Merge pull request #2 from nim65s/master

[CI] add .gitlab-ci.yml, but fix tests first, but clean cmake first.

.gitlab-ci.yml

+variables:
+  GIT_SUBMODULE_STRATEGY: "recursive"
+  GIT_DEPTH: "3"
+  CCACHE_BASEDIR: "${CI_PROJECT_DIR}"
+  CCACHE_DIR: "${CI_PROJECT_DIR}/ccache"
+
+cache:
+  paths:
+    - ccache
+
+.robotpkg-py-dynamic-graph-tutorial: &robotpkg-py-dynamic-graph-tutorial
+  except:
+    - gh-pages
+  script:
+    - mkdir -p ccache
+    - cd /root/robotpkg/wip/py-dynamic-graph-tutorial
+    - git pull
+    - make checkout MASTER_REPOSITORY="dir ${CI_PROJECT_DIR}"
+    - make install
+    - cd work.$(hostname)/$(make show-var VARNAME=DISTNAME)
+    - make test
+
+robotpkg-py-dynamic-graph-tutorial-14.04-release:
+  <<: *robotpkg-py-dynamic-graph-tutorial
+  image: eur0c.laas.fr:5000/stack-of-tasks/dynamic-graph-tutorial/py-dynamic-graph-tutorial:14.04
+
+robotpkg-py-dynamic-graph-tutorial-16.04-release:
+  <<: *robotpkg-py-dynamic-graph-tutorial
+  image: eur0c.laas.fr:5000/stack-of-tasks/dynamic-graph-tutorial/py-dynamic-graph-tutorial:16.04
+
+robotpkg-py-dynamic-graph-tutorial-18.04-release:
+  <<: *robotpkg-py-dynamic-graph-tutorial
+  image: eur0c.laas.fr:5000/stack-of-tasks/dynamic-graph-tutorial/py-dynamic-graph-tutorial:18.04
+
+doc-coverage:
+  <<: *robotpkg-py-dynamic-graph-tutorial
+  image: eur0c.laas.fr:5000/stack-of-tasks/dynamic-graph-tutorial/py-dynamic-graph-tutorial:16.04
+  before_script:
+    - echo -e 'CXXFLAGS+= --coverage\nLDFLAGS+= --coverage\nPKG_DEFAULT_OPTIONS= debug' >> /opt/openrobots/etc/robotpkg.conf
+  after_script:
+    - cd /root/robotpkg/wip/py-dynamic-graph-tutorial
+    - cd work.$(hostname)/$(make show-var VARNAME=DISTNAME)
+    - make doc
+    - mv doc/doxygen-html ${CI_PROJECT_DIR}
+    - mkdir -p ${CI_PROJECT_DIR}/coverage/
+    - gcovr -r .
+    - gcovr -r . --html --html-details -o ${CI_PROJECT_DIR}/coverage/index.html
+  artifacts:
+    expire_in: 1 day
+    paths:
+      - doxygen-html/
+      - coverage/
+

AUTHORS

-Authors: 

CMakeLists.txt

 #
-#  Copyright 2010 CNRS
+#  Copyright 2010, 2018 CNRS
 #  Author: Florent Lamiraux
 #
 
-CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
+CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
 
-SET (CXX_DISABLE_WERROR ON)
 INCLUDE(cmake/base.cmake)
 INCLUDE(cmake/boost.cmake)
-INCLUDE(cmake/lapack.cmake)
-INCLUDE(cmake/cpack.cmake)
+INCLUDE(cmake/test.cmake)
+INCLUDE(cmake/python.cmake)
 
 SET(PROJECT_NAME dynamic-graph-tutorial)
-project(${PROJECT_NAME})
-
 SET(PROJECT_DESCRIPTION "Tutorial for dynamic-graph")
-SET(PROJECT_URL "http://github.com/jrl-umi3218/dynamic-graph-tutorial")
 
-SET(${PROJECT_NAME}_HEADERS
-    include/dynamic-graph/tutorial/inverted-pendulum.hh
-    include/dynamic-graph/tutorial/feedback-controller.hh
-)
-#
-# Look for dependencies
-#
+SET(PROJECT_URL "http://github.com/stack-of-tasks/${PROJECT_NAME}")
 
 SETUP_PROJECT()
 
-#
-#  Documentation dependency to package dynamic-graph
-#
-
 ADD_REQUIRED_DEPENDENCY("dynamic-graph")
 
-#
-#  Dependency to package dynamic-graph-python
-#
-ADD_REQUIRED_DEPENDENCY("dynamic-graph-python")
+SET(BOOST_COMPONENTS unit_test_framework)
+
+OPTION (BUILD_PYTHON_INTERFACE "Build the python binding" ON)
+IF(BUILD_PYTHON_INTERFACE)
+  ADD_REQUIRED_DEPENDENCY("dynamic-graph-python")
+  FINDPYTHON()
+  STRING(REGEX REPLACE "-" "_" PY_NAME ${PROJECT_NAME})
+  SET(BOOST_COMPONENTS ${BOOST_COMPONENTS} python)
+  INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_DIRS})
+ENDIF(BUILD_PYTHON_INTERFACE)
+
+SEARCH_FOR_BOOST()
+INCLUDE_DIRECTORIES(${Boost_INCLUDE_DIRS})
 
+ADD_SUBDIRECTORY(include/dynamic-graph/tutorial)
 ADD_SUBDIRECTORY(src)
 ADD_SUBDIRECTORY(doc)
+ADD_SUBDIRECTORY(tests)
 
 SETUP_PROJECT_FINALIZE()

COPYING

-#
-# Copyright (c) 
-#
-# Permission to use, copy, modify, and distribute this software for any
-# purpose with or without fee is hereby granted, provided that the above
-# copyright notice and this permission notice appear in all copies.
-#
-# THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
-# WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
-# MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
-# ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
-# WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
-# ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
-# OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
-

ChangeLog

-Write in this file the modifications you commit.

INSTALL

-#
-#  Copyright
-#
-
-Installation instructions for library dg-tutorial
-----------------------------------------------
-
-It is recommended to create a specific directory to install this package.
-mkdir build
-cd build
-cmake [Options] ..
-make 
-make install
-
-Options:
-
--DCMAKE_INSTALL_PREFIX=...
-  specifies the directory where to install the package.
-
--DCMAKE_BUILD_TYPE=[none|debug|release|relwithdebinfo|MinSizeRel]
-  specifies to type of compilation (release, debug, ...)

NEWS

-Write in this file the news related to package dg-tutorial.

README.md

-[![License](https://img.shields.io/badge/License-BSD%202--Clause-orange.svg)](https://opensource.org/licenses/BSD-2-Clause)
 # dynamic-graph-tutorial
 
+[![License](https://img.shields.io/badge/License-BSD%202--Clause-orange.svg)](https://opensource.org/licenses/BSD-2-Clause)
+[![Building Status](https://travis-ci.org/stack-of-tasks/dynamic-graph-tutorial.svg?branch=master)](https://travis-ci.org/stack-of-tasks/dynamic-graph-tutorial)
+[![Pipeline status](https://gepgitlab.laas.fr/stack-of-tasks/dynamic-graph-tutorial/badges/master/pipeline.svg)](https://gepgitlab.laas.fr/stack-of-tasks/dynamic-graph-tutorial/commits/master)
+[![Coverage report](https://gepgitlab.laas.fr/stack-of-tasks/dynamic-graph-tutorial/badges/master/coverage.svg?job=doc-coverage)](http://projects.laas.fr/stack-of-tasks/doc/stack-of-tasks/dynamic-graph-tutorial/master/coverage/)
+
+
 See INSTALL for installation instruction.
 
 The documentation is available here:
-[http://stack-of-tasks.github.io/dynamic-graph-tutorial/](http://stack-of-tasks.github.io/dynamic-graph-tutorial/)
\ No newline at end of file
+[http://stack-of-tasks.github.io/dynamic-graph-tutorial/](http://stack-of-tasks.github.io/dynamic-graph-tutorial/)

autogen.sh

-echo ""
-echo "This package is installed through cmake. Please read INSTALL for instructions."
-echo ""

dg-tutorial.pc.cmake

-prefix=${CMAKE_INSTALL_PREFIX}
-exec_prefix=${install_pkg_prefix}
-libdir=${install_pkg_exec_prefix}/lib
-includedir=${install_pkg_prefix}/include
-datarootdir=${install_pkg_prefix}/share
-docdir=${install_pkg_datarootdir}/doc/${PROJECT_NAME}
-
-Name: ${PROJECT_NAME}
-Description: 
-Version: ${PROJECT_VERSION}
-Requires: ${PACKAGE_REQUIREMENTS}
-Libs: ${LIBDIR_KW}${install_pkg_libdir} ${${PROJECT_NAME}_LDFLAGS}
-Cflags: -I${install_pkg_include_dir} ${${PROJECT_NAME}_CXXFLAGS}

include/dynamic-graph/tutorial/CMakeLists.txt

+SET(${PROJECT_NAME}_HEADERS}
+  inverted-pendulum.hh
+  feedback-controller.hh
+  )
+
+INSTALL(FILES
+  ${${PROJECT_NAME}_HEADERS}
+  DESTINATION include/${PROJECT_NAME}
+  )

src/CMakeLists.txt

-# Copyright 2010, Florent Lamiraux, CNRS
+# Copyright 2010, 2018, Florent Lamiraux, CNRS
 #
 # This file is part of sot-core.
 # sot-core is free software: you can redistribute it and/or
@@ -13,33 +13,23 @@
 # received a copy of the GNU Lesser General Public License along with
 # dynamic-graph-tutorial. If not, see <http://www.gnu.org/licenses/>.
 
-# Libraries DEFINITIONS and INCLUDES
 
-INCLUDE(../cmake/python.cmake)
-
-SET(LIBRARY_NAME ${PROJECT_NAME})
-
-INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/include)
-
-# provide path to dependency libraries
-LINK_DIRECTORIES(${DYNAMIC_GRAPH_PYTHON_LIBRARY_DIRS} ${PYTHON_LIBRARY_DIRS})
-
-ADD_LIBRARY(${LIBRARY_NAME}
-  SHARED
-  inverted-pendulum.cc
-  feedback-controller.cc
+SET(${PROJECT_NAME}_SOURCES
+  inverted-pendulum
+  feedback-controller
   )
 
-SET_TARGET_PROPERTIES(${LIBRARY_NAME}
-  PROPERTIES
-  SOVERSION ${PROJECT_VERSION}
-  INSTALL_RPATH ${CMAKE_INSTALL_PREFIX}/lib)
+SET(${PY_NAME}_PYTHON
+  simu.py
+  )
 
-# Add dynamic-graph-python compilation flags and link to dependency libraries
-PKG_CONFIG_USE_DEPENDENCY(${PROJECT_NAME} dynamic-graph-python)
+ADD_LIBRARY(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES})
+PKG_CONFIG_USE_DEPENDENCY(${PROJECT_NAME} dynamic-graph)
 
-INSTALL(TARGETS ${LIBRARY_NAME}
-  DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
+IF(BUILD_PYTHON_INTERFACE)
+  PKG_CONFIG_USE_DEPENDENCY(${PROJECT_NAME} dynamic-graph-python)
+  DYNAMIC_GRAPH_PYTHON_MODULE("tutorial" ${PROJECT_NAME} wrap)
+  INSTALL(FILES ${${PY_NAME}_PYTHON} DESTINATION "${PYTHON_SITELIB}/dynamic-graph/tutorial/")
+ENDIF(BUILD_PYTHON_INTERFACE)
 
-# Create a python module containing new Python entity classes
-DYNAMIC_GRAPH_PYTHON_MODULE("tutorial" ${LIBRARY_NAME} wrap)
+INSTALL(TARGETS ${PROJECT_NAME} DESTINATION lib)

tests/CMakeLists.txt

+ADD_DEFINITIONS(-DBOOST_TEST_DYN_LINK -DBOOST_TEST_MAIN)
+
+ADD_UNIT_TEST(pendulum pendulum)
+TARGET_LINK_LIBRARIES(pendulum ${PROJECT_NAME} ${Boost_UNIT_TEST_FRAMEWORK_LIBRARY})
+PKG_CONFIG_USE_DEPENDENCY(pendulum dynamic-graph)
+
+ADD_UNIT_TEST(controller controller)
+TARGET_LINK_LIBRARIES(controller ${PROJECT_NAME} ${Boost_UNIT_TEST_FRAMEWORK_LIBRARY})
+PKG_CONFIG_USE_DEPENDENCY(controller dynamic-graph)

tests/controller.cpp

+#include <boost/test/unit_test.hpp>
+
+#include "dynamic-graph/tutorial/feedback-controller.hh"
+
+BOOST_AUTO_TEST_SUITE ( BOOST_TEST_MODULE )
+
+BOOST_AUTO_TEST_CASE(test_controller)
+{
+  dynamicgraph::tutorial::FeedbackController controller("test controller");
+}
+
+BOOST_AUTO_TEST_SUITE_END()

tests/pendulum.cpp

+#include <boost/test/unit_test.hpp>
+
+#include "dynamic-graph/tutorial/inverted-pendulum.hh"
+
+BOOST_AUTO_TEST_SUITE ( BOOST_TEST_MODULE )
+
+BOOST_AUTO_TEST_CASE(test_pendulum)
+{
+  dynamicgraph::tutorial::InvertedPendulum pendulum("test pendulum");
+  pendulum.setCartMass(1.2);
+  BOOST_CHECK(pendulum.getCartMass() == 1.2);
+  pendulum.setPendulumMass(0.6);
+  BOOST_CHECK(pendulum.getPendulumMass() == 0.6);
+  pendulum.setPendulumLength(1.8);
+  BOOST_CHECK(pendulum.getPendulumLength() == 1.8);
+}
+
+BOOST_AUTO_TEST_SUITE_END()

unitTesting/CMakeLists.txt

-# 
-#  Copyright 
-# 
-
-SET(EXECUTABLE_NAME test${PROJECT_NAME})
-
-ADD_DEFINITIONS(-DDEBUG=2)
-
-# provide path to dependency libraries
-LINK_DIRECTORIES(${DYNAMIC_GRAPH_PYTHON_LIBRARY_DIRS})
-
-ADD_EXECUTABLE(${EXECUTABLE_NAME}
-  main.cc
-  dg-tutorial-test.cc)
-
-INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/include)
-
-LINK_DIRECTORIES(${${PROJECT_NAME}_BINARY_DIR}/src)
-TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME}
-  dg-tutorial)
-
-# Add dependency compilation flags and link to dependency libraries
-ADD_DEFINITIONS(${DYNAMIC_GRAPH_PYTHON_CFLAGS})
-TARGET_LINK_LIBRARIES(${EXECUTABLE_NAME} ${DYNAMIC_GRAPH_PYTHON_LIBRARIES})

unitTesting/main.cc

-/*
- *  Copyright
- */
-
-#include "dg-tutorial-test.hh" 
-
-int main (int argc, char** argv)
-{
-  TutorialTest testTutorial();
-}

unitTesting/sot-tutorial-test.cc

-/*
- *  Copyright
- */
-
-#include <iostream>
-#include "dg-tutorial-test.hh" 
-
-TutorialTest::TutorialTest()
-{
-  std::cout << "Constructor of unitTesting object of class Tutorial." << std::endl;
-}