src/command/value.cpp

@@ -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/CMakeLists.txt

 # Copyright 2010-2020, Olivier Stasse, Guilhem Saurel, JRL, CNRS/AIST, LAAS-CNRS
 
-ADD_DEFINITIONS(-DBOOST_TEST_DYN_LINK -DBOOST_TEST_MAIN)
+add_definitions(-DBOOST_TEST_DYN_LINK -DBOOST_TEST_MAIN)
 
-ADD_DEFINITIONS(-DTESTS_DATADIR="${CMAKE_CURRENT_SOURCE_DIR}/data")
-ADD_DEFINITIONS(-DTESTS_PLUGINDIR="${LIBRARY_OUTPUT_PATH}")
-ADD_DEFINITIONS(-DTESTS_DYNLIBSUFFIX="${CMAKE_SHARED_LIBRARY_SUFFIX}")
+add_definitions(-DTESTS_DATADIR="${CMAKE_CURRENT_SOURCE_DIR}/data")
+add_definitions(-DTESTS_PLUGINDIR="${LIBRARY_OUTPUT_PATH}")
+add_definitions(-DTESTS_DYNLIBSUFFIX="${CMAKE_SHARED_LIBRARY_SUFFIX}")
 
-MACRO(DYNAMIC_GRAPH_TEST NAME)
-  ADD_UNIT_TEST(${NAME} "${NAME}.cpp")
-  TARGET_LINK_LIBRARIES(${NAME} PRIVATE ${PROJECT_NAME} Boost::unit_test_framework)
-ENDMACRO(DYNAMIC_GRAPH_TEST)
+macro(DYNAMIC_GRAPH_TEST NAME)
+  add_unit_test(${NAME} "${NAME}.cpp")
+  target_link_libraries(${NAME} PRIVATE ${PROJECT_NAME}
+                                        Boost::unit_test_framework)
+endmacro(DYNAMIC_GRAPH_TEST)
 
 # Signal cast test.
-SET(signalcast_libs signal-cast-registerer-libA signal-cast-registerer-libB)
+set(signalcast_libs signal-cast-registerer-libA signal-cast-registerer-libB)
 
-FOREACH(lib ${signalcast_libs})
-  ADD_LIBRARY(${lib} SHARED "${lib}.cpp")
-  TARGET_LINK_LIBRARIES(${lib} PRIVATE ${PROJECT_NAME})
-ENDFOREACH()
+foreach(lib ${signalcast_libs})
+  add_library(${lib} SHARED "${lib}.cpp")
+  target_link_libraries(${lib} PRIVATE ${PROJECT_NAME})
+endforeach()
 
-DYNAMIC_GRAPH_TEST(signal-cast-registerer)
+dynamic_graph_test(signal-cast-registerer)
 
 # Unit testing.
-IF(NOT APPLE)
-  DYNAMIC_GRAPH_TEST(entity)
-ENDIF(NOT APPLE)
-DYNAMIC_GRAPH_TEST(custom-entity)
-DYNAMIC_GRAPH_TEST(factory)
-DYNAMIC_GRAPH_TEST(pool)
-DYNAMIC_GRAPH_TEST(signal-time-dependent)
-DYNAMIC_GRAPH_TEST(value)
-DYNAMIC_GRAPH_TEST(signal-ptr)
-DYNAMIC_GRAPH_TEST(real-time-logger)
-DYNAMIC_GRAPH_TEST(debug-trace)
-DYNAMIC_GRAPH_TEST(debug-tracer)
-TARGET_LINK_LIBRARIES(debug-tracer PRIVATE tracer)
-DYNAMIC_GRAPH_TEST(debug-real-time-tracer)
-TARGET_LINK_LIBRARIES(debug-real-time-tracer PRIVATE tracer-real-time tracer)
-DYNAMIC_GRAPH_TEST(debug-logger)
-DYNAMIC_GRAPH_TEST(debug-logger-winit)
-DYNAMIC_GRAPH_TEST(signal-all)
-DYNAMIC_GRAPH_TEST(command-test)
-DYNAMIC_GRAPH_TEST(test-mt)
-TARGET_LINK_LIBRARIES(test-mt PRIVATE tracer)
-DYNAMIC_GRAPH_TEST(exceptions)
+if(NOT APPLE)
+  dynamic_graph_test(entity)
+endif(NOT APPLE)
+dynamic_graph_test(custom-entity)
+dynamic_graph_test(factory)
+dynamic_graph_test(pool)
+dynamic_graph_test(signal-time-dependent)
+dynamic_graph_test(value)
+dynamic_graph_test(signal-ptr)
+dynamic_graph_test(real-time-logger)
+dynamic_graph_test(debug-trace)
+dynamic_graph_test(debug-tracer)
+target_link_libraries(debug-tracer PRIVATE tracer)
+dynamic_graph_test(debug-real-time-tracer)
+target_link_libraries(debug-real-time-tracer PRIVATE tracer-real-time tracer)
+dynamic_graph_test(debug-logger)
+dynamic_graph_test(debug-logger-winit)
+dynamic_graph_test(signal-all)
+dynamic_graph_test(command-test)
+dynamic_graph_test(test-mt)
+target_link_libraries(test-mt PRIVATE tracer)
+dynamic_graph_test(exceptions)

tests/interpreter-tracer.cpp

-// 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/signal-cast-register-test.h

-#pragma GCC diagnostic push
-#pragma GCC system_header
 #include <Eigen/Dense>
-#pragma GCC diagnostic pop

tests/signal-ptr.cpp

@@ -45,11 +45,9 @@ class DummyClass {
     ++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;
@@ -317,6 +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

@@ -34,11 +34,9 @@ class DummyClass {
     ++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;

tests/value.cpp

@@ -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

-#!/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

-# -*- 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

-#!/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