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Merge pull request #77
Automatic Code Generation Support
2 parents 755187d + 3960ed4 commit da74420

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‎.appveyor.yml

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version: appveyor.{build}
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clone_folder: c:\dev\wb-toolbox
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clone_depth: 1
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platform: x64
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configuration: Release
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image:
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- Visual Studio 2015
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- Visual Studio 2017
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skip_tags: true
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skip_branch_with_pr: true
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build:
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parallel: true
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verbosity: detailed
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matrix:
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fast_finish: true
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pull_requests:
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do_not_increment_build_number: true
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init:
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- ps: $YARP_LATEST = "2.3.72"
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- ps: $ICUB_LATEST = "1.10.0"
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- ps: $ROBOTOLOGY_VS = "v14"
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- ps: if ($env:APPVEYOR_BUILD_WORKER_IMAGE -eq 'Visual Studio 2015') { $GENERATOR = "Visual Studio 14 2015 Win64" }
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- ps: if ($env:APPVEYOR_BUILD_WORKER_IMAGE -eq 'Visual Studio 2017') { $GENERATOR = "Visual Studio 15 2017 Win64" }
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install:
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- ps: Start-FileDownload https://github.com/robotology/yarp/releases/download/v${YARP_LATEST}/yarp_${YARP_LATEST}_${ROBOTOLOGY_VS}_x86_amd64_1.exe -FileName c:\dev\yarp.exe -Timeout 300000
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- ps: Start-FileDownload https://github.com/robotology/icub-main/releases/download/v${ICUB_LATEST}/iCub_${ICUB_LATEST}_${ROBOTOLOGY_VS}_x86_amd64_1.exe -FileName c:\dev\icub.exe -Timeout 300000
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- ps: Start-Process -FilePath "c:\dev\yarp.exe" -ArgumentList "/S" -Wait -NoNewWindow -PassThru
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- ps: Start-Process -FilePath "c:\dev\icub.exe" -ArgumentList "/S" -Wait -NoNewWindow -PassThru
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- ps: |
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# From: https://www.michaelmiklis.de/update-environment-variables-in-current-process/
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# Modified to append appveyor's path
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$ENV_MACHINE = ([Environment]::GetEnvironmentVariables('Machine'))
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foreach ($EnvVar in $ENV_MACHINE.keys) {
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Set-Item "Env:$($EnvVar)" -Value $ENV_MACHINE[$EnvVar]
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}
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$ENV_USER = ([Environment]::GetEnvironmentVariables('User'))
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foreach ($EnvVar in $ENV_USER.keys) {
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if ($EnvVar -ne 'Path') {
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Set-Item "Env:$($EnvVar)" -Value $ENV_USER[$EnvVar]
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}
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}
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if ($ENV_USER.ContainsKey('Path')) {
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Set-Item Env:Path -Value ((($env:Path -split ";") + ($ENV_USER.Path -split ";") + ($ENV_MACHINE.Path -split ";") | select -Unique) -join ";")
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}
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- ps: git clone -q --depth 1 https://github.com/robotology/idyntree.git c:\dev\idyntree
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- ps: cd c:\dev\idyntree
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- ps: mkdir build
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- ps: cd build
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- ps: cmake -G"$GENERATOR" -DIDYNTREE_USES_QT5:BOOL=OFF ..
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- ps: cmake --build . --config $env:CONFIGURATION --target INSTALL
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- ps: git clone -q --depth 1 https://github.com/robotology/ycm.git c:\dev\ycm
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- ps: mkdir "c:\Program Files\robotology\ycm"
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- ps: $env:YCM_DIR = "C:/Program Files/robotology/ycm/share/YCM/cmake/"
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- ps: cd c:\dev\ycm
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- ps: mkdir build
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- ps: cd build
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- ps: cmake -Wno-dev -G"$GENERATOR" -DCMAKE_INSTALL_PREFIX:PATH="c:\Program Files\robotology\ycm" ..
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- ps: cmake --build . --config $env:CONFIGURATION --target INSTALL
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build_script:
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- ps: cd $env:APPVEYOR_BUILD_FOLDER
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- ps: mkdir build
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- ps: cd build
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- ps: cmake -G"$GENERATOR" ..
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- ps: cmake --build . --config $env:CONFIGURATION

‎.clang-format

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Original file line numberDiff line numberDiff line change
@@ -8,7 +8,7 @@ AlignConsecutiveDeclarations: false
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AlignEscapedNewlines: Left
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AlignOperands: true
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AlignTrailingComments: false
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AllowAllParametersOfDeclarationOnNextLine: true
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AllowAllParametersOfDeclarationOnNextLine: false
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AllowShortBlocksOnASingleLine: false
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AllowShortCaseLabelsOnASingleLine: false
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AllowShortFunctionsOnASingleLine: Inline

‎.travis.yml

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Original file line numberDiff line numberDiff line change
@@ -5,10 +5,220 @@ language: cpp
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os:
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- linux
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8-
matrix:
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cache:
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directories:
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- $HOME/cache
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- $HOME/.ccache
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- $HOME/Library/Caches/Homebrew
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stages:
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- prepare linux
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- test # Default stage with matrix
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- osx
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- deploy
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addons:
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apt:
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sources:
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- sourceline: 'ppa:nschloe/eigen-backports'
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- sourceline: 'deb http://www.icub.org/ubuntu trusty contrib/science'
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packages:
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- cmake3
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- ninja-build
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# YARP / iCub / wb-toolbox
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- icub-common
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- libqt5opengl5-dev
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- libeigen3-dev
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compiler:
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- gcc
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- clang
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env:
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global: TRAVIS_CMAKE_GENERATOR="Ninja"
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matrix:
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- TRAVIS_BUILD_TYPE="Release"
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- TRAVIS_BUILD_TYPE="Debug"
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# ==============
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# STAGE: prepare
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# ==============
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stage_prepare:
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script: &prepare_script
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# Clean the dependencies cache from previous builds (ccache is instead kept)
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- rm -rf $DEPS_CACHE
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- mkdir -p $DEPS_CACHE
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# Install dependencies
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# --------------------
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# Limit concurrency for some project in order to avoid let the CI fail
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- if [ "$TRAVIS_OS_NAME" == "linux" ] ; then CMAKE_BUILD_OPTIONS="-- -j4" ; fi
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- if [ "$TRAVIS_OS_NAME" == "osx" ] ; then CMAKE_BUILD_OPTIONS="" ; fi
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- mkdir $HOME/git
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- export CXXFLAGS="-Wno-unused-command-line-argument"
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# Install YCM
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- cd $HOME/git
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- git clone --depth 1 https://github.com/robotology/ycm.git
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- cd ycm
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- mkdir build && cd build
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- >-
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cmake .. \
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-G"$TRAVIS_CMAKE_GENERATOR" \
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-DCMAKE_INSTALL_PREFIX=$DEPS_CACHE
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- cmake --build . --target install
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# Install Yarp
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- cd $HOME/git
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- git clone --depth 1 https://github.com/robotology/yarp.git
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- cd yarp
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- mkdir build && cd build
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- >-
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cmake .. \
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-G"$TRAVIS_CMAKE_GENERATOR" \
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-DCMAKE_BUILD_TYPE=$TRAVIS_BUILD_TYPE \
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-DCMAKE_INSTALL_PREFIX=$DEPS_CACHE \
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-DCREATE_LIB_MATH=ON
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- cmake --build . --config $TRAVIS_BUILD_TYPE --target install
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# Install icub-main
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- cd $HOME/git
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- git clone --depth 1 https://github.com/robotology/icub-main.git
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- cd icub-main
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- mkdir build && cd build
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- >-
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cmake .. \
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-G"$TRAVIS_CMAKE_GENERATOR" \
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-DCMAKE_BUILD_TYPE=$TRAVIS_BUILD_TYPE \
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-DCMAKE_INSTALL_PREFIX=$DEPS_CACHE
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- cmake --build . --config $TRAVIS_BUILD_TYPE --target install $CMAKE_BUILD_OPTIONS
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# Install iDynTree
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- cd $HOME/git
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- git clone --depth 1 https://github.com/robotology/idyntree.git
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- cd idyntree
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- mkdir build && cd build
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- >-
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cmake .. \
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-G"$TRAVIS_CMAKE_GENERATOR" \
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-DCMAKE_BUILD_TYPE=$TRAVIS_BUILD_TYPE \
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-DCMAKE_INSTALL_PREFIX=$DEPS_CACHE
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- cmake --build . --config $TRAVIS_BUILD_TYPE --target install $CMAKE_BUILD_OPTIONS
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# ===================
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# STAGE: test (linux)
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# ===================
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before_install: &before_install
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# Prepare ccache
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- mkdir -p $HOME/.local/bin
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- ln -s $(which ccache) $HOME/.local/bin/$CC
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- ln -s $(which ccache) $HOME/.local/bin/$CXX
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- export PATH=/$HOME/.local/bin:$PATH
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- echo "max_size = 1.0G" > $HOME/.ccache/ccache.conf
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# Setup the dependencies cache
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- export DEPS_CACHE=$HOME/cache/$TRAVIS_OS_NAME/$TRAVIS_BUILD_TYPE
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- export PATH=$PATH:$DEPS_CACHE/bin
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- export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$DEPS_CACHE/lib
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- export CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:$DEPS_CACHE
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script: &script
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- cd $TRAVIS_BUILD_DIR
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- mkdir build && cd build
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- cmake -G"$TRAVIS_CMAKE_GENERATOR" -DCMAKE_BUILD_TYPE=$TRAVIS_BUILD_TYPE ..
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- cmake --build . --config $TRAVIS_BUILD_TYPE
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before_cache: &before_cache
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- before_cache: rm -rf $DEPS_CACHE
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# ==========
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# STAGE: osx
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# ==========
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stage_osx:
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before_install: &osx_before_install
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# Setup the dependencies cache
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- export DEPS_CACHE=$HOME/cache/$TRAVIS_OS_NAME/$TRAVIS_BUILD_TYPE
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- export PATH=$PATH:$DEPS_CACHE/bin
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- export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$DEPS_CACHE/lib
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- export CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:$DEPS_CACHE
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install: &osx_install
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# Setup ccache
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- brew install ccache
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- export PATH="/usr/local/opt/ccache/libexec:$PATH"
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# Install dependencies
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- brew install eigen ace tinyxml gsl
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# =============
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# STAGE: deploy
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# =============
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stage_deploy:
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install: &deploy_install
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- pip3 install --user Pygments mkdocs mkdocs-material
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- export PATH=$HOME/.local/bin:$PATH
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script: &deploy_script
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- ./$TRAVIS_BUILD_DIR/.ci/generateDocumentation.sh
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#after_success: &after_success_deploy
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#- ./$PROJECT_DIR_ABS/.ci/generateDocumentation.sh || travis_terminate 1
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# ======================
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# BUILD JOBS FROM STAGES
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# ======================
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jobs:
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include:
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# Enable a job for building the documentation
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- os: linux
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- &prepare_template
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stage: prepare linux
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before_install: *before_install
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install: skip
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script: *prepare_script
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before_cache: skip
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compiler: clang
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env:
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TRAVIS_BUILD_TYPE="Release"
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- <<: *prepare_template
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compiler: gcc
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- <<: *prepare_template
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compiler: clang
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env:
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TRAVIS_BUILD_TYPE="Debug"
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- <<: *prepare_template
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compiler: gcc
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env:
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TRAVIS_BUILD_TYPE="Debug"
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- &osx_template
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stage: osx
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os: osx
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compiler: clang
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osx_image: xcode9.3
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before_install: *osx_before_install
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install: *osx_install
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before_script: *prepare_script
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script: *script
203+
before_cache: skip
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env:
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TRAVIS_CMAKE_GENERATOR="Xcode"
206+
TRAVIS_BUILD_TYPE="Debug"
207+
- <<: *osx_template
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env:
209+
TRAVIS_CMAKE_GENERATOR="Unix Makefiles"
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TRAVIS_BUILD_TYPE="Debug"
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- stage: deploy
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compiler:
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cache:
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if: ((branch = master) AND (type != pull_request))
215+
before_install: skip
216+
install: *deploy_install
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before_script: skip
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script: *deploy_script
219+
before_cache: skip
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#after_success: &deploy_after_success
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after_success: skip
12222
env:
13223
TRAVIS_BUILD_DOCS=true
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GIT_COMMITTER_USERNAME=LOC2Bot
@@ -25,26 +235,6 @@ matrix:
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- graphviz
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- python3-pip
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28-
before_install:
29-
# Install documentation dependencies
30-
- >-
31-
if [[ "$TRAVIS_BRANCH" = "master" && -n "$TRAVIS_BUILD_DOCS" && "$TRAVIS_PULL_REQUEST" = "false" ]] ; then
32-
pip3 install --user Pygments mkdocs mkdocs-material || travis_terminate 1
33-
export PATH=$HOME/.local/bin:$PATH
34-
fi
35-
36-
# before_script:
37-
script:
38-
# Right now Travis only builds the documentation
39-
- true
40-
41-
after_success:
42-
# Generate the docs only if master, the TRAVIS_BUILD_DOCS is true and we can use secure variables
43-
- >-
44-
if [[ "$TRAVIS_BRANCH" = "master" && -n "$TRAVIS_BUILD_DOCS" && "$TRAVIS_PULL_REQUEST" = "false" ]] ; then
45-
./$PROJECT_DIR_ABS/.ci/generateDocumentation.sh || travis_terminate 1
46-
fi
47-
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# notifications:
49239
# email:
50240
# - [email protected]

‎CMakeLists.txt

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Original file line numberDiff line numberDiff line change
@@ -1,22 +1,34 @@
1-
# Copyright (C) 2013-2017 iCub Facility - Istituto Italiano di Tecnologia
2-
# Author: Jorhabib Eljaik, Francesco Romano, Diego Ferigo
3-
# CopyPolicy: Released under the terms of the GNU GPL v2.0.
1+
# Copyright (C) 2018 Istituto Italiano di Tecnologia (IIT). All rights reserved.
2+
# This software may be modified and distributed under the terms of the
3+
# GNU Lesser General Public License v2.1 or any later version.
44

5-
cmake_minimum_required(VERSION 3.3)
6-
project(WB-Toolbox)
5+
cmake_minimum_required(VERSION 3.5)
6+
project(WB-Toolbox LANGUAGES CXX VERSION 3.1)
77

88
set(CMAKE_CXX_STANDARD 11)
99
set(CMAKE_CXX_STANDARD_REQUIRED ON)
1010

11+
# Add custom functions / macros
12+
list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
13+
1114
find_package(YCM REQUIRED)
1215
include(YCMDefaultDirs)
1316

14-
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
15-
set(WB-TOOLBOX_SHARE_DIR "${CMAKE_INSTALL_PREFIX}/share/WB-Toolbox")
17+
find_package(Matlab QUIET COMPONENTS
18+
MX_LIBRARY
19+
ENG_LIBRARY
20+
MAIN_PROGRAM
21+
# SIMULINK # Requires CMake > 3.7
22+
)
1623

17-
add_subdirectory(MxAnyType)
18-
add_subdirectory(toolbox)
24+
if(NOT WBTOOLBOX_USES_MATLAB)
25+
option(WBTOOLBOX_USES_MATLAB "Compile also Matlab-related components" ${Matlab_FOUND})
26+
endif()
1927

20-
install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/images DESTINATION ${WB-TOOLBOX_SHARE_DIR})
28+
if(WBTOOLBOX_USES_MATLAB)
29+
add_subdirectory(MxAnyType)
30+
endif()
31+
32+
add_subdirectory(toolbox)
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2234
include(AddUninstallTarget)

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