuXzvV8fw8enkcLEuJG9scQJzuzY8hnLe81o1fhEkclML0SLkLQ2Fu6rIqlKKeYwmJFFhSIj69ESRIkDhkjA1OrV7szzc="
- APT_DEPENDENCIES="doxygen libboost-dev libboost-test-dev libboost-filesystem-dev libboost-system-dev libboost-thread-dev libboost-program-options-dev libeigen3-dev"
- PPA_URI="stack-of-tasks/snapshot"
- NSIQCPPSTYLE_FILEFILTERPATH=cmake/filefilter.txt
notifications:
hipchat:
rooms:
- secure: "SP8KX6gPzBT0BCpcL3ybK4Cgx7a7rmK3Hv/fD2lIf/RUdTwtzLh/J/l9xSYuMZisLe1tM+12vfP7r6t1RNdXrB7pSpYvFRNIWmyfBC7KnUFVn5rwxUnDPhKY3D/XaJ1cycbBJqJdUjYjFKCGEm4x6cpRRN61Ii66RAUvm1h9aHQ="
email:
- hpp-source@laas.fr
branches:
only:
- master
- devel
script: ./travis_custom/build_custom
after_success: ./.travis/run after_success
after_failure: ./.travis/run after_failure
before_install: ./travis_custom/custom_before_install
matrix:
allow_failures:
- compiler: clang
cmake @ 332976cc
Subproject commit 9078d521dc23fabae72e3fe8d7c0068c68364eef
Subproject commit 332976cc4d5305256c79a479e55ad7ab2ecc42f1
include/dynamic-graph/value.h
View file @ 8a00b9e6
......@@ -27,7 +27,9 @@ class DYNAMIC_GRAPH_DLLAPI EitherType {
~EitherType();
operator bool() const;
operator unsigned() const;
operator unsigned long int() const;
operator int() const;
operator long int() const;
operator float() const;
operator double() const;
operator std::string() const;
......@@ -51,7 +53,9 @@ class DYNAMIC_GRAPH_DLLAPI Value {
NONE,
BOOL,
UNSIGNED,
UNSIGNEDLONGINT,
INT,
LONGINT,
FLOAT,
DOUBLE,
STRING,
......@@ -65,7 +69,9 @@ class DYNAMIC_GRAPH_DLLAPI Value {
void deleteValue();
explicit Value(const bool &value);
explicit Value(const unsigned &value);
explicit Value(const unsigned long int &value);
explicit Value(const int &value);
explicit Value(const long int &value);
explicit Value(const float &value);
explicit Value(const double &value);
explicit Value(const std::string &value);
......@@ -107,7 +113,9 @@ class DYNAMIC_GRAPH_DLLAPI Value {
friend class EitherType;
bool boolValue() const;
unsigned unsignedValue() const;
unsigned long int unsignedlongintValue() const;
int intValue() const;
long int longintValue() const;
float floatValue() const;
double doubleValue() const;
std::string stringValue() const;
......
src/command/value.cpp
View file @ 8a00b9e6
......@@ -22,7 +22,11 @@ EitherType::~EitherType() {
EitherType::operator bool() const { return value_->boolValue(); }
EitherType::operator unsigned() const { return value_->unsignedValue(); }
EitherType::operator unsigned long int() const {
return value_->unsignedlongintValue();
}
EitherType::operator int() const { return value_->intValue(); }
EitherType::operator long int() const { return value_->longintValue(); }
EitherType::operator float() const { return value_->floatValue(); }
EitherType::operator double() const { return value_->doubleValue(); }
EitherType::operator std::string() const { return value_->stringValue(); }
......@@ -40,9 +44,15 @@ void Value::deleteValue() {
case UNSIGNED:
delete (const unsigned *)value_;
break;
case UNSIGNEDLONGINT:
delete (const unsigned long int *)value_;
break;
case INT:
delete (const int *)value_;
break;
case LONGINT:
delete (const long int *)value_;
break;
case FLOAT:
delete (const float *)value_;
break;
......@@ -64,7 +74,11 @@ void Value::deleteValue() {
case VALUES:
delete (const Values *)value_;
break;
default:;
case NONE: /* Equivalent to void */
break;
default:
throw "Value::deleteValue : Undefined type";
;
}
}
......@@ -73,6 +87,8 @@ Value::~Value() { deleteValue(); }
Value::Value(const bool &value) : type_(BOOL), value_(new bool(value)) {}
Value::Value(const unsigned &value)
: type_(UNSIGNED), value_(new unsigned(value)) {}
Value::Value(const unsigned long int &value)
: type_(UNSIGNEDLONGINT), value_(new unsigned long int(value)) {}
Value::Value(const int &value) : type_(INT), value_(new int(value)) {}
Value::Value(const float &value) : type_(FLOAT), value_(new float(value)) {}
Value::Value(const double &value) : type_(DOUBLE), value_(new double(value)) {}
......@@ -100,9 +116,15 @@ void *copyValue(const Value &value) {
case Value::UNSIGNED:
copy = new unsigned(value.unsignedValue());
break;
case Value::UNSIGNEDLONGINT:
copy = new unsigned long int(value.unsignedlongintValue());
break;
case Value::INT:
copy = new int(value.intValue());
break;
case Value::LONGINT:
copy = new long int(value.longintValue());
break;
case Value::FLOAT:
copy = new float(value.floatValue());
break;
......@@ -149,6 +171,8 @@ bool Value::operator==(const Value &other) const {
return boolValue() == other.boolValue();
case Value::UNSIGNED:
return unsignedValue() == other.unsignedValue();
case Value::UNSIGNEDLONGINT:
return unsignedlongintValue() == other.unsignedlongintValue();
case Value::INT:
return intValue() == other.intValue();
case Value::DOUBLE:
......@@ -188,9 +212,20 @@ unsigned Value::unsignedValue() const {
"value is not an unsigned int");
}
unsigned long int Value::unsignedlongintValue() const {
if (type_ == UNSIGNEDLONGINT) return *((const unsigned long int *)value_);
throw ExceptionAbstract(ExceptionAbstract::TOOLS,
"value is not an unsigned long int");
}
long int Value::longintValue() const {
if (type_ == LONGINT) return *((const long int *)value_);
throw ExceptionAbstract(ExceptionAbstract::TOOLS, "value is not an long int");
}
int Value::intValue() const {
if (type_ == INT) return *((const int *)value_);
throw ExceptionAbstract(ExceptionAbstract::TOOLS, "value is not an int int");
throw ExceptionAbstract(ExceptionAbstract::TOOLS, "value is not an int");
}
float Value::floatValue() const {
......@@ -249,6 +284,8 @@ std::string Value::typeName(Type type) {
return std::string("bool");
case UNSIGNED:
return std::string("unsigned int");
case UNSIGNEDLONGINT:
return std::string("unsigned long int");
case INT:
return std::string("int");
case FLOAT:
......@@ -279,6 +316,9 @@ std::ostream &operator<<(std::ostream &os, const Value &value) {
case Value::UNSIGNED:
os << value.unsignedValue();
break;
case Value::UNSIGNEDLONGINT:
os << value.unsignedlongintValue();
break;
case Value::INT:
os << value.intValue();
break;
......@@ -318,6 +358,9 @@ const Value::Type ValueHelper<bool>::TypeID = Value::BOOL;
template <>
const Value::Type ValueHelper<unsigned>::TypeID = Value::UNSIGNED;
template <>
const Value::Type ValueHelper<unsigned long int>::TypeID =
Value::UNSIGNEDLONGINT;
template <>
const Value::Type ValueHelper<int>::TypeID = Value::INT;
template <>
const Value::Type ValueHelper<float>::TypeID = Value::FLOAT;
......@@ -327,6 +370,7 @@ template <>
const Value::Type ValueHelper<std::string>::TypeID = Value::STRING;
template <>
const Value::Type ValueHelper<Vector>::TypeID = Value::VECTOR;
template <>
const Value::Type ValueHelper<Eigen::MatrixXd>::TypeID = Value::MATRIX;
template <>
......
tests/value.cpp
View file @ 8a00b9e6
......@@ -81,7 +81,7 @@ BOOST_AUTO_TEST_CASE(value_exceptions) {
}
BOOST_CHECK(res);
BOOST_CHECK(output.is_equal("Abstract"));
BOOST_CHECK(output2.is_equal("value is not an int int"));
BOOST_CHECK(output2.is_equal("value is not an int"));
// Check if the exception is working when calling boolValue
// while we are having a none.
......
travis_custom/build_custom deleted 100755 → 0
View file @ ca1b2fc5
#!/bin/bash
. `dirname $0`/common.sh
# Set debug mode
set -x
set -v
# build_package
# -------------
#
# Build the package using the last Eigen release (3.2) which is not
# available as a Debian package on Ubuntu 12.04.
build_package()
{
echo "--> Building package..."
cd "$build_dir"
if [[ ";${DO_COVERAGE_ON_BRANCH};" == *";${CI_BRANCH};"* ]]; then
cmake "$root_dir" -DCMAKE_INSTALL_PREFIX="$install_dir" \
-DCMAKE_CXX_FLAGS="--coverage" \
-DCMAKE_EXE_LINKER_FLAGS="--coverage" \
-DCMAKE_MODULE_LINKER_FLAGS="--coverage" \
${CMAKE_ADDITIONAL_OPTIONS}
else
cmake "$root_dir" -DCMAKE_INSTALL_PREFIX="$install_dir" \
${CMAKE_ADDITIONAL_OPTIONS}
fi
${MAKE_PREFIX} make
make install
ALLOW_TESTSUITE_FAILURE=${ALLOW_TESTSUITE_FAILURE:-false}
make test || ${ALLOW_TESTSUITE_FAILURE}
if [[ ";${DO_CPPCHECK_ON_BRANCH};" == *";${CI_BRANCH};"* ]]; then
cppcheck --quiet --enable=all \
-I $root_dir/src -I $root_dir/tests -I $root_dir/include \
-I $root_dir/tests/shared-tests \
-I $build_dir/include -I $install_dir/include \
-i $build_dir/CMakeFiles \
$root_dir || true
fi
}
# debian_build_package
# --------------------
#
# Use git-buildpackage and pbuilder to build the package in a sid
# sandbox.
debian_build_package()
{
export GNUPGHOME="$root_dir/.travis/.gnupg"
export NAME="Thomas Moulard (Travis Automatic Builds)"
export DEBEMAIL="thomas.moulard+travis@gmail.com"
echo "--> Building Debian package..."
cd "$root_dir"
buildNumber=$(git rev-list \
$(git describe --tags --match "debian/*" --abbrev=0)..HEAD | wc -l) \
|| buildNumber=1
dch --force-distribution --distribution ${DIST} \
--local ppa$buildNumber+$DIST "Travis automatic build"
echo "debian/changelog first line:"
head -n 1 debian/changelog
git add debian/changelog
git commit -m "Travis automatic commit"
${SUDO_CMD} chmod -R 777 /var/cache/pbuilder/ccache
# If orig tarball exists, delete it.
rm -f "$build_dir/export/*_*.orig.tar*"
git-buildpackage \
--git-submodules \
--git-no-pristine-tar \
--git-ignore-branch \
--git-debian-branch=HEAD \
--git-export-dir="$build_dir/export" \
--git-tag \
--git-upstream-branch=master \
--git-dist=${DIST} \
--git-pbuilder \
--git-force-create \
--git-ignore-new \
--git-retag \
-p\"gpg\\ --passphrase\\ ${GNUPG_PASSPHRASE}\" \
-k${DEBSIGN_KEYID} || exit 1
git-buildpackage \
--git-submodules \
--git-no-pristine-tar \
--git-debian-branch=HEAD \
--git-ignore-branch \
--git-export-dir="$build_dir/export" \
--git-tag \
--git-upstream-branch=master \
--git-dist=${DIST} \
--git-ignore-new \
--git-retag \
-p\"gpg --passphrase ${GNUPG_PASSPHRASE}\" \
-k${DEBSIGN_KEYID} \
-S -sa || exit 1
}
# setup_ros_build_environment
# ---------------------------
#
# Source ROS setup scripts if they exist
setup_ros_build_environment()
{
if [ -e /opt/ros/${ROS_DISTRO}/setup.sh ]; then
. /opt/ros/${ROS_DISTRO}/setup.sh
fi
CATKIN_DEP_WORKSPACE=/tmp/_ci/catkin_dep_ws
if [ -e ${CATKIN_DEP_WORKSPACE}/devel/setup.sh ]; then
. ${CATKIN_DEP_WORKSPACE}/devel/setup.sh
fi
# Limit the number of parallel jobs when running catkin_make
PARALLEL_JOBS=${PARALLEL_JOBS:-1}
export ROS_PARALLEL_JOBS="-j ${PARALLEL_JOBS}"
}
# build_catkin_package
# --------------------
#
# build all the packages using catkin_make.
# Also check the installation (catkin_make install)
# and check whether the catkin package is well written (catkin_lint)
build_catkin_package()
{
# Main package workspace
CATKIN_WORKSPACE=$build_dir/..
ln -s $root_dir/.. $CATKIN_WORKSPACE/src
cd $CATKIN_WORKSPACE/src
catkin_init_workspace
cd $CATKIN_WORKSPACE
catkin_make
for pack in `ls -d ./src/*/ ./src/*/*/`; do
if test -f $pack/package.xml; then
rosdoc_lite $pack
fi
done
catkin_make install
# run catkin_lint on every directory.
ALLOW_CATKINLINT_FAILURE=${ALLOW_CATKINLINT_FAILURE:-false}
catkin_lint `ls -d ./src/*/ ./src/*/*/` || ${ALLOW_CATKINLINT_FAILURE}
}
setup_ros_build_environment
# Realize a normal build in all branches except the one containing a
# debian/ folder.
if [ -d debian ]; then
if `test x${DIST} = x`; then
echo "distribution is not set, skipping this build"
exit 0
fi
echo "Target distribution: ${DIST}"
debian_build_package
else
if [ ! x${DIST} = x ]; then
echo "skipping this build"
exit 0
fi
# checking if it is a ros folder. Taking appropriate measure.
#The current repository is a package
build_package
fi
# End debug mode
set +v
set +x
travis_custom/common.sh deleted 100644 → 0
View file @ ca1b2fc5
# -*- sh-mode -*
# This should be sourced, not called.
set -e
########################################
# -- VERBOSE HANDLING -- #
########################################
# More verbose handling for 'set -e'.
#
# Show a traceback if we're using bash, otherwise just a message.
# Downloaded from: https://gist.github.com/kergoth/3885825
on_exit () {
ret=$?
case $ret in
0)
;;
*)
echo >&2 "Exiting with $ret from a shell command"
;;
esac
}
on_error () {
local ret=$?
local FRAMES=${#BASH_SOURCE[@]}
echo >&2 "Traceback (most recent call last):"
for ((frame=FRAMES-2; frame >= 0; frame--)); do
local lineno=${BASH_LINENO[frame]}
printf >&2 ' File "%s", line %d, in %s\n' "${BASH_SOURCE[frame+1]}" "$lineno" "${FUNCNAME[frame+1]}"
sed >&2 -n "${lineno}s/^[ ]*/ /p" "${BASH_SOURCE[frame+1]}" || true
done
printf >&2 "Exiting with %d\n" "$ret"
exit $ret
}
case "$BASH_VERSION" in
'')
trap on_exit EXIT
;;
*)
set -o errtrace
trap on_error ERR
;;
esac
########################################
# -- GLOBAL UTILITIES -- #
########################################
# git_dependency_parsing
# ----------------------
#
# From an entry in GIT_DEPENDENCIES variable set git_dep, git_dep_uri and
# git_dep_branch in the environment
# For example given the input "jrl-umi3218/jrl-travis" the following variables
# are defined in the environment:
# - git_dep jrl-umi3218/jrl-travis
# - git_dep_uri git://github.com/jrl-umi3218/jrl-traviss
# - git_dep_branch master
# Or, given the input git@github.com:jrl-umi3218/jrl-travis#thebranch
# - git_dep jrl-umi3218/jrl-travis
# - git_dep_uri git@github.com:jrl-umi3218/jrl-travis
# - git_dep_branch thebranch
# The second (optional) argument allows to defined the default branch (defaults
# to master)
git_dependency_parsing()
{
_input=$1
export git_dep=${_input%%#*}
export git_dep_branch=${_input##*#}
if [ "$git_dep_branch" == "$git_dep" ]; then
if [ -e "$2" ]; then
export git_dep_branch=$2
else
export git_dep_branch="master"
fi
fi
git_dep_uri_base=${git_dep%%:*}
if [ "$git_dep_uri_base" == "$git_dep" ]; then
export git_dep_uri="git://github.com/$git_dep"
else
export git_dep_uri=$git_dep
export git_dep=${git_dep##*:}
fi
}
########################################
# -- ENVIRONMENT MANIPULATION -- #
########################################
_gitlab_setup_ci_vars()
{
export CI_REQUIRE_SUDO=false
export CI_PULL_REQUEST=false #FIXME Can it be provided by gitlab?
export CI_REPO_SLUG=`echo ${CI_PROJECT_DIR}|sed -e's@/builds/@@'`
export CI_BRANCH=${CI_BUILD_REF_NAME}
export CI_OS_NAME=${CI_OS_NAME:-linux}
}
_travis_setup_ci_vars()
{
export CI_REQUIRE_SUDO=${CI_REQUIRE_SUDO:-true}
export CI_PULL_REQUEST=${TRAVIS_PULL_REQUEST}
export CI_REPO_SLUG=${TRAVIS_REPO_SLUG}
export CI_BRANCH=${TRAVIS_BRANCH}
export CI_OS_NAME=${TRAVIS_OS_NAME:-linux}
}
# _setup_ci_vars
# --------------
#
# Setup CI_* variables based on the CI type
_setup_ci_vars()
{
# Check which CI tool we are using, default to travis
export CI_TOOL=${CI_TOOL:-travis}
if [ $CI_TOOL = travis ]; then
_travis_setup_ci_vars
else
_gitlab_setup_ci_vars
fi
}
# _setup_sudo_cmd
# ---------------
#
# Setup SUDO_CMD based on CI configuration
_setup_sudo_cmd()
{
if [ ${CI_REQUIRE_SUDO} = false ]; then
export SUDO_CMD=''
else
export SUDO_CMD='sudo'
fi
}
# _setup_ros
# ----------
#
# Setup ROS environment if present on the system
_setup_ros()
{
if [ -f /opt/ros/${ROS_DISTRO}/setup.sh ]; then
. /opt/ros/${ROS_DISTRO}/setup.sh
fi
}
# _setup_env_vars
# ---------------
#
# Setup environment variables
_setup_env_vars()
{
export LD_LIBRARY_PATH="$install_dir/lib:$LD_LIBRARY_PATH"
export LTDL_LIBRARY_PATH="$install_dir/lib:$LTDL_LIBRARY_PATH"
export PKG_CONFIG_PATH="$install_dir/lib/pkgconfig:$install_dir/share/pkgconfig:$PKG_CONFIG_PATH"
if type "python" > /dev/null; then
pythonsite_dir=`python -c "import sys, os; print(os.sep.join(['lib', 'python' + sys.version[:3], 'site-packages']))"`
export PYTHONPATH="$install_dir/$pythonsite_dir:$PYTHONPATH"
fi
}
# _setup_linux_env
# ----------------
#
# Environment setup specific to linux
_setup_linux_env()
{
export LD_LIBRARY_PATH="$install_dir/lib/`dpkg-architecture -qDEB_BUILD_MULTIARCH`:$LD_LIBRARY_PATH"
export LTDL_LIBRARY_PATH="$install_dir/lib/`dpkg-architecture -qDEB_BUILD_MULTIARCH`:$LTDL_LIBRARY_PATH"
export PKG_CONFIG_PATH="$install_dir/lib/`dpkg-architecture -qDEB_BUILD_MULTIARCH`/pkgconfig:$PKG_CONFIG_PATH"
}
# _setup_osx_env
# ----------------
#
# Environment setup specific to OSX
_setup_osx_env()
{
# Since default gcc on osx is just a front-end for LLVM...
if [[ ${CC} = gcc ]]; then
export CXX=g++-4.8
export CC=gcc-4.8
fi
export DYLD_LIBRARY_PATH="$install_dir/lib:$DYLD_LIBRARY_PATH"
export LTDL_LIBRARY_PATH="$install_dir/lib:$LTDL_LIBRARY_PATH"
export PKG_CONFIG_PATH="$install_dir/lib/pkgconfig:$PKG_CONFIG_PATH"
}
# setup_ci_env
# ------------
#
# Setup the CI and environment variables
setup_ci_env()
{
_setup_ci_vars
_setup_sudo_cmd
_setup_ros
_setup_env_vars
if [[ ${CI_OS_NAME} = linux ]]; then
_setup_linux_env
fi
if [[ ${CI_OS_NAME} = osx ]]; then
_setup_osx_env
fi
}
# Directories.
root_dir=`pwd`
build_dir="/tmp/_ci/build"
install_dir="/tmp/_ci/install"
echo "root_dir: " $root_dir
echo "build_dir: " $build_dir
echo "install_dir: " $install_dir
# Shortcuts.
git_clone="git clone --quiet --recursive"
# Setup all variables needed by the CI scripts
setup_ci_env
# Make cmake verbose.
export CMAKE_VERBOSE_MAKEFILE=1
export CTEST_OUTPUT_ON_FAILURE=1
# Add default DO_*_ON_BRANCH if needed
if [ -z ${DO_COVERAGE_ON_BRANCH+x} ]; then
export DO_COVERAGE_ON_BRANCH=${CI_BRANCH}
fi
if [ -z ${DO_CPPCHECK_ON_BRANCH+x} ]; then
export DO_CPPCHECK_ON_BRANCH=${CI_BRANCH}
fi
# Create layout.
mkdir -p "$build_dir"
mkdir -p "$install_dir"
travis_custom/custom_before_install deleted 100755 → 0
View file @ ca1b2fc5
#!/bin/bash
rm -rf "$build_dir" "$install_dir"
. `dirname $0`/common.sh
# Set debug mode
set -x
set -v
# Add robotpkg
sudo sh -c "echo \"deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg\" >> /etc/apt/sources.list "
curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add -
# show memory usage before install
sudo free -m -t
# Setup environment variables.
export APT_DEPENDENCIES="doxygen libboost-system-dev libboost-test-dev libboost-filesystem-dev libboost-program-options-dev libeigen3-dev liburdfdom-dev texlive-font-utils"
# Add Python dependency
export APT_DEPENDENCIES=$APT_DEPENDENCIES" libboost-python-dev robotpkg-py27-eigenpy python2.7-dev python-numpy gfortran libblas-dev liblapack-dev"
# Add Geometry dependencies
if [[ $BUILD_WITH_COLLISION_SUPPORT -eq ON ]]; then
export APT_DEPENDENCIES=$APT_DEPENDENCIES" robotpkg-hpp-fcl"
fi
##############################
# -- Helper functions -- #
##############################
_linux_setup_package_source()
{
# Speed up apt
${SUDO_CMD} sh -c "echo \"force-unsafe-io\" > /etc/dpkg/dpkg.cfg.d/02apt-speedup"
# Update the apt local cache.
${SUDO_CMD} apt-get update -qq
}
_osx_setup_package_source()
{
# Update homebrew
brew update
}
# setup_package_source
# ---------------------
#
# Setup the package source (e.g. homebrew on osx, apt on debian-like systems)
setup_package_source()
{
if [[ ${CI_OS_NAME} = linux ]]; then
_linux_setup_package_source
fi
if [[ ${CI_OS_NAME} = osx ]]; then
_osx_setup_package_source
fi
}
# setup_pbuilder
# --------------
#
# Setup a pbuilder environment
setup_pbuilder()
{
if `test x${DIST} = x`; then
echo "distribution is not set, skipping this build"
exit 0
fi
echo "Target distribution: ${DIST}"
# If we are, we install Debian package development tools and
# create a sid pbuilder. Package dependencies will be installed
# automatically.
${SUDO_CMD} apt-get install -qq \
debootstrap devscripts \
git-buildpackage debian-archive-keyring \
pkg-kde-tools dput eatmydata ccache
# Fix ccache use in pbuilder
${SUDO_CMD} addgroup --system --gid 1234 ccache
${SUDO_CMD} adduser --quiet --system --uid 1234 --ingroup ccache \
--home /var/cache/pbuilder --no-create-home pbuilder
${SUDO_CMD} mkdir -p /var/cache/pbuilder/ccache
${SUDO_CMD} chown -R pbuilder:ccache /var/cache/pbuilder/ccache
${SUDO_CMD} chmod -R g+ws /var/cache/pbuilder/ccache
# Remove previous sandbox.
${SUDO_CMD} rm -rf /var/cache/pbuilder/base-${DIST}.cow || true
# Create a pbuilder sandbox.
cp -f `dirname $0`/pbuilderrc $HOME/.pbuilderrc
sed -i "s|@DIST@|${DIST}|g" $HOME/.pbuilderrc
git-pbuilder create
# Speed up pbuilder.
echo "echo \"force-unsafe-io\" > /etc/dpkg/dpkg.cfg.d/02apt-speedup" | \
git-pbuilder login --save-after-exec
# Add additional PPAs
for ppa in ${DEBIAN_PPA}; do
echo "apt-add-repository ppa:${ppa}" | \
git-pbuilder login --save-after-exec
done
# Retrieve PPA package list.
git-pbuilder update
# FIXME There is something fishy here...
# ccache is not necessary in our case and may cause permission
# issues.
echo "apt-get -y remove ccache" | \
git-pbuilder login --save-after-exec
}
# catkin_git_dependency
# --------------------
#
# Clone catkin package into the workspace
# See arguments of build_git_dependency
# Branch defaults to $ROS_DISTRO instead of master
catkin_git_dependency()
{
git_dependency_parsing $1 $ROS_DISTRO
echo "--> Getting $git_dep (branch $git_dep_branch)"
CATKIN_DEP_WORKSPACE=/tmp/_ci/catkin_dep_ws
cd $CATKIN_DEP_WORKSPACE/src
$git_clone -b $git_dep_branch "$git_dep_uri" "$git_dep"
}
# catkin_build_workspace
# ----------------------
#
# Build catkin workspace
catkin_build_workspace()
{
CATKIN_DEP_WORKSPACE=/tmp/_ci/catkin_dep_ws
cd $CATKIN_DEP_WORKSPACE
catkin_make
}
# build_git_dependency
# --------------------
#
# Build a dependency directly from the Git development tree.
# First argument: repository's GitHub URL or repository's URI + optional branch
# For example: "jrl-umi3218/jrl-travis" or "jrl-umi3218/jrl-travis#dev"
# Or: user@host:path/to/repo or git@github.com:organization/repo#branch
build_git_dependency()
{
git_dependency_parsing $1
echo "--> Compiling $git_dep (branch $git_dep_branch)"
cd "$build_dir"
mkdir -p "$git_dep"
$git_clone -b $git_dep_branch "$git_dep_uri" "$git_dep"
cd "$git_dep"
mkdir -p build
cd build
cmake .. -DCMAKE_INSTALL_PREFIX:STRING="$install_dir" \
-DDISABLE_TESTS:BOOL=ON ${CMAKE_ADDITIONAL_OPTIONS}
make install || make
}
_osx_install_dependencies()
{
# Install user-specified packages
brew install cppcheck ${HOMEBREW_DEPENDENCIES}
}
_linux_install_dependencies()
{
# Add additional PPAs
for ppa in ${MASTER_PPA}; do
${SUDO_CMD} add-apt-repository -y ppa:${ppa}
done
${SUDO_CMD} apt-get update -qq
${SUDO_CMD} apt-get install -qq curl cppcheck ${APT_DEPENDENCIES}
# Install lcov from github
cd "$build_dir"
wget https://github.com/linux-test-project/lcov/releases/download/v1.12/lcov-1.12.tar.gz
tar zxvf lcov-1.12.tar.gz
cd lcov-1.12
# Reset lcov to release 1.12
${SUDO_CMD} make install
gem install coveralls-lcov
}
install_dependencies()
{
if [[ ${CI_OS_NAME} = linux ]]; then
_linux_install_dependencies
fi
if [[ ${CI_OS_NAME} = osx ]]; then
_osx_install_dependencies
fi
# and we build directly dependencies from the Git repository
for package in ${ROS_GIT_DEPENDENCIES}; do
catkin_git_dependency "$package"
done
if `test "x${ROS_GIT_DEPENDENCIES}" != x`; then
catkin_build_workspace
fi
for package in ${GIT_DEPENDENCIES}; do
build_git_dependency "$package"
done
}
#########################
# -- Main script -- #
#########################
# Print Git version
git --version
# Setup Git identity.
git config --global user.name "JRL/IDH Continuous Integration Tool"
git config --global user.email "jrl-idh+ci@gmail.com"
# Retrieve the submodules.
git submodule update --quiet --init --recursive
# Fetch tags to compute the distance between the last release tag
# and us.
git fetch --quiet --tags
# Shortcuts.
git_clone="git clone --quiet --recursive"
# Display environment
echo "Environment:"
env
setup_package_source
# Check if we are in a debian branch...
if [ -d debian ]; then
setup_pbuilder
else
if [ ! x${DIST} = x ]; then
echo "skipping this build"
exit 0
fi
install_dependencies
fi
# End debug mode
set +v
set +x