Merge be051e9 into 0e52ea0

.travis.yml

@@ -1,11 +1,8 @@
-language: python
-python:
-  - "2.7"
-  - "3.4"
-  - "3.5"
+sudo: required
 env:
   global:
-  - APT_DEPENDENCIES="doxygen doxygen-latex libltdl-dev libboost-all-dev liblog4cxx10-dev"
+  - APT_DEPENDENCIES="cmake cmake-data doxygen doxygen-latex libltdl-dev libboost-all-dev liblog4cxx10-dev"
+  - HOMEBREW_DEPENDENCIES="doxygen log4cxx dartsim/dart/ipopt openblas mumps"
   - GIT_DEPENDENCIES="roboptim/roboptim-core roboptim/roboptim-core-plugin-ipopt"
   - GH_USERNAME=thomas-moulard
   - GH_REPO=roboptim/roboptim-core-python
@@ -20,19 +17,22 @@ branches:
     - dev
     - travis
 before_install:
-  - sudo add-apt-repository ppa:fkrull/deadsnakes -y
-  - sudo apt-get update -q
-  - sudo apt-get install python${TRAVIS_PYTHON_VERSION}-dev
-  - if [ "${TRAVIS_PYTHON_VERSION}" == "2.7" ]; then pip install futures; fi;
-  - pip install matplotlib
+  - export TRAVIS_PYTHON_VERSION_SHORT=$(echo "${TRAVIS_PYTHON_VERSION}" | cut -d'.' -f-2)
+  - if [[ "${TRAVIS_OS_NAME}" == "linux" ]]; then sudo add-apt-repository ppa:fkrull/deadsnakes -y; fi;
+  - if [[ "${TRAVIS_OS_NAME}" == "linux" ]]; then sudo apt-get update -q; fi;
+  - if [[ "${TRAVIS_OS_NAME}" == "linux" ]]; then sudo apt-get install python${TRAVIS_PYTHON_VERSION_SHORT}-dev; fi;
+  - if [ "${TRAVIS_PYTHON_VERSION_SHORT}" == "2.7" ]; then pip2 install futures; fi;
+  - pip install matplotlib || pip2 install matplotlib
   - ./.travis/dependencies/eigen-3.2
   - if [[ "${TRAVIS_OS_NAME}" == "linux" ]]; then CC=gcc CXX=g++ ./.travis/dependencies/ipopt; fi
   - ./.travis/run before_install
 script:
-  - export PYTHON_INCLUDE_DIR="`find /usr/include -name Python.h -printf '%h\n' | grep \"python${TRAVIS_PYTHON_VERSION}\"`"
-  - export PYTHON_LIBRARY="`find /usr/lib -name \"libpython${TRAVIS_PYTHON_VERSION}*.so\" -print -quit`"
-  - export CMAKE_ADDITIONAL_OPTIONS="-DPython_ADDITIONAL_VERSIONS=${TRAVIS_PYTHON_VERSION} -DPythonLibs_FIND_VERSION=${TRAVIS_PYTHON_VERSION} -DPYTHON_EXECUTABLE=${VIRTUAL_ENV}/bin/python -DPYTHON_LIBRARY=${PYTHON_LIBRARY} -DPYTHON_INCLUDE_DIR=${PYTHON_INCLUDE_DIR} -DPYTHON_PACKAGES_PATH=${VIRTUAL_ENV}/lib/python${TRAVIS_PYTHON_VERSION}/site-packages/"
-  - export LD_LIBRARY_PATH="/tmp/_ci/install/lib/roboptim-core/"
+  - export PYTHON_INCLUDE_DIR="`find /usr/include -name Python.h -printf '%h\n' | grep \"python${TRAVIS_PYTHON_VERSION_SHORT}\"`"
+  - if [ "${TRAVIS_OS_NAME}" == "linux" ]; then export PYTHON_LIBRARY="`find /usr/lib -name \"libpython${TRAVIS_PYTHON_VERSION_SHORT}*.so\" -print -quit`"; fi;
+  - if [ "${TRAVIS_OS_NAME}" == "osx" ]; then export PYTHON_LIBRARY='#{%x(python-config --prefix).chomp}/lib/libpython2.7.dylib'; fi;
+  - export CMAKE_ADDITIONAL_OPTIONS="-DPython_ADDITIONAL_VERSIONS=${TRAVIS_PYTHON_VERSION_SHORT} -DPythonLibs_FIND_VERSION=${TRAVIS_PYTHON_VERSION_SHORT} -DPYTHON_EXECUTABLE=${VIRTUAL_ENV}/bin/python -DPYTHON_LIBRARY=${PYTHON_LIBRARY} -DPYTHON_INCLUDE_DIR=${PYTHON_INCLUDE_DIR} -DPYTHON_PACKAGES_PATH=${VIRTUAL_ENV}/lib/python${TRAVIS_PYTHON_VERSION_SHORT}/site-packages/"
+  - if [ "${TRAVIS_OS_NAME}" == "linux" ]; then export LD_LIBRARY_PATH=`pkg-config --variable=plugindir roboptim-core`:$LD_LIBRARY_PATH; fi
+  - if [ "${TRAVIS_OS_NAME}" == "osx" ]; then export DYLD_LIBRARY_PATH=`pkg-config --variable=plugindir roboptim-core`:$DYLD_LIBRARY_PATH; fi
   - ./.travis/run build
 after_success:
   # Print Ipopt logs even after success
@@ -46,4 +46,29 @@ after_failure: ./.travis/run after_failure
 matrix:
   allow_failures:
     # Known issue with virtualenv
-    - python: "2.7"
+    - python: "2.7.6"
+    - python: "2.7.3"
+    - os: osx # TODO: Fix ipopt install
+  include:
+    - os: linux
+      dist: trusty
+      language: python
+      python: "2.7.6" # Match the system's version
+    - os: linux
+      dist: trusty
+      language: python
+      python: "3.5.3" # Match the system's version
+    - os: linux
+      dist: precise
+      env: MASTER_PPA="george-edison55/precise-backports"
+      language: python
+      python: "2.7.3" # Match the system's version
+    - os: linux
+      dist: precise
+      env: MASTER_PPA="george-edison55/precise-backports"
+      language: python
+      python: "3.5.2" # Match the system's version
+    - os: osx
+      language: cpp
+      compiler: clang
+      env: TRAVIS_PYTHON_VERSION="2.7"

CMakeLists.txt

@@ -31,6 +31,7 @@ SET(HEADERS
 
 SET(CXX_DISABLE_WERROR 1) #FIXME: disable for now.
 
+SET(PKG_CONFIG_ADDITIONAL_VARIABLES plugindir ${PKG_CONFIG_ADDITIONAL_VARIABLES})
 SETUP_PROJECT()
 
 # Search for dependencies.

src/CMakeLists.txt

@@ -8,8 +8,6 @@ INCLUDE_DIRECTORIES(SYSTEM ${NUMPY_INCLUDE_DIRS})
 # Compile library
 ADD_LIBRARY(roboptim-core-python SHARED
   ${HEADERS}
-  common.hh
-  common.cc
   to-python.cc)
 
 TARGET_LINK_LIBRARIES(roboptim-core-python ${PYTHON_LIBRARIES})
@@ -27,7 +25,7 @@ PKG_CONFIG_APPEND_LIBS(roboptim-core-python)
 SET(LOCAL_MODULE_DIR "${PROJECT_BINARY_DIR}/src")
 
 # Compile module
-ADD_LIBRARY(wrap MODULE wrap.cc)
+ADD_LIBRARY(wrap MODULE common.cc wrap.cc)
 PKG_CONFIG_USE_DEPENDENCY(wrap roboptim-core)
 SET_TARGET_PROPERTIES(wrap PROPERTIES
   LIBRARY_OUTPUT_DIRECTORY ${LOCAL_MODULE_DIR}/roboptim/core
@@ -36,8 +34,6 @@ SET_TARGET_PROPERTIES(wrap PROPERTIES
 # Link against Boost.
 TARGET_LINK_LIBRARIES(wrap ${Boost_LIBRARIES})
 
-TARGET_LINK_LIBRARIES(wrap roboptim-core-python)
-
 SET_TARGET_PROPERTIES(wrap PROPERTIES PREFIX "")
 
 # Install libraries

tests/CMakeLists.txt

@@ -5,11 +5,45 @@
 # Use adequate Python executable for tests
 SET(TEST_COMMAND "${PYTHON_EXECUTABLE}")
 
+SET(PLUGINDIR "")
+IF(ROBOPTIM_CORE_FOUND)
+  SET(PLUGINDIR ${ROBOPTIM_CORE_PLUGINDIR})
+ELSEIF()
+  SET(PLUGINDIR ${ROBOPTIM_CORE_DEBUG_PLUGINDIR})
+ENDIF()
+
+IF("${PLUGINDIR}" STREQUAL "")
+  MESSAGE(FATAL_ERROR "Plugin directory not found")
+ENDIF()
+
+# SET_TEST_ENV(NAME)
+# ------------------
+#
+# Add the plugin directory to the proper environment variables.
+#
+MACRO(SET_TEST_ENV NAME)
+  # TODO: adapt for WIN32
+  IF(UNIX)
+    IF(APPLE)
+      SET_PROPERTY(
+        TEST ${NAME} APPEND PROPERTY ENVIRONMENT
+        "DYLD_LIBRARY_PATH=${PLUGINDIR}:$ENV{DYLD_LIBRARY_PATH}")
+    ELSE()
+      SET_PROPERTY(
+        TEST ${NAME} APPEND PROPERTY ENVIRONMENT
+        "LD_LIBRARY_PATH=${PLUGINDIR}:$ENV{LD_LIBRARY_PATH}")
+    ENDIF()
+  ENDIF()
+ENDMACRO()
+
 MACRO(REGISTER_TEST NAME)
   ADD_TEST(${NAME} "${TEST_COMMAND}" "${CMAKE_CURRENT_SOURCE_DIR}/${NAME}.py")
+
   # Update PYTHONPATH to find the Python module
   SET_TESTS_PROPERTIES(${NAME} PROPERTIES ENVIRONMENT
     "PYTHONPATH=${CMAKE_BINARY_DIR}/src")
+
+  SET_TEST_ENV(${NAME})
 ENDMACRO()
 
 # Check roboptim-py internal API.

tests/to-python.cc

@@ -36,6 +36,7 @@ BOOST_AUTO_TEST_CASE (redir)
   ToPython tp;
 
   tp << "import numpy as np"
+     << "np.set_printoptions(formatter={'all': lambda x: str(x)})"
      << "ar = np.zeros((3,3))"
      << "print(ar)"
      << "ar[0,1] = 42."

tests/to-python.stdout

@@ -1,4 +1,4 @@
-[[ 0.  0.  0.]
- [ 0.  0.  0.]
- [ 0.  0.  0.]]
+[[0.0 0.0 0.0]
+ [0.0 0.0 0.0]
+ [0.0 0.0 0.0]]
 42.0