Travis: switch to xenial build environment and add clang and C++11 jobs

.travis.yml

@@ -1,23 +1,79 @@
-sudo: required
-dist: trusty
-language:
-  - cpp
-compiler:
-  - gcc
+language: cpp
+
+cache: ccache
+
+addons:
+  apt:
+    sources:
+      - ubuntu-toolchain-r-test
+    packages:
+      - libxml-xpath-perl
+      - libboost-all-dev
+      - omniorb
+      - omniidl
+      - omniorb-nameserver
+      - libomniorb4-dev
+      - pkg-config
+      - clang-3.8
+
+env:
+  global:
+    - EXTRA_CMAKE_ARGS="-DENABLE_TESTS=ON -DENABLE_CORBA=ON -DCORBA_IMPLEMENTATION=OMNIORB"
+    - BOOST_TEST_LOG_LEVEL=message
+    - CFLAGS="-Wall -Wextra -Wno-unused-parameter"
+
+matrix:
+  include:
+    - os: linux
+      dist: xenial
+      env: COMPILER=gcc CXXFLAGS="-std=c++03 -Wall -Wextra -Wno-unused-parameter"
+    - os: linux
+      dist: xenial
+      env: COMPILER=gcc CXXFLAGS="-std=c++11 -Wall -Wextra -Wno-unused-parameter"
+    - os: linux
+      dist: xenial
+      env: COMPILER=clang-3.8 CXXFLAGS="-std=c++11 -Wall -Wextra -Wno-unused-parameter"
+    - os: linux
+      dist: xenial
+      env: COMPILER=clang CXXFLAGS="-std=c++11 -Wall -Wextra -Wno-unused-parameter"
+    - os: osx
+      osx_image: xcode10.1
+
+branches:
+  only:
+  - master
+  - /^toolchain-[\d\.]+[\d]$/
+
 before_install:
-  # Update package indexes and install dependencies
-  - sudo apt-get update -qq
-  - sudo apt-get install -qq -y libxml-xpath-perl libboost-all-dev omniorb omniidl omniorb-nameserver libomniorb4-dev pkg-config
-
-install:
-  - export EXTRA_CMAKE_ARGS="-DENABLE_TESTS=ON -DENABLE_CORBA=ON -DCORBA_IMPLEMENTATION=OMNIORB"
-  - export CFLAGS="-std=c99 -Wall -Wextra -Wno-unused-parameter"
-  - export CXXFLAGS="-std=c++11 -Wall -Wextra -Wno-unused-parameter"
+  # Set C/C++ compiler
+  - |
+    if [[ "${COMPILER}" != "" ]]; then
+      export CC=${COMPILER}
+      if [[ "${COMPILER}" == "gcc"* ]]; then
+        export CXX=${COMPILER/gcc/g++}
+      elif [[ "${COMPILER}" == "clang"* ]]; then
+        export CXX=${COMPILER/clang/clang++}
+      fi
+      ${CC} --version
+      ${CXX} --version
+    fi
+
+  # Install HomeBrew dependencies (macOS only)
+  - |
+    if [[ "$TRAVIS_OS_NAME" == "osx" ]]; then
+      brew update
+      brew reinstall boost cmake ccache omniorb
+      export PATH="/use/local/opt/ccache/libexec:$PATH"
+    fi
+
+  # Create build directory
   - mkdir -p build && cd build
-  - cmake .. -DCMAKE_INSTALL_PREFIX=$(pwd)/install $EXTRA_CMAKE_ARGS
-  - make -j2 install
 
 script:
+  # Build and install RTT
+  - cmake .. -DCMAKE_INSTALL_PREFIX=$(pwd)/install ${EXTRA_CMAKE_ARGS}
+  - make -j2 install
+
   # Run tests
   - export BOOST_TEST_LOG_LEVEL=message
   - export ORBtraceExceptions=1

rtt/types/TypeInfo.cpp

@@ -41,6 +41,7 @@
 #include "../internal/DataSourceTypeInfo.hpp"
 #include "../internal/ConnFactory.hpp"
 #include "TypeTransporter.hpp"
+#include "TypeInfoRepository.hpp"
 
 #include "rtt-config.h"
 
@@ -159,6 +160,7 @@ namespace RTT
             else {
                 log(Warning) << "The protocol with id "<<protocol_id<<" did not register a fall-back handler for unknown types!"<<endlog();
                 log(Warning) << "  triggered by: "<< getTypeName() << " which does not have a transport."<<endlog();
+                TypeInfoRepository::Instance()->logTypeInfo();
                 return 0; // That transport did not register a fall-back !
             }
         }

tests/corba_ipc_server.cpp

@@ -57,7 +57,12 @@ class TheServer : public TaskContext, public OperationsFixture
         ports()->addEventPort( mi1 );
         ports()->addPort( mo1 );
         this->createOperationCallerFactories( this );
-        ts = corba::TaskContextServer::Create( this, /* use_naming = */ true );
+#if ORO_NO_EMIT_CORBA_IOR
+        const bool use_naming = true;
+#else
+        const bool use_naming = false;
+#endif
+        ts = corba::TaskContextServer::Create( this, use_naming );
         this->start();
         addOperation("callBackPeer", &TheServer::callBackPeer, this,ClientThread);
         addOperation("callBackPeerOwn", &TheServer::callBackPeer, this,OwnThread);

tests/corba_ipc_test.cpp

@@ -234,10 +234,12 @@ BOOST_FIXTURE_TEST_SUITE(  CorbaIPCTestSuite,  CorbaTest )
 
 BOOST_AUTO_TEST_CASE( testRemoteOperationCallerC )
 {
-    tp = corba::TaskContextProxy::Create( "peerRMC", /* is_ior = */ false ); // no-ior
-    if (!tp )
-        tp = corba::TaskContextProxy::CreateFromFile( "peerRMC.ior");
-    BOOST_REQUIRE( tp );
+#ifndef ORO_NO_EMIT_CORBA_IOR
+    tp = corba::TaskContextProxy::CreateFromFile( "peerRMC.ior");
+#endif
+    if (!tp)
+        tp = corba::TaskContextProxy::Create( "peerRMC", /* is_ior = */ false);
+    BOOST_REQUIRE(tp);
 
     // This test tests 'transparant' remote invocation of Orocos internal::OperationCallerC objects.
     internal::OperationCallerC mc;
@@ -262,10 +264,13 @@ BOOST_AUTO_TEST_CASE( testRemoteOperationCallerC )
 
 BOOST_AUTO_TEST_CASE( testRemoteOperationCaller )
 {
-    tp = corba::TaskContextProxy::Create( "peerRM" , /* is_ior = */ false);
-    if (!tp )
-        tp = corba::TaskContextProxy::CreateFromFile( "peerRM.ior");
+#ifndef ORO_NO_EMIT_CORBA_IOR
+    tp = corba::TaskContextProxy::CreateFromFile( "peerRM.ior");
+#endif
+    if (!tp)
+        tp = corba::TaskContextProxy::Create( "peerRM", /* is_ior = */ false);
     BOOST_REQUIRE(tp);
+
     // This test tests 'transparant' remote invocation of Orocos methods.
     // This requires the internal::RemoteOperationCaller class, which does not work yet.
     RTT::OperationCaller<double(void)> m0 = tp->provides("methods")->getOperation("m0");
@@ -287,9 +292,11 @@ BOOST_AUTO_TEST_CASE( testRemoteOperationCaller )
  */
 BOOST_AUTO_TEST_CASE( testRemoteOperationCallerCallback )
 {
-    tp = corba::TaskContextProxy::Create( "peerRMCb" , /* is_ior = */ false);
-    if (!tp )
-        tp = corba::TaskContextProxy::CreateFromFile( "peerRMC.ior");
+#ifndef ORO_NO_EMIT_CORBA_IOR
+    tp = corba::TaskContextProxy::CreateFromFile( "peerRMCb.ior");
+#endif
+    if (!tp)
+        tp = corba::TaskContextProxy::Create( "peerRMCb", /* is_ior = */ false);
     BOOST_REQUIRE(tp);
 
     BOOST_REQUIRE( RTT::internal::DataSourceTypeInfo<TaskContext*>::getTypeInfo() != 0 );
@@ -308,9 +315,12 @@ BOOST_AUTO_TEST_CASE( testRemoteOperationCallerCallback )
 BOOST_AUTO_TEST_CASE( testAnyOperationCaller )
 {
     double d;
-    tp = corba::TaskContextProxy::Create( "peerAM" , /* is_ior = */ false);
-    if (!tp )
-        tp = corba::TaskContextProxy::CreateFromFile( "peerAM.ior");
+#ifndef ORO_NO_EMIT_CORBA_IOR
+    tp = corba::TaskContextProxy::CreateFromFile( "peerAM.ior");
+#endif
+    if (!tp)
+        tp = corba::TaskContextProxy::Create( "peerAM", /* is_ior = */ false);
+    BOOST_REQUIRE(tp);
 
     BOOST_REQUIRE(tp);
     s = tp->server();
@@ -379,9 +389,12 @@ BOOST_AUTO_TEST_CASE( testAnyOperationCaller )
 
 BOOST_AUTO_TEST_CASE(testDataFlowInterface)
 {
-    tp = corba::TaskContextProxy::Create( "peerDFI" , /* is_ior = */ false);
-    if (!tp )
-        tp = corba::TaskContextProxy::CreateFromFile( "peerDFI.ior");
+#ifndef ORO_NO_EMIT_CORBA_IOR
+    tp = corba::TaskContextProxy::CreateFromFile( "peerDFI.ior");
+#endif
+    if (!tp)
+        tp = corba::TaskContextProxy::Create( "peerDFI", /* is_ior = */ false);
+    BOOST_REQUIRE(tp);
 
     BOOST_REQUIRE(tp);
     corba::CDataFlowInterface_var ports = tp->server()->ports();
@@ -407,10 +420,13 @@ BOOST_AUTO_TEST_CASE(testDataFlowInterface)
 
 BOOST_AUTO_TEST_CASE( testPortConnections )
 {
-    // This test tests the differen port-to-port connections.
-    tp = corba::TaskContextProxy::Create( "peerPC", /* is_ior = */ false);
-    if (!tp )
-        tp = corba::TaskContextProxy::CreateFromFile( "peerPC.ior");
+    // This test tests the different port-to-port connections.
+#ifndef ORO_NO_EMIT_CORBA_IOR
+    tp = corba::TaskContextProxy::CreateFromFile( "peerPC.ior");
+#endif
+    if (!tp)
+        tp = corba::TaskContextProxy::Create( "peerPC", /* is_ior = */ false);
+    BOOST_REQUIRE(tp);
 
     BOOST_REQUIRE(tp);
 
@@ -499,9 +515,12 @@ BOOST_AUTO_TEST_CASE( testPortConnections )
 BOOST_AUTO_TEST_CASE( testPortProxying )
 {
     // This test creates connections between local and remote ports.
-    tp = corba::TaskContextProxy::Create( "peerPP" , /* is_ior = */ false);
-    if (!tp )
-        tp = corba::TaskContextProxy::CreateFromFile( "peerPP.ior");
+#ifndef ORO_NO_EMIT_CORBA_IOR
+    tp = corba::TaskContextProxy::CreateFromFile( "peerPP.ior");
+#endif
+    if (!tp)
+        tp = corba::TaskContextProxy::Create( "peerPP", /* is_ior = */ false);
+    BOOST_REQUIRE(tp);
 
     BOOST_REQUIRE(tp);
 
@@ -563,16 +582,13 @@ BOOST_AUTO_TEST_CASE( testPortProxying )
 
 BOOST_AUTO_TEST_CASE( testDataHalfs )
 {
-    if(std::getenv("CI") != NULL) {
-      BOOST_TEST_MESSAGE("Skipping testDataHalfs because it can fail on integration servers.");
-      return;
-    }
-
     double result;
-    // This test tests the differen port-to-port connections.
-    tp = corba::TaskContextProxy::Create( "peerDH" , /* is_ior = */ false);
-    if (!tp )
-        tp = corba::TaskContextProxy::CreateFromFile( "peerDH.ior");
+#ifndef ORO_NO_EMIT_CORBA_IOR
+    tp = corba::TaskContextProxy::CreateFromFile( "peerDH.ior");
+#endif
+    if (!tp)
+        tp = corba::TaskContextProxy::Create( "peerDH", /* is_ior = */ false);
+    BOOST_REQUIRE(tp);
 
     BOOST_REQUIRE(tp);
 
@@ -631,17 +647,13 @@ BOOST_AUTO_TEST_CASE( testDataHalfs )
 
 BOOST_AUTO_TEST_CASE( testBufferHalfs )
 {
-    if(std::getenv("CI") != NULL) {
-      BOOST_TEST_MESSAGE("Skipping testBufferHalfs because it can fail on integration servers.");
-      return;
-    }
-
     double result;
-
-    // This test tests the differen port-to-port connections.
-    tp = corba::TaskContextProxy::Create( "peerBH" , /* is_ior = */ false);
-    if (!tp )
-        tp = corba::TaskContextProxy::CreateFromFile( "peerBH.ior");
+#ifndef ORO_NO_EMIT_CORBA_IOR
+    tp = corba::TaskContextProxy::CreateFromFile( "peerBH.ior");
+#endif
+    if (!tp)
+        tp = corba::TaskContextProxy::Create( "peerBH", /* is_ior = */ false);
+    BOOST_REQUIRE(tp);
 
     BOOST_REQUIRE(tp);
 

tests/corba_mqueue_ipc_server.cpp

@@ -44,7 +44,12 @@ class TheServer : public TaskContext
         ports()->addEventPort( mi1 );
         ports()->addPort( mo1 );
         this->start();
-        ts = corba::TaskContextServer::Create( this, /* use_naming = */ true );
+#if ORO_NO_EMIT_CORBA_IOR
+        const bool use_naming = true;
+#else
+        const bool use_naming = false;
+#endif
+        ts = corba::TaskContextServer::Create( this, use_naming );
     }
     ~TheServer() {
         this->stop();

tests/corba_mqueue_ipc_test.cpp

@@ -188,10 +188,11 @@ BOOST_AUTO_TEST_CASE( testPortConnections )
 {
     // This test tests the different port-to-port connections.
     ts = corba::TaskContextServer::Create( tc, /* use_naming = */ false );
-    tp = corba::TaskContextProxy::Create( "other", /* is_ior = */ false );
+#ifndef ORO_NO_EMIT_CORBA_IOR
+    tp = corba::TaskContextProxy::CreateFromFile( "other.ior");
+#endif
     if (!tp)
-        tp = corba::TaskContextProxy::CreateFromFile( "other.ior");
-
+        tp = corba::TaskContextProxy::Create( "other", /* is_ior = */ false);
     BOOST_REQUIRE(tp);
 
     // Create a default CORBA policy specification

tests/datasource_test.cpp

@@ -178,8 +178,8 @@ BOOST_AUTO_TEST_CASE( testArrayPartDataSource )
     index->set( 3 );
     d->set( 'L' );
     BOOST_CHECK_EQUAL( "WorLd", btype.c );
-    BOOST_CHECK( strcmp( &d->set(), &abase->get().c[3]) == 0 );
-    BOOST_CHECK_EQUAL( &d->set(), &btype.c[3] );
+    BOOST_CHECK( strcmp( &d->set(), abase->get().c + 3) == 0 );
+    BOOST_CHECK_EQUAL( &d->set(), btype.c + 3 );
 }
 
 

tests/setup_corba.cpp

@@ -23,8 +23,8 @@
 
 int main(int argc, char** argv)
 {
-    int i = system("[ ! -r ./corba-ipc-server ] || ./corba-ipc-server &");
-    i = system("[ ! -r ./corba-mqueue-ipc-server ] || ./corba-mqueue-ipc-server &");
+    int i = system("[ ! -r ./corba-ipc-server ] || ORO_LOGLEVEL=6 ./corba-ipc-server &");
+    i = system("[ ! -r ./corba-mqueue-ipc-server ] || ORO_LOGLEVEL=6 ./corba-mqueue-ipc-server &");
     usleep(500000);
     return i;
 }

tests/tasks_test.cpp

@@ -443,6 +443,7 @@ BOOST_AUTO_TEST_CASE( testAffinity )
       BOOST_TEST_MESSAGE("Skipping testAffinity because it can fail on integration servers.");
       return;
     }
+
     // this test is kind of irrelevant with only 1 CPU
     int numCPU = sysconf( _SC_NPROCESSORS_ONLN );
     if (1 < numCPU)

tests/taskthread_test.cpp

@@ -21,6 +21,7 @@
 
 #include "taskthread_test.hpp"
 
+#include <cstdlib>
 #include <iostream>
 
 #include <extras/Activities.hpp>
@@ -235,12 +236,16 @@ BOOST_AUTO_TEST_CASE( testPeriodicActivity )
     }
 
     // Different CPU affinity
-    unsigned cpu_affinity = 1; // first CPU only
-    if ( mtask.thread()->getCpuAffinity() != (unsigned) ~0 &&
-         mtask.thread()->getCpuAffinity() != cpu_affinity ) {
-        PeriodicActivity m4task(ORO_SCHED_OTHER, 15, 0.01, cpu_affinity);
-        BOOST_CHECK( mtask.thread() != m4task.thread() );
-        BOOST_CHECK_EQUAL( cpu_affinity, m4task.thread()->getCpuAffinity() );
+    if (std::getenv("CI") != NULL) {
+        BOOST_TEST_MESSAGE("Skipping CPU affinity test in testPeriodic because it can fail on integration servers.");
+    } else {
+        unsigned cpu_affinity = 1; // first CPU only
+        if ( mtask.thread()->getCpuAffinity() != (unsigned) ~0 &&
+             mtask.thread()->getCpuAffinity() != cpu_affinity ) {
+            PeriodicActivity m4task(ORO_SCHED_OTHER, 15, 0.01, cpu_affinity);
+            BOOST_CHECK( mtask.thread() != m4task.thread() );
+            BOOST_CHECK_EQUAL( cpu_affinity, m4task.thread()->getCpuAffinity() );
+        }
     }
 
     // Starting thread if thread not running