Automatic Code Generation Support

.appveyor.yml

@@ -0,0 +1,76 @@
+version: appveyor.{build}
+clone_folder: c:\dev\wb-toolbox
+clone_depth: 1
+
+platform: x64
+configuration: Release
+
+image:
+  - Visual Studio 2015
+  - Visual Studio 2017
+
+skip_tags: true
+skip_branch_with_pr: true
+
+build:
+  parallel: true
+  verbosity: detailed
+
+matrix:
+  fast_finish: true
+
+pull_requests:
+  do_not_increment_build_number: true
+
+init:
+  - ps: $YARP_LATEST = "2.3.72"
+  - ps: $ICUB_LATEST = "1.10.0"
+  - ps: $ROBOTOLOGY_VS = "v14"
+  - ps: if ($env:APPVEYOR_BUILD_WORKER_IMAGE -eq 'Visual Studio 2015') { $GENERATOR = "Visual Studio 14 2015 Win64" }
+  - ps: if ($env:APPVEYOR_BUILD_WORKER_IMAGE -eq 'Visual Studio 2017') { $GENERATOR = "Visual Studio 15 2017 Win64" }
+
+install:
+  - ps: Start-FileDownload https://github.com/robotology/yarp/releases/download/v${YARP_LATEST}/yarp_${YARP_LATEST}_${ROBOTOLOGY_VS}_x86_amd64_1.exe -FileName c:\dev\yarp.exe -Timeout 300000
+  - 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
+  - ps: Start-Process -FilePath "c:\dev\yarp.exe" -ArgumentList "/S" -Wait -NoNewWindow -PassThru
+  - ps: Start-Process -FilePath "c:\dev\icub.exe" -ArgumentList "/S" -Wait -NoNewWindow -PassThru
+
+  - ps: |
+      # From: https://www.michaelmiklis.de/update-environment-variables-in-current-process/
+      # Modified to append appveyor's path
+      $ENV_MACHINE = ([Environment]::GetEnvironmentVariables('Machine'))
+      foreach ($EnvVar in $ENV_MACHINE.keys) {
+        Set-Item "Env:$($EnvVar)" -Value $ENV_MACHINE[$EnvVar]
+      }
+      $ENV_USER = ([Environment]::GetEnvironmentVariables('User'))
+      foreach ($EnvVar in $ENV_USER.keys) {
+        if ($EnvVar -ne 'Path') {
+          Set-Item "Env:$($EnvVar)" -Value $ENV_USER[$EnvVar]
+        }
+      }
+      if ($ENV_USER.ContainsKey('Path')) {
+        Set-Item Env:Path -Value ((($env:Path -split ";") + ($ENV_USER.Path -split ";") + ($ENV_MACHINE.Path -split ";") | select -Unique) -join ";")
+      }
+
+  - ps: git clone -q --depth 1 https://github.com/robotology/idyntree.git c:\dev\idyntree
+  - ps: cd c:\dev\idyntree
+  - ps: mkdir build
+  - ps: cd build
+  - ps: cmake -G"$GENERATOR" -DIDYNTREE_USES_QT5:BOOL=OFF ..
+  - ps: cmake --build . --config $env:CONFIGURATION --target INSTALL
+
+  - ps: git clone -q --depth 1 https://github.com/robotology/ycm.git c:\dev\ycm
+  - ps: mkdir "c:\Program Files\robotology\ycm"
+  - ps: $env:YCM_DIR = "C:/Program Files/robotology/ycm/share/YCM/cmake/"
+  - ps: cd c:\dev\ycm
+  - ps: mkdir build
+  - ps: cd build
+  - ps: cmake -Wno-dev -G"$GENERATOR" -DCMAKE_INSTALL_PREFIX:PATH="c:\Program Files\robotology\ycm" ..
+  - ps: cmake --build . --config $env:CONFIGURATION --target INSTALL
+
+build_script:
+  - ps: cd $env:APPVEYOR_BUILD_FOLDER
+  - ps: mkdir build
+  - ps: cd build
+  - ps: cmake -G"$GENERATOR" ..
+  - ps: cmake --build . --config $env:CONFIGURATION

.clang-format

@@ -8,7 +8,7 @@ AlignConsecutiveDeclarations: false
 AlignEscapedNewlines: Left
 AlignOperands:   true
 AlignTrailingComments: false
-AllowAllParametersOfDeclarationOnNextLine: true
+AllowAllParametersOfDeclarationOnNextLine: false
 AllowShortBlocksOnASingleLine: false
 AllowShortCaseLabelsOnASingleLine: false
 AllowShortFunctionsOnASingleLine: Inline

.travis.yml

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

CMakeLists.txt

@@ -1,22 +1,34 @@
-# Copyright (C) 2013-2017 iCub Facility - Istituto Italiano di Tecnologia
-# Author: Jorhabib Eljaik, Francesco Romano, Diego Ferigo
-# CopyPolicy: Released under the terms of the GNU GPL v2.0.
+# Copyright (C) 2018 Istituto Italiano di Tecnologia (IIT). All rights reserved.
+# This software may be modified and distributed under the terms of the
+# GNU Lesser General Public License v2.1 or any later version.
 
-cmake_minimum_required(VERSION 3.3)
-project(WB-Toolbox)
+cmake_minimum_required(VERSION 3.5)
+project(WB-Toolbox LANGUAGES CXX VERSION 3.1)
 
 set(CMAKE_CXX_STANDARD 11)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
+# Add custom functions / macros
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
+
 find_package(YCM REQUIRED)
 include(YCMDefaultDirs)
 
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
-set(WB-TOOLBOX_SHARE_DIR "${CMAKE_INSTALL_PREFIX}/share/WB-Toolbox")
+find_package(Matlab QUIET COMPONENTS
+    MX_LIBRARY
+    ENG_LIBRARY
+    MAIN_PROGRAM
+    # SIMULINK # Requires CMake > 3.7
+)
 
-add_subdirectory(MxAnyType)
-add_subdirectory(toolbox)
+if(NOT WBTOOLBOX_USES_MATLAB)
+    option(WBTOOLBOX_USES_MATLAB "Compile also Matlab-related components" ${Matlab_FOUND})
+endif()
 
-install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/images DESTINATION ${WB-TOOLBOX_SHARE_DIR})
+if(WBTOOLBOX_USES_MATLAB)
+    add_subdirectory(MxAnyType)
+endif()
+
+add_subdirectory(toolbox)
 
 include(AddUninstallTarget)