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  • cberge/dynamic-graph
  • ostasse/dynamic-graph
  • gsaurel/dynamic-graph
  • stack-of-tasks/dynamic-graph
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with 89 additions and 797 deletions
tests/debug-tracer.cpp
View file @ 2e7a70d5
......@@ -4,8 +4,6 @@
*
*/
#include <iostream>
#include <dynamic-graph/entity.h>
#include <dynamic-graph/exception-factory.h>
#include <dynamic-graph/factory.h>
......@@ -14,6 +12,8 @@
#include <dynamic-graph/signal-time-dependent.h>
#include <dynamic-graph/tracer.h>
#include <iostream>
#define BOOST_TEST_MODULE debug - tracer
#if BOOST_VERSION >= 105900
......@@ -70,7 +70,7 @@ struct MyEntity : public dynamicgraph::Entity {
}
};
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(MyEntity, "MyEntity");
} // namespace dynamicgraph
} // namespace dynamicgraph
BOOST_AUTO_TEST_CASE(test_tracer) {
using dynamicgraph::Vector;
......
tests/entity.cpp
View file @ 2e7a70d5
......@@ -5,8 +5,6 @@
#define ENABLE_RT_LOG
#include "dynamic-graph/factory.h"
#include "dynamic-graph/pool.h"
#include <dynamic-graph/command-direct-getter.h>
#include <dynamic-graph/command-direct-setter.h>
#include <dynamic-graph/entity.h>
......@@ -14,8 +12,12 @@
#include <dynamic-graph/real-time-logger.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
#include <sstream>
#include "dynamic-graph/factory.h"
#include "dynamic-graph/pool.h"
#define BOOST_TEST_MODULE entity
#if BOOST_VERSION >= 105900
......@@ -29,7 +31,7 @@ using boost::test_tools::output_test_stream;
namespace dynamicgraph {
class CustomEntity : public Entity {
public:
public:
dynamicgraph::SignalPtr<double, int> m_sigdSIN, m_sigdSIN2;
dynamicgraph::SignalTimeDependent<double, int> m_sigdTimeDepSOUT;
......@@ -69,11 +71,11 @@ public:
return res;
}
public:
public:
double m_value;
};
DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(CustomEntity, "CustomEntity");
} // namespace dynamicgraph
} // namespace dynamicgraph
BOOST_AUTO_TEST_CASE(constructor) {
namespace dg = dynamicgraph;
......
tests/exceptions.cpp
View file @ 2e7a70d5
......@@ -6,6 +6,7 @@
#include <dynamic-graph/exception-signal.h>
#include <dynamic-graph/exception-traces.h>
#include <boost/version.hpp>
#include <sstream>
#if BOOST_VERSION >= 105900
......@@ -20,7 +21,6 @@ using boost::test_tools::output_test_stream;
using namespace dynamicgraph;
BOOST_AUTO_TEST_CASE(exception_abstract_param) {
/// Test param from Exception
/// Default constructor
ExceptionAbstract::Param aParamSimple;
......@@ -30,7 +30,6 @@ BOOST_AUTO_TEST_CASE(exception_abstract_param) {
}
BOOST_AUTO_TEST_CASE(exception_abstract) {
/// Test exception abstract with a simple message
std::string msg_aea("Test exception abstract");
ExceptionAbstract aEA(10, msg_aea);
......@@ -46,7 +45,6 @@ BOOST_AUTO_TEST_CASE(exception_abstract) {
}
BOOST_AUTO_TEST_CASE(exception_traces) {
std::string msg_aet("Test exception traces simple");
ExceptionTraces aET(ExceptionTraces::GENERIC, msg_aet);
output_test_stream output;
......
tests/factory.cpp
View file @ 2e7a70d5
......@@ -4,6 +4,7 @@
#include <dynamic-graph/entity.h>
#include <dynamic-graph/exception-factory.h>
#include <dynamic-graph/factory.h>
#include <sstream>
#define BOOST_TEST_MODULE factory
......@@ -19,13 +20,13 @@ using boost::test_tools::output_test_stream;
namespace dynamicgraph {
class CustomEntity : public Entity {
public:
public:
static const std::string CLASS_NAME;
virtual const std::string &getClassName() const { return CLASS_NAME; }
explicit CustomEntity(const std::string &n) : Entity(n) {}
};
const std::string CustomEntity::CLASS_NAME = "CustomEntity";
} // namespace dynamicgraph
} // namespace dynamicgraph
dynamicgraph::Entity *makeEntity(const std::string &objectName) {
return new dynamicgraph::CustomEntity(objectName);
......
tests/interpreter-tracer.cpp deleted 100644 → 0
View file @ cdfd6548
// Copyright 2010 Thomas Moulard.
//
#include <dynamic-graph/exception-factory.h>
#include <dynamic-graph/interpreter.h>
#include <dynamic-graph/plugin-loader.h>
#include <sstream>
#define BOOST_TEST_MODULE tracer
#if BOOST_VERSION >= 105900
#include <boost/test/tools/output_test_stream.hpp>
#else
#include <boost/test/output_test_stream.hpp>
#endif
#include <boost/test/unit_test.hpp>
#include "interpreter.h"
using boost::test_tools::output_test_stream;
// Check that plug-in loading/unloading is working.
BOOST_AUTO_TEST_CASE(cmd_tracer) {
dynamicgraph::PluginLoader pl;
// Push paths.
{
RUN_COMMAND("pushImportPaths", TESTS_DATADIR);
BOOST_CHECK(output.is_empty());
}
{
RUN_COMMAND("pushImportPaths", TESTS_PLUGINDIR);
BOOST_CHECK(output.is_empty());
}
// Import tracer.dg
{
RUN_COMMAND("import", "interpreter-tracer.dg");
BOOST_CHECK(output.is_empty());
}
}
tests/pool.cpp
View file @ 2e7a70d5
......@@ -7,6 +7,7 @@
#include <dynamic-graph/pool.h>
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
#include <iostream>
#include <sstream>
......
tests/real-time-logger.cpp
View file @ 2e7a70d5
......@@ -18,9 +18,8 @@
#else
#include <boost/test/output_test_stream.hpp>
#endif
#include <boost/test/unit_test.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/test/unit_test.hpp>
#include <boost/thread/thread.hpp>
using namespace dynamicgraph;
......@@ -28,8 +27,7 @@ using namespace dynamicgraph;
BOOST_AUTO_TEST_CASE(monothread) {
RealTimeLogger rtl(10);
rtl.addOutputStream(LoggerStreamPtr_t(new LoggerIOStream(std::cout)));
for (int i = 0; i < 9; ++i)
rtl.front() << "Call number " << i << '\n';
for (int i = 0; i < 9; ++i) rtl.front() << "Call number " << i << '\n';
BOOST_CHECK(rtl.full());
rtl.front() << "This call should not appear in the output" << '\n';
......
tests/signal-all.cpp
View file @ 2e7a70d5
......@@ -2,15 +2,14 @@
// Created by corentin on 7/3/19.
//
#include <boost/foreach.hpp>
#include <assert.h>
#include <dynamic-graph/debug.h>
#include <dynamic-graph/factory.h>
#include <dynamic-graph/signal-array.h>
#include <dynamic-graph/signal-caster.h>
#include <dynamic-graph/tracer.h>
#include <assert.h>
#include <boost/foreach.hpp>
#if BOOST_VERSION >= 105900
#include <boost/test/tools/output_test_stream.hpp>
#else
......
tests/signal-cast-register-test.h
View file @ 2e7a70d5
#pragma GCC diagnostic push
#pragma GCC system_header
#include <Eigen/Dense>
#pragma GCC diagnostic pop
tests/signal-cast-registerer.cpp
View file @ 2e7a70d5
// Copyright 2010 Thomas Moulard.
//
#include <string>
#include <boost/foreach.hpp>
#include <boost/format.hpp>
#include "signal-cast-register-test.h"
#include <dynamic-graph/debug.h>
#include <dynamic-graph/eigen-io.h>
#include <dynamic-graph/entity.h>
......@@ -15,6 +9,11 @@
#include <dynamic-graph/pool.h>
#include <dynamic-graph/signal.h>
#include <boost/foreach.hpp>
#include <boost/format.hpp>
#include <string>
#include "signal-cast-register-test.h"
#include "signal-cast-registerer-libA.hh"
#include "signal-cast-registerer-libB.hh"
......
tests/signal-ptr.cpp
View file @ 2e7a70d5
// Copyright 2010 Thomas Moulard.
//
#include <string>
#include <boost/foreach.hpp>
#include <dynamic-graph/debug.h>
#include <dynamic-graph/entity.h>
#include <dynamic-graph/factory.h>
......@@ -13,7 +9,10 @@
#include <dynamic-graph/signal-ptr.h>
#include <dynamic-graph/signal-time-dependent.h>
#include <dynamic-graph/signal.h>
#include <boost/foreach.hpp>
#include <iostream>
#include <string>
#if BOOST_VERSION >= 105900
#include <boost/test/tools/output_test_stream.hpp>
......@@ -32,8 +31,9 @@ typedef dynamicgraph::SignalTimeDependent<std::string, int> sigString_t;
using namespace dynamicgraph;
using std::cout;
template <class T> class DummyClass {
public:
template <class T>
class DummyClass {
public:
std::string proname;
std::list<sigDouble_t *> inputsig;
std::list<sigString_t *> inputsigV;
......@@ -45,11 +45,9 @@ public:
++call;
timedata = t;
BOOST_FOREACH (sigDouble_t *ptr, inputsig)
ptr->access(timedata);
BOOST_FOREACH (sigDouble_t *ptr, inputsig) ptr->access(timedata);
BOOST_FOREACH (sigString_t *ptr, inputsigV)
ptr->access(timedata);
BOOST_FOREACH (sigString_t *ptr, inputsigV) ptr->access(timedata);
res = (*this)();
return res;
......@@ -65,17 +63,22 @@ public:
int timedata;
};
template <> double DummyClass<double>::operator()() {
template <>
double DummyClass<double>::operator()() {
res = call * timedata;
return res;
}
template <> std::string DummyClass<std::string>::operator()() {
template <>
std::string DummyClass<std::string>::operator()() {
std::ostringstream oss;
oss << call * timedata;
return oss.str();
}
template <class T> T DummyClass<T>::operator()() { return this->res; }
template <class T>
T DummyClass<T>::operator()() {
return this->res;
}
BOOST_AUTO_TEST_CASE(normal_cst_test) {
SignalPtr<double, int> sigNotPlug(NULL, "sigNotPlug");
......@@ -312,6 +315,6 @@ BOOST_AUTO_TEST_CASE(set_signal_string) {
s.set(value);
} catch (const std::exception &exc) {
std::cout << exc.what() << std::endl;
BOOST_CHECK(!"Tentative to set signal to empty string");
BOOST_CHECK(!(bool)("Tentative to set signal to empty string"));
}
}
tests/signal-time-dependent.cpp
View file @ 2e7a70d5
// Copyright 2010 Thomas Moulard.
//
#include <boost/foreach.hpp>
#include <iostream>
#include <dynamic-graph/signal-time-dependent.h>
#include <dynamic-graph/signal.h>
#include <boost/foreach.hpp>
#include <iostream>
#define BOOST_TEST_MODULE signal_time_dependent
#if BOOST_VERSION >= 105900
......@@ -20,8 +20,9 @@ using boost::test_tools::output_test_stream;
typedef dynamicgraph::SignalTimeDependent<double, int> sigDouble_t;
typedef dynamicgraph::SignalTimeDependent<std::string, int> sigString_t;
template <class T> class DummyClass {
public:
template <class T>
class DummyClass {
public:
std::string proname;
std::list<sigDouble_t *> inputsig;
std::list<sigString_t *> inputsigV;
......@@ -33,11 +34,9 @@ public:
++call;
timedata = t;
BOOST_FOREACH (sigDouble_t *ptr, inputsig)
ptr->access(timedata);
BOOST_FOREACH (sigDouble_t *ptr, inputsig) ptr->access(timedata);
BOOST_FOREACH (sigString_t *ptr, inputsigV)
ptr->access(timedata);
BOOST_FOREACH (sigString_t *ptr, inputsigV) ptr->access(timedata);
res = (*this)();
return res;
......@@ -53,17 +52,22 @@ public:
int timedata;
};
template <> double DummyClass<double>::operator()() {
template <>
double DummyClass<double>::operator()() {
res = call * timedata;
return res;
}
template <> std::string DummyClass<std::string>::operator()() {
template <>
std::string DummyClass<std::string>::operator()() {
std::ostringstream oss;
oss << call * timedata;
return oss.str();
}
template <class T> T DummyClass<T>::operator()() { return this->res; }
template <class T>
T DummyClass<T>::operator()() {
return this->res;
}
BOOST_AUTO_TEST_CASE(signaltimedependent) {
DummyClass<double> pro1("pro1"), pro3("pro3"), pro5("pro5");
......
tests/test-mt.cpp
View file @ 2e7a70d5
......@@ -3,11 +3,12 @@
* Olivier Stasse
*
*/
#include <unistd.h>
#include <dynamic-graph/process-list.hh>
#include <fstream>
#include <iostream>
#include <sstream>
#include <unistd.h>
#define BOOST_TEST_MODULE debug - trace
......
tests/value.cpp
View file @ 2e7a70d5
......@@ -2,11 +2,15 @@
//
#include "dynamic-graph/value.h"
#include <dynamic-graph/exception-factory.h>
#include <iostream>
#define BOOST_TEST_MODULE value
#include <boost/version.hpp>
#if BOOST_VERSION >= 105900
#include <boost/test/tools/output_test_stream.hpp>
#else
......@@ -68,8 +72,8 @@ BOOST_AUTO_TEST_CASE(value_exceptions) {
bool res = false;
try {
int aInt(anet);
aInt++; // silence unused variable warnings to have a stable release in the
// ros buildfarm
aInt++; // silence unused variable warnings to have a stable release in the
// ros buildfarm
} catch (const dg::ExceptionAbstract &aea) {
output << aea.getExceptionName();
output2 << aea.what();
......@@ -77,15 +81,15 @@ 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.
res = false;
try {
bool abool(anet);
abool = !abool; // silence unused variable warnings to have a stable release
// in the ros buildfarm
abool = !abool; // silence unused variable warnings to have a stable
// release in the ros buildfarm
} catch (const dg::ExceptionAbstract &aea) {
res = (aea.getCode() == dg::ExceptionAbstract::TOOLS);
}
......@@ -96,8 +100,8 @@ BOOST_AUTO_TEST_CASE(value_exceptions) {
res = false;
try {
unsigned int aint(anet);
aint++; // silence unused variable warnings to have a stable release in the
// ros buildfarm
aint++; // silence unused variable warnings to have a stable release in the
// ros buildfarm
} catch (const dg::ExceptionAbstract &aea) {
res = (aea.getCode() == dg::ExceptionAbstract::TOOLS);
}
......@@ -108,8 +112,8 @@ BOOST_AUTO_TEST_CASE(value_exceptions) {
res = false;
try {
double adouble(anet);
adouble++; // silence unused variable warnings to have a stable release in
// the ros buildfarm
adouble++; // silence unused variable warnings to have a stable release in
// the ros buildfarm
} catch (const dg::ExceptionAbstract &aea) {
res = (aea.getCode() == dg::ExceptionAbstract::TOOLS);
}
......@@ -120,8 +124,8 @@ BOOST_AUTO_TEST_CASE(value_exceptions) {
res = false;
try {
float afloat(anet);
afloat++; // silence unused variable warnings to have a stable release in
// the ros buildfarm
afloat++; // silence unused variable warnings to have a stable release in
// the ros buildfarm
} catch (const dg::ExceptionAbstract &aea) {
res = (aea.getCode() == dg::ExceptionAbstract::TOOLS);
}
......@@ -366,17 +370,19 @@ BOOST_AUTO_TEST_CASE(value_matrix4d) {
{
output_test_stream output;
output << value1;
BOOST_CHECK(output.is_equal("Type=matrix4d, value=0.5 1.5 0 0\n"
"2.5 3.5 0 0\n 0 0 0 0\n"
" 0 0 0 0"));
BOOST_CHECK(
output.is_equal("Type=matrix4d, value=0.5 1.5 0 0\n"
"2.5 3.5 0 0\n 0 0 0 0\n"
" 0 0 0 0"));
}
{
output_test_stream output;
output << value;
BOOST_CHECK(output.is_equal("Type=matrix4d, value=0.5 1.5 0 0\n"
"2.5 3.5 0 0\n 0 0 0 0\n"
" 0 0 0 0"));
BOOST_CHECK(
output.is_equal("Type=matrix4d, value=0.5 1.5 0 0\n"
"2.5 3.5 0 0\n 0 0 0 0\n"
" 0 0 0 0"));
}
}
......@@ -397,7 +403,7 @@ BOOST_AUTO_TEST_CASE(value_values) {
BOOST_CHECK_EQUAL(vvalues.type(), Value::VALUES);
{ // Const ref
{ // Const ref
const Values &vs = vvalues.constValuesValue();
BOOST_CHECK_EQUAL(vs.size(), values.size());
BOOST_CHECK(vs == values);
......@@ -408,7 +414,7 @@ BOOST_AUTO_TEST_CASE(value_values) {
// Values vs = static_cast<Values>(eitherType);
// BOOST_CHECK_EQUAL(vs.size(), values.size());
// BOOST_CHECK(vs == values);
} { // Constructor
} { // Constructor
Value vvs(vvalues);
BOOST_CHECK(vvs == vvalues);
}
......@@ -416,9 +422,10 @@ BOOST_AUTO_TEST_CASE(value_values) {
{
output_test_stream output;
output << vvalues;
BOOST_CHECK(output.is_equal("Type=values, value=[ "
"Value(Type=string, value=value #1), "
"Value(Type=double, value=0.3), "
"]"));
BOOST_CHECK(
output.is_equal("Type=values, value=[ "
"Value(Type=string, value=value #1), "
"Value(Type=double, value=0.3), "
"]"));
}
}
travis_custom/build_custom deleted 100755 → 0
View file @ cdfd6548
#!/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 @ cdfd6548
# -*- 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 @ cdfd6548
#!/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