Merge pull request #76 from robotology/WB3.0

WB-Toolbox 3.0 Release

.ci/generateDocumentation.sh

@@ -0,0 +1,168 @@
+#!/bin/sh
+#
+#    Title         : generateDocumentation.sh
+#    Date created  : 2018
+#    Notes         : original script from Jeroen de Bruijn
+#    Author        : Diego Ferigo
+#    Description   : This script is used to generated doxygen and mkdocs
+#                    documentation and automatically deploy it to a gh-pages
+#                    branch exploiting Travis CI
+#
+#    Preconditions:
+#    --------------
+#
+#  - The script should be executed from the root of the repository, marked
+#    by the PROJECT_DIR_ABS Travis' environment variable.
+#  - Packages doxygen doxygen-doc doxygen-gui graphviz python-pip
+#    must be installed.
+#  - Pip packages Pygments mkdocs mkdocs-material must be installed.
+#  - Doxygen configuration file must have the destination directory empty and
+#    source code directory with a $(TRAVIS_BUILD_DIR) prefix.
+#  - An gh-pages branch should already exist. See below for more info on how to
+#    create a gh-pages branch.
+#  - The deploy is performed by a bot github account that must have write access
+#    to the repository. The authentication is performed with a deploy token with
+#    repo permissions enabled. This token is stored in the Travis web interface as
+#    private Environment Variable.
+#  - Doxygen's Doxyfile stored in the doc/doxygen folder.
+#  - MkDocs's mkdocs.yml stored in the doc/mkdocs folder.
+#
+#    Required Travis' global variables:
+#    ---------------------------------
+#
+#    TRAVIS_BUILD_DIR       : The folder where the repository was cloned
+#    TRAVIS_REPO_SLUG       : Slug of the repository (user/reponame)
+#    TRAVIS_BUILD_NUMBER    : The number of the current build.
+#    TRAVIS_COMMIT          : The commit that the current build is testing.
+#
+#    Required user-defined global variables:
+#    ---------------------------------------
+#
+#    DEPLOY_TOKEN           : Secure token for authenticating the bot account.
+#    GIT_COMMITTER_USERNAME : Github username of the bot
+#    GIT_COMMITTER_NAME     : Name of the bot to set the git committer
+#    GIT_COMMITTER_EMAIL    : Email of the bot to set the git committer
+#    DOXYGEN_INPUT_FOLDER   : Folder containing Doxyfile
+#    MKDOCS_INPUT_FOLDER    : Folder containing mkdocs.yml file
+#
+#    For information on how to create a clean gh-pages branch from the master
+#    branch, please go to https://gist.github.com/vidavidorra/846a2fc7dd51f4fe56a0
+#
+#    This script will generate Doxygen and MkDocs documentation and push the files to
+#    the gh-pages branch of the repository.
+#    Before this script is used a gh-pages branch in the repository should aready exist.
+#
+
+# ================
+# SETUP THE SCRIPT
+# ================
+
+# Exit with nonzero exit code if anything fails
+set -e
+
+echo 'Setting up the script...'
+
+GH_REPO_ORG=${TRAVIS_REPO_SLUG%*/*}
+GH_REPO_NAME=${TRAVIS_REPO_SLUG#*/*}
+GH_REPO_REF="github.com/$GH_REPO_ORG/$GH_REPO_NAME.git"
+
+# Folder where the gh-pages branch is cloned.
+# This will be the root of the static website.
+GH_PAGES_ROOTDIR=$TRAVIS_BUILD_DIR/code_docs
+
+# Check if the gh-pages branch exists
+cd $TRAVIS_BUILD_DIR
+git ls-remote --heads --exit-code https://$GH_REPO_REF gh-pages
+if [ $? -gt 0 ] ; then
+    echo '' >&2
+    echo 'gh-pages branch does not exist!' >&2
+    exit 1
+fi
+
+# Get the current gh-pages branch
+git clone -b gh-pages https://$GH_REPO_REF $GH_PAGES_ROOTDIR
+cd $GH_PAGES_ROOTDIR
+# Set the push default to simple i.e. push only the current branch
+git config push.default simple
+
+# Need to create a .nojekyll file to allow filenames starting with an underscore
+# to be seen on the gh-pages site. Therefore creating an empty .nojekyll file.
+# Presumably this is only needed when the SHORT_NAMES option in Doxygen is set
+# to NO, which it is by default. So creating the file just in case.
+touch $GH_PAGES_ROOTDIR/.nojekyll
+
+# ==============================
+# GENERATE DOXYGEN DOCUMENTATION
+# ==============================
+
+if [ -n "$DOXYGEN_INPUT_FOLDER" ] ; then
+    echo 'Generating Doxygen code documentation...'
+    cd $DOXYGEN_INPUT_FOLDER
+    doxygen Doxyfile 2>&1 | tee $GH_PAGES_ROOTDIR/doxygen.log
+
+    if [ -d $DOXYGEN_INPUT_FOLDER/html ] && [ -f $DOXYGEN_INPUT_FOLDER/html/index.html ] ; then
+        echo "Doxygen generation successful..."
+    else
+        echo '' >&2
+        echo 'Warning: Doxygen failed!' >&2
+        echo 'Warning: No documentation (html) files have been found!' >&2
+        echo 'Warning: Not going to push the documentation to GitHub!' >&2
+        exit 1
+    fi
+
+    rm -r $GH_PAGES_ROOTDIR/doxygen || true
+    mv $DOXYGEN_INPUT_FOLDER/html $GH_PAGES_ROOTDIR/doxygen
+fi
+
+# =============================
+# GENERATE MKDOCS DOCUMENTATION
+# =============================
+
+if [ -n "$MKDOCS_INPUT_FOLDER" ] ; then
+    echo 'Generating MkDocs code documentation...'
+    cd $MKDOCS_INPUT_FOLDER
+    mkdocs build -c -s -v --site-dir $GH_PAGES_ROOTDIR/mkdocs 2>&1 | tee $GH_PAGES_ROOTDIR/mkdocs.log
+
+    if [ -d $GH_PAGES_ROOTDIR/mkdocs ] && [ -f $GH_PAGES_ROOTDIR/mkdocs/index.html ] ; then
+        echo "MkDocs generation successful!"
+    else
+        echo '' >&2
+        echo 'Warning: MkDocs failed!' >&2
+        echo 'Warning: No documentation (html) files have been found!' >&2
+        echo 'Warning: Not going to push the documentation to GitHub!' >&2
+        exit 1
+    fi
+fi
+
+# ========================
+# DEPLOY THE DOCUMENTATION
+# ========================
+
+if [ -z "$DOXYGEN_INPUT_FOLDER" ] && [ -z "$MKDOCS_INPUT_FOLDER" ] ; then
+    echo '' >&2
+    echo 'Nothing to generate!' >&2
+    exit 1
+fi
+
+# Add a new remote containing the tokenized bot login credentials
+cd $GH_PAGES_ROOTDIR
+git remote add origin-botlogin https://$GIT_COMMITTER_USERNAME:$DEPLOY_TOKEN@$GH_REPO_REF
+
+# Add everything in this directory to the gh-pages branch.
+# If you want to ignore resources, push to gh-pages a .gitignore file.
+cd $GH_PAGES_ROOTDIR
+git add --all
+
+# The commit author will be the author of the last commit, and the committer
+# will be the bot (this is already configured by the GIT_COMMITTER_* variables)
+COMMIT_AUTHOR="$(git --no-pager show -s --format='%an <%ae>' $TRAVIS_COMMIT)"
+
+# Commit the added files with a title and description containing the Travis CI
+# build number and the GitHub commit reference that issued this build.
+git commit -m "Automatic docs deployment Travis#${TRAVIS_BUILD_NUMBER}" \
+           -m "Commit: https://github.com/$TRAVIS_REPO_SLUG/commit/$TRAVIS_COMMIT" \
+           --author "$COMMIT_AUTHOR"
+
+# Force push to the remote gh-pages branch.
+echo 'Uploading documentation to the gh-pages branch...'
+git push --force origin-botlogin gh-pages

.gitignore

@@ -1,4 +1,3 @@
-startup_wbitoolbox.m
 *.mexa64
 *.mexmaci64
 *.kdev4
@@ -15,5 +14,8 @@ slprj/
 *.original
 *~
 .DS_Store
-
 build*
+doc/doxygen/html
+CMakeLists.txt.*
+compile_commands.json
+Copy_of_*

.travis.yml

@@ -0,0 +1,50 @@
+sudo: false
+dist: trusty
+language: cpp
+
+os:
+  - linux
+
+matrix:
+  include:
+    # Enable a job for building the documentation
+    - os: linux
+      env:
+        TRAVIS_BUILD_DOCS=true
+        GIT_COMMITTER_USERNAME=loc2bot
+        GIT_COMMITTER_NAME=LOC2Bot
+        [email protected]
+        DOXYGEN_INPUT_FOLDER=$TRAVIS_BUILD_DIR/doc/doxygen
+        MKDOCS_INPUT_FOLDER=$TRAVIS_BUILD_DIR/doc/mkdocs
+      addons:
+        apt:
+          packages:
+            - doxygen
+            - doxygen-doc
+            - doxygen-gui
+            - 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

@@ -1,17 +1,20 @@
-# Copyright (C) 2013-2015 Instituto Italiano di Tecnologia
-# Author: Jorhabib Eljaik, Francesco Romano
+# 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.
 
-cmake_minimum_required(VERSION 2.8.11)
-
+cmake_minimum_required(VERSION 3.3)
 project(WB-Toolbox)
 
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
 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")
 
+add_subdirectory(MxAnyType)
 add_subdirectory(toolbox)
 
 install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/images DESTINATION ${WB-TOOLBOX_SHARE_DIR})

MxAnyType/CMakeLists.txt

@@ -0,0 +1,51 @@
+cmake_policy(SET CMP0048 NEW)
+project(MxAnyType LANGUAGES CXX VERSION 0.1)
+cmake_minimum_required(VERSION 3.0.2)
+
+# Configure the project
+# =====================
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+include(GNUInstallDirs)
+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
+# Use a general prefix for the project
+set(VARS_PREFIX ${PROJECT_NAME})
+# set(VARS_PREFIX "MxAnyType")
+
+# Build the library
+# =================
+
+# Export the includes needed to who inherits this library
+# Set this up properly for handling either BUILD and INSTALL trees
+set(${VARS_PREFIX}_INCLUDE_BUILD ${CMAKE_CURRENT_SOURCE_DIR}/include)
+set(${VARS_PREFIX}_INCLUDE_INSTALL ${CMAKE_INSTALL_INCLUDEDIR}/${VARS_PREFIX})
+
+# Add the target
+add_library(${VARS_PREFIX} STATIC ${CMAKE_CURRENT_SOURCE_DIR}/include/AnyType.h
+                                  ${CMAKE_CURRENT_SOURCE_DIR}/include/MxAnyType.h
+                                  ${CMAKE_CURRENT_SOURCE_DIR}/src/MxAnyType.cpp)
+
+
+# TODO: temporary, waiting the library becomes a shared
+if (CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64")
+    set_target_properties(${VARS_PREFIX} PROPERTIES COMPILE_FLAGS "-fPIC")
+endif()
+
+# Find Matlab resources
+find_package(Matlab REQUIRED MX_LIBRARY)
+target_include_directories(${VARS_PREFIX} SYSTEM PUBLIC "${Matlab_INCLUDE_DIRS}")
+
+# Setup the include directories
+# TODO why in the how to was INTERFACE?
+target_include_directories(${VARS_PREFIX} PUBLIC
+                           $<BUILD_INTERFACE:${${VARS_PREFIX}_INCLUDE_BUILD}>
+                           $<INSTALL_INTERFACE:${${VARS_PREFIX}_INCLUDE_INSTALL}>)
+
+# Assign some useful properties
+# set_target_properties(${VARS_PREFIX} PROPERTIES VERSION ${PROJECT_VERSION}
+#                                      PUBLIC_HEADER MxAnyType.h)
+
+# Build tests
+# ===========
+# add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/tests)

MxAnyType/include/AnyType.h

@@ -0,0 +1,61 @@
+#ifndef ANYTYPE_H
+#define ANYTYPE_H
+
+#include <vector>
+#include <unordered_map>
+#include <memory>
+
+class AnyType;
+
+typedef std::shared_ptr<AnyType> AnyTypeSPtr;
+typedef std::vector<AnyTypeSPtr> AnyCell;
+typedef std::unordered_map<std::string, AnyTypeSPtr> AnyStruct;
+
+class AnyType
+{
+protected:
+
+public:
+    AnyType() = default;
+    virtual ~AnyType() = default;
+
+    // Integers
+    virtual bool asInt(int& i)       = 0;
+    // virtual bool asInt8(int8_t& i)   = 0;
+    // virtual bool asInt16(int16_t& i) = 0;
+    virtual bool asInt32(int32_t& i) = 0;
+    // virtual bool asInt64(int64_t& i) = 0;
+
+    // Unsigned Integers
+    virtual bool asUInt(unsigned& i) = 0;
+    // virtual bool asUInt8(uint8_t& i)     = 0;
+    // virtual bool asUInt16(uint16_t& i)   = 0;
+    // virtual bool asUInt32(uint32_t& i)   = 0;
+    // virtual bool asUInt64(uint64_t& i)   = 0;
+
+    // Boolean
+    virtual bool asBool(bool& b) = 0;
+
+    // Floating-point
+    // virtual bool asFloat(float& f)   = 0;
+    virtual bool asDouble(double& d) = 0;
+
+    // Characters
+    virtual bool asString(std::string& s) = 0;
+
+    // Struct
+    virtual bool asAnyStruct(AnyStruct& map) = 0;
+
+    // Cell array
+    virtual bool asAnyCell(AnyCell& map) = 0;
+
+    // Matrix
+    // TODO: constraint max 2-dimension
+    // virtual bool asMatrixFloat(Eigen::MatrixXf mat)  = 0;
+    // virtual bool asMatrixDouble(Eigen::MatrixXd mat) = 0;
+
+    // Vector
+    virtual bool asVectorDouble(std::vector<double>& vec) = 0;
+};
+
+#endif /* ANYTYPE_H */