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.travis.sh
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#!/bin/bash
set -x
function error {
travis_time_end 31
find ${HOME}/.ros/test_results -type f -exec echo "=== {} ===" \; -exec\
cat {} \;
for file in ${HOME}/.ros/log/rostest-*; do echo "=== $file ==="; cat \$\
file; done
exit 1
}
trap error ERR
function travis_time_start {
set +x
TRAVIS_START_TIME=$(date +%s%N)
TRAVIS_TIME_ID=$(cat /dev/urandom | tr -dc 'a-z0-9' | fold -w 8 | head -n 1)
TRAVIS_FOLD_NAME=$1
echo -e "\e[0Ktraivs_fold:start:$TRAVIS_FOLD_NAME"
echo -e "\e[0Ktraivs_time:start:$TRAVIS_TIME_ID"
set -x
}
function travis_time_end {
set +x
_COLOR=${1:-32}
TRAVIS_END_TIME=$(date +%s%N)
TIME_ELAPSED_SECONDS=$(( ($TRAVIS_END_TIME - $TRAVIS_START_TIME)/1000000000 ))
echo -e "traivs_time:end:$TRAVIS_TIME_ID:start=$TRAVIS_START_TIME,finish=$TRAVIS_END_TIME,duration=$(($TRAVIS_END_TIME - $TRAVIS_START_TIME))\n\e[0K"
echo -e "traivs_fold:end:$TRAVIS_FOLD_NAME"
echo -e "\e[0K\e[${_COLOR}mFunction $TRAVIS_FOLD_NAME takes $(( $TIME_ELAPSED_SECONDS / 60 )) min $(( $TIME_ELAPSED_SECONDS % 60 )) sec\e[0m"
set -x
}
travis_time_start mongo_hack
# MongoDB hack
dpkg -s mongodb || echo "ok"; export HAVE_MONGO_DB=$?
# Remove configuration file for mongodb using --purge option (reported in https://github.com/fkanehiro/hrpsys-base/pull/900#issuecomment-162392884)
if [ $HAVE_MONGO_DB == 0 ]; then sudo apt-get remove --purge -qq -y mongodb mongodb-10gen || echo "ok"; fi
if [ $HAVE_MONGO_DB == 0 ]; then sudo apt-get install -qq -y mongodb-clients mongodb-server -o Dpkg::Options::="--force-confdef" || echo "ok"; fi # default actions
travis_time_end
travis_time_start setup_ros
export CI_SOURCE_PATH=$(pwd)
export REPOSITORY_NAME=${PWD##*/}
echo "Testing branch $TRAVIS_BRANCH of $REPOSITORY_NAME"
sudo sh -c 'echo "deb http:https://packages.ros.org/ros-shadow-fixed/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'
wget http:https://packages.ros.org/ros.key -O - | sudo apt-key add -
sudo apt-get update -qq
travis_time_end
travis_time_start disable_ssl
# disable ssl
git config --global http.sslVerify false
travis_time_end
case $TEST_PACKAGE in
hrpsys)
case $TEST_TYPE in
python)
travis_time_start install_python
#http:https://askubuntu.com/questions/204510/how-to-install-python-2-5-4
sudo apt-add-repository -y ppa:fkrull/deadsnakes
sudo apt-get update -qq
sudo apt-get install -qq -y python2.5 python3.4
travis_time_end
travis_time_start check_python
for code in python/*.py; do
python2.5 -m py_compile $code
python2.7 -m py_compile $code
python3.4 -m py_compile $code
done
travis_time_end
;;
iob)
travis_time_start install_wget
sudo apt-get install -qq -y cproto wget diffstat
travis_time_end
travis_time_start iob_test
wget https://github.com/fkanehiro/hrpsys-base/raw/315.1.9/lib/io/iob.h -O iob.h.315.1.9
echo -e "#define pid_t int\n#define size_t int\n#include \"lib/io/iob.h\"" | cproto -x - | sort > iob.h.current
echo -e "#define pid_t int\n#define size_t int\n#include \"iob.h.315.1.9\"" | cproto -x - | sort > iob.h.stable
cat iob.h.current
cat iob.h.stable
diff iob.h.stable iob.h.current || exit 1
travis_time_end
;;
stable_rtc)
travis_time_start install_openrtm
sudo apt-get install -qq -y omniidl diffstat wget ros-hydro-openrtm-aist
source /opt/ros/hydro/setup.bash
## check stableRTCList
sed -i 's@^from@#from@g' python/hrpsys_config.py
sed -i 's@^import@#import@' python/hrpsys_config.py
sed -i 's@^_EPS@#_EPS@' python/hrpsys_config.py
sed -i 's@=nshost@=None@' python/hrpsys_config.py
sed -i 's@initCORBA@#initCORBA@' python/hrpsys_config.py
if [ "`python -c "import python.hrpsys_config; hcf=python.hrpsys_config.HrpsysConfigurator(); print [ x[1] for x in hcf.getRTCList()]" | tail -1`" != "['SequencePlayer', 'StateHolder', 'ForwardKinematics', 'CollisionDetector', 'SoftErrorLimiter', 'DataLogger']" ]; then
exit 1
fi
travis_time_end
travis_time_start check_idl
## check idl
mkdir stable_idl
for idl_file in SequencePlayerService.idl StateHolderService.idl ForwardKinematicsService.idl CollisionDetectorService.idl SoftErrorLimiterService.idl DataLoggerService.idl ExecutionProfileService.idl HRPDataTypes.idl RobotHardwareService.idl ; do
wget https://github.com/fkanehiro/hrpsys-base/raw/315.1.9/idl/${idl_file} -O stable_idl/${idl_file}
omniidl -bcxx -I/opt/ros/hydro/include/openrtm-1.1/rtm/idl/ idl/${idl_file}
omniidl -bcxx -I/opt/ros/hydro/include/openrtm-1.1/rtm/idl/ -C stable_idl stable_idl/${idl_file}
sk_file=$(basename ${idl_file} .idl)SK.cc
cat ${sk_file}
cat stable_idl/${sk_file}
diff stable_idl/${sk_file} ${sk_file} | tee >(cat - 1>&2) | diffstat | grep -c deletion && exit 1
done
echo "ok"
travis_time_end
;;
*)
travis_time_start install_libs
# COMPILE_ONLY
sudo apt-get install -qq -y freeglut3-dev python-tk jython doxygen graphviz libboost-all-dev libsdl1.2-dev libglew1.6-dev libqhull-dev libirrlicht-dev libxmu-dev libcv-dev libhighgui-dev libopencv-contrib-dev
travis_time_end
travis_time_start install_openhrp3
sudo apt-get install -qq -y ros-hydro-openhrp3
source /opt/ros/hydro/setup.bash
if [ "$USE_SRC_OPENHRP3" == true ] ; then
sudo dpkg -r --force-depends ros-hydro-openhrp3
mkdir -p ~/build_openhrp3
cd ~/build_openhrp3
git clone http:https://github.com/fkanehiro/openhrp3
sed -i 's/COLLADA_DOM_FOUND/0/' openhrp3/sample/CMakeLists.txt
cd openhrp3 && cmake . ${COMPILE_OPTION} && make && sudo make install
fi
mkdir -p ~/build
travis_time_end
travis_time_start compile_hrpsys
cd ~/build && cmake ${CI_SOURCE_PATH} ${COMPILE_OPTION} && make
# Check make test by passing PATH to bin directory
PATH=$PATH:~/build/bin make test
travis_time_end
;;
esac
;;
*)
travis_time_start install_libs
# COMPILE
sudo apt-get install -qq -y freeglut3-dev python-tk jython doxygen libboost-all-dev libsdl1.2-dev libglew1.6-dev libqhull-dev libirrlicht-dev libxmu-dev libcv-dev libhighgui-dev libopencv-contrib-dev
# check rtmros_common
if [ "$TEST_PACKAGE" == "hrpsys-base" ]; then
TEST_PACKAGE="hrpsys"
fi
travis_time_end
travis_time_start install_$TEST_PACKAGE
pkg=$TEST_PACKAGE
sudo apt-get install -qq -y python-wstool ros-hydro-catkin ros-hydro-mk ros-hydro-rostest ros-hydro-rtmbuild ros-hydro-roslint > /dev/null
sudo apt-get install -qq -y ros-hydro-pcl-ros ros-hydro-moveit-commander ros-hydro-rqt-robot-dashboard > /dev/null
sudo apt-get install -qq -y ros-hydro-$pkg
source /opt/ros/hydro/setup.bash
travis_time_end
travis_time_start setup_catkin_ws
# set hrpsys in catkin workspace
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
wstool init
ln -sf ${CI_SOURCE_PATH} hrpsys
sed -i "s@if(ENABLE_DOXYGEN)@if(0)@" hrpsys/CMakeLists.txt # disable doc generation
find hrpsys -name CMakeLists.txt -exec sed -i "s@PCL_FOUND@0@" {} \; # disable PCL
find hrpsys -name CMakeLists.txt -exec sed -i "s@OCTMAP_FOUND@0@" {} \; # disable OCTMAP
find hrpsys -name CMakeLists.txt -exec sed -i "s@IRRLIGHT_FOUND@0@" {} \; # disable IRRLIGHT
if [ "$USE_SRC_OPENHRP3" == true ] ; then
git clone http:https://github.com/fkanehiro/openhrp3/
sed -i 's/COLLADA_DOM_FOUND/0/' openhrp3/sample/CMakeLists.txt
fi
cd ~/catkin_ws
travis_time_end
if [ "$TEST_TYPE" == "work_with_downstream" ]; then
echo "
#
# check newer version of hrpsys works on current rtmros_common deb package
# [hrpsys:new] <-> [rtmros_common:old] + [hrpsys:old]
"
travis_time_start compile_and_install_downstream
sudo dpkg -r --force-depends ros-hydro-hrpsys
catkin_make_isolated --install -j1 -l1
# you need to pretend this is catkin package since you only have hrpsys in catkin_ws
export ROS_PACKAGE_PATH=`pwd`/install_isolated/share:`pwd`/install_isolated/stacks:$ROS_PACKAGE_PATH
source install_isolated/setup.bash
travis_time_end
else
echo "
#
# check rtmros_common compiled on newer version of hrpsys works with deb version of hrpsys
# [hrpsys:old] <-> [rtmros_common:new] + [hrpsys:new]
"
travis_time_start setup_wstool_rtmros
# set up sorce code of downstream package
cd src
wstool set rtmros_common http:https://github.com/start-jsk/rtmros_common --git -y
wstool set rtmros_hironx http:https://github.com/start-jsk/rtmros_hironx --git -y
wstool set rtmros_nextage http:https://github.com/tork-a/rtmros_nextage --git -y
wstool update
sudo apt-get install -qq -y ros-hydro-urdf
sudo dpkg -r --force-depends ros-hydro-hrpsys
export ROS_LANG_DISABLE=genlisp
cd ..
# do not compile unstable rtc
sed -i -e 's/\(add_subdirectory(\(RobotHardware\|SequencePlayer\|StateHolder\|ForwardKinematics\|CollisionDetector\|SoftErrorLimiter\|DataLogger\))\)/#\1/' -e 's/add_subdirectory/#add_subdirectory/' -e 's/##add/add/' src/hrpsys/rtc/CMakeLists.txt
cat src/hrpsys/rtc/CMakeLists.txt
# do not copile hrpsys because we wan to use them
sed -i "1imacro(dummy_install)\nmessage(\"install(\${ARGN})\")\nendmacro()" src/hrpsys/CMakeLists.txt
sed -i "s@install(@dummy_install(@g" src/hrpsys/CMakeLists.txt
sed -i "\$iinstall(DIRECTORY test launch sample DESTINATION share/hrpsys USE_SOURCE_PERMISSIONS)" src/hrpsys/CMakeLists.txt
sed -i "\$iinstall(FILES package.xml DESTINATION share/hrpsys/)" src/hrpsys/CMakeLists.txt
sed -i "\$iinstall(CODE \"execute_process(COMMAND cmake -E make_directory share/hrpsys WORKING_DIRECTORY \$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/share/hrpsys)\")" src/hrpsys/CMakeLists.txt
sed -i "\$iinstall(CODE \"execute_process(COMMAND cmake -E create_symlink ../../../hrpsys/idl share/hrpsys/idl WORKING_DIRECTORY \$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/share/hrpsys)\")" src/hrpsys/CMakeLists.txt
sed -i "\$iinstall(CODE \"execute_process(COMMAND cmake -E create_symlink ../../../hrpsys/samples share/hrpsys/samples WORKING_DIRECTORY \$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/share/hrpsys)\")" src/hrpsys/CMakeLists.txt
cat src/hrpsys/CMakeLists.txt
travis_time_end
travis_time_start compile_new_version
catkin_make_isolated -j1 -l1 --install --only-pkg-with-deps `echo $pkg | sed s/-/_/g` | grep -v '^-- \(Up-to-date\|Installing\):' | grep -v 'Generating \(Python\|C++\) code from' | grep -v '^Compiling .*.py ...$' | uniq
rm -fr ./install_isolated/hrpsys/share/hrpsys ./install_isolated/hrpsys/lib/pkgconfig/hrpsys.pc
source install_isolated/setup.bash
travis_time_end
travis_time_start setup_old_hrpsys
# checkokut old hrpsys
mkdir -p ~/hrpsys_ws/src
cd ~/hrpsys_ws/src
wstool init .
wstool set hrpsys http:https://github.com/start-jsk/hrpsys -v 315.1.9 --git -y
wstool update
#
sed -i "1imacro(dummy_macro)\nmessage(\"dummy(\${ARGN})\")\nendmacro()" hrpsys/catkin.cmake
sed -i "s@install(DIRECTORY test share@dummy_macro(DIRECTORY test share@" hrpsys/catkin.cmake
sed -i "s@find_package(catkin REQUIRED COMPONENTS rostest mk openrtm_aist openhrp3)@find_package(catkin REQUIRED COMPONENTS rostest mk)\nset(openrtm_aist_PREFIX /opt/ros/hydro/)\nset(openhrp3_PREFIX /opt/ros/hydro/)@" hrpsys/catkin.cmake
cat hrpsys/catkin.cmake
sed -i "s@NUM_OF_CPUS = \$(shell grep -c '^processor' /proc/cpuinfo)@NUM_OF_CPUS = 2@" hrpsys/Makefile.hrpsys-base
sed -i "s@touch installed@@" hrpsys/Makefile.hrpsys-base
cat hrpsys/Makefile.hrpsys-base
# use git repository, instead of svn due to googlecode shoutdown
git clone http:https://github.com/fkanehiro/hrpsys-base --depth 1 -b 315.1.9 ../build_isolated/hrpsys/build/hrpsys-base-source
# we use latest hrpsys_ocnfig.py for this case, so do not install them
sed -i -e 's/\(add_subdirectory(python)\)/#\1/' ../build_isolated/hrpsys/build/hrpsys-base-source/CMakeLists.txt
sed -i -e 's/\(add_subdirectory(test)\)/#\1/' ../build_isolated/hrpsys/build/hrpsys-base-source/CMakeLists.txt
find ../build_isolated/hrpsys/build/hrpsys-base-source -name CMakeLists.txt -exec sed -i "s@PCL_FOUND@0@" {} \; # disable PCL
find ../build_isolated/hrpsys/build/hrpsys-base-source -name CMakeLists.txt -exec sed -i "s@OCTOMAP_FOUND@0@" {} \; # disable OCTOMAP
find ../build_isolated/hrpsys/build/hrpsys-base-source -name CMakeLists.txt -exec sed -i "s@IRRLIGHT_FOUND@0@" {} \; # disable IRRLIGHT
sed -i "s@USE_HRPSYSUTIL@0@" ../build_isolated/hrpsys/build/hrpsys-base-source/rtc/CMakeLists.txt # disable HRPSYSUTIL APPs # this disables CollisionDetector
sed -i "\$aadd_subdirectory(CollisionDetector)" ../build_isolated/hrpsys/build/hrpsys-base-source/rtc/CMakeLists.txt
sed -i "s@NOT QNXNTO@1@" ../build_isolated/hrpsys/build/hrpsys-base-source/rtc/CMakeLists.txt # disable Joystick
sed -i "1imacro(dummy_macro)\nmessage(\"dummy(\${ARGN})\")\nendmacro()" ../build_isolated/hrpsys/build/hrpsys-base-source/util/simulator/CMakeLists.txt
sed -i "s@\(.*\)(hrpsysext@dummy_macro(hrpsysext@g" ../build_isolated/hrpsys/build/hrpsys-base-source/util/simulator/CMakeLists.txt
sed -i "s@install(TARGETS hrpsysext@dummy_macro(TARGETS hrpsysext@g" ../build_isolated/hrpsys/build/hrpsys-base-source/util/simulator/CMakeLists.txt
cat ../build_isolated/hrpsys/build/hrpsys-base-source/CMakeLists.txt
cat ../build_isolated/hrpsys/build/hrpsys-base-source/rtc/CMakeLists.txt
cd ~/hrpsys_ws
ls -al src
ls -al src/hrpsys
travis_time_end
travis_time_start compile_old_hrpsys
trap 0 ERR
need_compile=1
while [ $need_compile != 0 ]; do
catkin_make_isolated -j1 -l1 --merge
need_compile=$?
done
trap error ERR
travis_time_end
travis_time_start install_old_hrpsys
trap 0 ERR
need_compile=1
while [ $need_compile != 0 ]; do
catkin_make_isolated -j1 -l1 --install | grep -v '^-- \(Up-to-date\|Installing\):'
need_compile=${PIPESTATUS[0]}
done
trap error ERR
#cp ~/catkin_ws/src/hrpsys/package.xml install_isolated/share/hrpsys/ # old hrpsys did not do this
mkdir -p install_isolated/share/hrpsys/share/hrpsys/
cp -r ~/catkin_ws/install_isolated/share/hrpsys/idl install_isolated/share/hrpsys/share/hrpsys/
cp -r ~/catkin_ws/install_isolated/share/hrpsys/{test,launch,samples} install_isolated/share/hrpsys/ # cp latest script
source install_isolated/setup.bash
#echo $ROS_PACKAGE_PATH
#export ROS_PACKAGE_PATH=`pwd`/install_isolated:$ROS_PACKAGE_PATH # for hrpsys (plane cmake)
ls -al install_isolated/share/hrpsys
rospack profile
rospack find hrpsys
cd ~/catkin_ws
travis_time_end
fi
travis_time_start hot_fixes
rospack profile
# https://github.com/fkanehiro/openhrp3/issues/46
ls -al /opt/ros/hydro/share/openhrp3/share/OpenHRP-3.1/sample/controller/SampleController || echo "ok"
sudo mkdir -p /opt/ros/hydro/share/openhrp3/share/OpenHRP-3.1/sample/controller/SampleController/etc/ || echo "ok"
sudo wget https://raw.githubusercontent.com/fkanehiro/openhrp3/master/sample/controller/SampleController/etc/Sample.pos -O /opt/ros/hydro/share/openhrp3/share/OpenHRP-3.1/sample/controller/SampleController/etc/Sample.pos || echo "ok"
sudo wget https://raw.githubusercontent.com/fkanehiro/openhrp3/master/sample/controller/SampleController/etc/Sample.vel -O /opt/ros/hydro/share/openhrp3/share/OpenHRP-3.1/sample/controller/SampleController/etc/Sample.vel || echo "ok"
# https://github.com/start-jsk/rtmros_hironx/issues/287
if [ -e /opt/ros/hydro/share/hironx_ros_bridge/test/test_hironx_ros_bridge.py ]; then
sudo sed -i "s@test_tf_and_controller@_test_tf_and_controller@" /opt/ros/hydro/share/hironx_ros_bridge/test/test_hironx_ros_bridge.py
fi
#https://github.com/start-jsk/rtmros_hironx/pull/358
if [ -e /opt/ros/hydro/lib/python2.7/dist-packages/hironx_ros_bridge/hironx_client.py ]; then
sudo wget https://raw.githubusercontent.com/k-okada/rtmros_hironx/stop_unfinished_battle/hironx_ros_bridge/src/hironx_ros_bridge/hironx_client.py -O /opt/ros/hydro/lib/python2.7/dist-packages/hironx_ros_bridge/hironx_client.py
fi
travis_time_end
# Check make test
(cd ~/catkin_ws/build_isolated/hrpsys/install && make test)
# Check rostest
sudo /etc/init.d/omniorb4-nameserver stop || echo "stop omniserver just in case..."
export EXIT_STATUS=0;
pkg_path=`rospack find \`echo $pkg | sed s/-/_/g\``
if [ "`find $pkg_path/test -iname '*.test'`" == "" ]; then
echo "[$pkg] No tests ware found!!!"
else
for test_file in `find $pkg_path/test -iname "*.test" -print`; do
travis_time_start $(echo $test_file | sed 's@.*/\([a-zA-Z0-9-]*\).test$@\1@' | sed 's@-@_@g')
export TMP_EXIT_STATUS=0
rostest $test_file && travis_time_end || export TMP_EXIT_STATUS=$?
if [ "$TMP_EXIT_STATUS" != 0 ]; then
export EXIT_STATUS=$TMP_EXIT_STATUS
find ~/.ros/test_results -type f -iname "*`basename $test_file .test`.xml" -print -exec echo "=== {} ===" \; -exec cat {} \;
travis_time_end 31
fi
done
fi
travis_time_start end_tests
# for debugging
[ $TEST_PACKAGE == "hrpsys-ros-bridge" ] && rostest -t hrpsys_ros_bridge test-samplerobot.test
[ $EXIT_STATUS == 0 ] || exit 1
travis_time_end
;;
esac