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Setup CI testing for Xenial and Bionic using Docker (#57)
1 parent 2c4fe0b commit 24b963c

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‎.ci/docker/env.list

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TRAVIS_BRANCH
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TRAVIS_BUILD_DIR
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TRAVIS_OS_NAME
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TRAVIS_PULL_REQUEST
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COMPILER
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BUILD_TYPE
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CODECOV
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SUDO

‎.ci/docker/ubuntu-bionic

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FROM ubuntu:bionic
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RUN apt-get -y update
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RUN apt-get install -y software-properties-common
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RUN add-apt-repository ppa:dartsim/ppa -y
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RUN add-apt-repository ppa:personalrobotics/ppa -y
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RUN apt-get -y update
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RUN apt-get install -y \
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sudo \
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build-essential \
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cmake \
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pkg-config \
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wget \
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git \
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libboost-dev \
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libboost-python-dev \
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libdart6-all-dev \
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python3-dev \
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python3-numpy \
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python3-boost-numpy-eigen \
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chimera

‎.ci/docker/ubuntu-xenial

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FROM ubuntu:xenial
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RUN apt-get -y update
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RUN apt-get install -y software-properties-common
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RUN add-apt-repository ppa:dartsim/ppa -y
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RUN add-apt-repository ppa:personalrobotics/ppa -y
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RUN apt-get -y update
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RUN apt-get install -y \
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sudo \
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build-essential \
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cmake \
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pkg-config \
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wget \
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git \
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libboost-dev \
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libboost-python-dev \
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libboost-python-numpy-dev \
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libdart6-all-dev \
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python3-dev \
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python3-numpy \
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python3-boost-numpy-eigen \
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chimera

‎.ci/install.sh

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#!/bin/sh
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set -ex
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if [ "$TRAVIS_OS_NAME" = "linux" ]; then '.ci/install_linux.sh'; fi
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if [ "$TRAVIS_OS_NAME" = "osx" ]; then '.ci/install_macos.sh'; fi

‎.ci/install_linux.sh

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#!/bin/sh
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set -ex
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# Install DART
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if [ `lsb_release -sc` = "trusty" ]; then
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sudo apt-add-repository ppa:libccd-debs -y
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sudo apt-add-repository ppa:fcl-debs -y
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fi
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sudo apt-add-repository ppa:dartsim -y
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sudo apt-add-repository ppa:personalrobotics -y
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sudo apt-get update -q
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sudo apt-get install cmake libboost-dev libboost-python-dev libboost-python-numpy-dev libdart6-all-dev
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sudo apt-get install python-dev python-numpy python-boost-numpy-eigen # for Python 2
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sudo apt-get install python3-dev python3-numpy python3-boost-numpy-eigen # for Python 3
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sudo apt-get install python3-pytest
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# Install dartpy for running Python tests without building dartpy
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sudo apt-get install python3-dartpy
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# Install Chimera
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if [ `lsb_release -sc` = "trusty" ]; then
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sudo add-apt-repository 'deb http://llvm.org/apt/trusty/ llvm-toolchain-trusty-3.6 main' -y
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wget -O - http://llvm.org/apt/llvm-snapshot.gpg.key | sudo apt-key add -
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sudo apt-get update -q
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sudo apt-get install llvm-3.6-dev llvm-3.6-tools libclang-3.6-dev libedit-dev libyaml-cpp-dev libboost-dev -y
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cd ..
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git clone https://github.com/personalrobotics/chimera.git
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cd chimera
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mkdir build
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cd build
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cmake -DLLVM_DIR="/usr/share/llvm-3.6/cmake/" ..
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make -j4
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sudo make install
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cd ../../dartpy
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else
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sudo apt-get install chimera -y
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fi

‎ci/install_macos.sh renamed to ‎.ci/install_macos.sh

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#!/bin/sh
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set -ex
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#brew install boost [email protected]
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#brew install yaml-cpp --with-static-lib
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#export PKG_CONFIG_PATH=/usr/local/Cellar/yaml-cpp/0.5.2/lib/pkgconfig

‎.ci/script.sh

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#!/bin/sh
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set -ex
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mkdir build
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cd build
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if [ "$TRAVIS_OS_NAME" = "linux" ]; then
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cmake .. -DDARTPY_PYTHON_VERSION=$TRAVIS_PYTHON_VERSION
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fi
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if [ "$TRAVIS_BRANCH" != "*-binding" ]; then
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make binding
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fi
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# Don't actually build dartpy because the build time exceeds Travis CI time limit.
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# make -j4
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# $SUDO make install
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# Run pytest for Python tests of dartpy
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make pytest

‎.travis.yml

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dist: trusty
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python:
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- "2.7"
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- "3.4"
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matrix:
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include:
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- os: linux
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python: "3.4"
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env:
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- SUDO=sudo
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- PYTHON_VERSION=3.4
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- os: linux
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services: docker
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env:
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- DOCKER_FILE="ubuntu-xenial"
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- PYTHON_VERSION=3.5
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- os: linux
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services: docker
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env:
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- DOCKER_FILE="ubuntu-bionic"
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- PYTHON_VERSION=3.6
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install:
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- if [ "$TRAVIS_OS_NAME" = "linux" ]; then 'ci/install_linux.sh'; fi
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- if [ "$TRAVIS_OS_NAME" = "osx" ]; then 'ci/install_macos.sh'; fi
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- if [ -n "$DOCKER_FILE" ]; then
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docker build -t "$DOCKER_FILE" -f ".ci/docker/$DOCKER_FILE" .;
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docker run -itd -v $TRAVIS_BUILD_DIR:$TRAVIS_BUILD_DIR --env-file .ci/docker/env.list --name dartpy-docker "$DOCKER_FILE";
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else
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'.ci/install.sh';
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fi
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script:
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- mkdir build
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- cd build
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- if [ "$TRAVIS_OS_NAME" = "linux" ]; then cmake .. -DDARTPY_PYTHON_VERSION=$TRAVIS_PYTHON_VERSION; fi
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- if [ "$TRAVIS_BRANCH" != "*-binding" ]; then make binding; fi
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- make -j4
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- sudo make install
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- if [ -n "$DOCKER_FILE" ]; then
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docker exec dartpy-docker /bin/sh -c "cd $TRAVIS_BUILD_DIR && ./.ci/script.sh";
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else
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'.ci/script.sh';
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fi
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after_failure:
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- cat Testing/Temporary/LastTest.log

‎CMakeLists.txt

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OUTPUT_STRIP_TRAILING_WHITESPACE
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)
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if(${PYTHON_VERSION_MAJOR} EQUAL 3)
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find_package(Boost COMPONENTS python-py${PYTHON_VERSION_MAJOR}${PYTHON_VERSION_MINOR} thread)
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set(DARTPY_Boost_PYTHON_LIBRARIES ${Boost_PYTHON-PY${PYTHON_VERSION_MAJOR}${PYTHON_VERSION_MINOR}_LIBRARIES})
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if (NOT Boost_FOUND)
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find_package(Boost REQUIRED COMPONENTS python3 thread)
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set(DARTPY_Boost_PYTHON_LIBRARIES ${Boost_PYTHON3_LIBRARIES})
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# Find boost with python components. The name of python component varies
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# depending on the platform, boost version, and python version.
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if(APPLE)
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find_package(Boost REQUIRED
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COMPONENTS
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python${PYTHON_VERSION_MAJOR}${PYTHON_VERSION_MINOR} thread
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)
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set(DARTPY_Boost_PYTHON_LIBRARIES
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${Boost_PYTHON${PYTHON_VERSION_MAJOR}${PYTHON_VERSION_MINOR}_LIBRARIES}
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)
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else() # LINUX assumed
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if(${PYTHON_VERSION_MAJOR} EQUAL 3)
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find_package(Boost
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COMPONENTS
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python-py${PYTHON_VERSION_MAJOR}${PYTHON_VERSION_MINOR} thread
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)
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set(DARTPY_Boost_PYTHON_LIBRARIES
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${Boost_PYTHON-PY${PYTHON_VERSION_MAJOR}${PYTHON_VERSION_MINOR}_LIBRARIES}
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)
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if(NOT Boost_FOUND)
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find_package(Boost REQUIRED COMPONENTS python3 thread)
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set(DARTPY_Boost_PYTHON_LIBRARIES ${Boost_PYTHON3_LIBRARIES})
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endif()
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else() # Python 2 assumed
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find_package(Boost REQUIRED COMPONENTS python thread)
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set(DARTPY_Boost_PYTHON_LIBRARIES ${Boost_PYTHON_LIBRARIES})
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endif()
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else()
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find_package(Boost REQUIRED COMPONENTS python thread)
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set(DARTPY_Boost_PYTHON_LIBRARIES ${Boost_PYTHON_LIBRARIES})
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endif()
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find_package(DART 6.3.0 REQUIRED
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gui-osg
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CONFIG
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)
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find_package(PythonLibs ${DARTPY_PYTHON_VERSION} REQUIRED)
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find_package(chimera QUIET)
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‎ci/install_linux.sh

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‎include/dartpy/pointers.h

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#endif
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#include "get_signature.h"
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#include <dart/dynamics/dynamics.hpp>
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#include <dart/dynamics/dynamics.hpp>
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// TODO(JS): This includes Boost headers, which conflicts with

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