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Merge pull request #169 from robotology/devel
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Release v5
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@diegoferigo
diegoferigo authored Feb 2, 2019
2 parents 368119e + e72ede9 commit f110c4b
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19 changes: 13 additions & 6 deletions .ci/install.sh
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Expand Up @@ -16,9 +16,7 @@ cmake --build . --target install

# Install Yarp
cd $HOME/git
#git clone --depth 1 -b $DEPS_BRANCH https://github.com/robotology/yarp.git
echo "Checking out devel. Use master as soon as it will be fixed."
git clone --depth 1 -b devel https://github.com/robotology/yarp.git
git clone --depth 1 -b $DEPS_BRANCH https://github.com/robotology/yarp.git
cd yarp
mkdir build && cd build
cmake .. \
Expand All @@ -30,9 +28,7 @@ cmake --build . --config $TRAVIS_BUILD_TYPE --target install

# Install icub-main
cd $HOME/git
echo "Checking out devel. Use master as soon as it will be fixed."
git clone --depth 1 -b devel https://github.com/robotology/icub-main.git
# git clone --depth 1 -b $DEPS_BRANCH https://github.com/robotology/icub-main.git
git clone --depth 1 -b $DEPS_BRANCH https://github.com/robotology/icub-main.git
cd icub-main
mkdir build && cd build
cmake .. \
Expand All @@ -51,3 +47,14 @@ cmake .. \
-DCMAKE_BUILD_TYPE=$TRAVIS_BUILD_TYPE \
-DCMAKE_INSTALL_PREFIX=$DEPS_CACHE
cmake --build . --config $TRAVIS_BUILD_TYPE --target install $CMAKE_BUILD_OPTIONS

# Install BlockFactory
cd $HOME/git
git clone --depth 1 https://github.com/robotology/blockfactory
cd blockfactory
mkdir build && cd build
cmake .. \
-G"$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
69 changes: 47 additions & 22 deletions .github/CONTRIBUTING.md
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Expand Up @@ -2,9 +2,9 @@

First off, thanks for your interest in contributing to this project! :tada:

The following is a set of guidelines for contributing to WB-Toolbox. This project is developed at the Italian Institute of Technology and it is part of our [robotology](https://github.com/robotology) organization.
The following is a set of guidelines for contributing to Whole-Body Toolbox. This project is developed at the Italian Institute of Technology and it is part of our [robotology](https://github.com/robotology) organization.

Keep in mind that the following are mostly guidelines, not strict rules. Use your best judgement and feel free to propose changes to this document in a pull request. This project is not yet mature as other ones inside our organization, we'd be glad to hear your voice.
Keep in mind that the following are mostly guidelines, not strict rules. Use your best judgement and feel free to propose changes to this document in a pull request.

#### Table of contents

Expand All @@ -14,6 +14,7 @@ Keep in mind that the following are mostly guidelines, not strict rules. Use you
- [CMake](#cmake)
- [Git](#git)
- [Documentation](#documentation)
- [Website](#website)
- [Policies](#policies)
- [Versioning](#versioning)
- [Deprecations](#deprecations)
Expand Down Expand Up @@ -44,16 +45,16 @@ Furthermore:
- Add an empty line between project, system headers, and `std` headers.
- Forward-declare classes into namespaces.
- Do not use `#pragma once`, use instead `#ifndef ... #define ... #endif` macro.
- The defines macros should have the `WBT_<CLASSNAME>_H` format.
- The defines macros should have the `NS1_NS2_<CLASSNAME>_H` format.
- The final `#endif` should have a comment containing the closed `#ifndef`.
- When possible, use explicit declaration and explicit instantiation of templates.
- When not possible, use [three-files `-inl.h`](http://drake.mit.edu/cxx_inl.html) pattern approach.

Example:

```cpp
#ifndef WBT_JACOBIAN_H
#define WBT_JACOBIAN_H
#ifndef WBT_BLOCK_JACOBIAN_H
#define WBT_BLOCK_JACOBIAN_H

#include "Jacobian.h"
#include "RobotInterface.h"
Expand All @@ -66,14 +67,16 @@ Example:
#include <ostream>

namespace wbt {
class Jacobian;
namespace block {
class Jacobian;
} // namespace block
} // namespace wbt

class wbt::Jacobian
class wbt::block::Jacobian
{
...

#endif // WBT_JACOBIAN_H
#endif // WBT_BLOCK_JACOBIAN_H
```

### CMake
Expand All @@ -96,34 +99,56 @@ class wbt::Jacobian

## Documentation

- All the new classes and methods of your PR should contain the doxygen documentation in their headers. For checking its render before pushing, a possible way is the following:
```bash
# From the build directory:
- All the new classes and methods of your PR should contain the doxygen documentation in their headers. For checking its render before pushing, proceed as follows:
```
mkdir buildDox
cd buildDox
cmake -DWBT_BUILD_DOCS=ON ..
make dox
# If there are any errors, fix them.
cd doc/doxygen/html
python -m http.server
python3 -m http.server
# Browse to http://localhost:8000
```
- Your PR should add a changelog in the [doc/release](/doc/release) file of the upcoming version.
- Your PR should add a changelog in the [doc/release](/doc/release) file of the [upcoming version](#versioning) (minor release if the PR targets `master`, major release if it targets `devel`).

## Website

Our website is based on the [mkdocs](https://github.com/mkdocs/mkdocs) framework and the [mkdocs-material](https://github.com/squidfunk/mkdocs-material) theme.

The easier way to modify a page of website is doing it directly from the website. In the top-right corner of every page, on the same line of the page title, you will find an pencil icon. If you click on the icon, the markdown file that creates the webpage opens in the GitHub web editor. Here you can modify the document and create a pull request.

If the edits you want to submit are not trivial, or if you want to check how the website will be rendered, you need to clone the repository and modify with your favourite text editor the files inside the [`doc/mkdocs/data`](/doc/mkdocs/data) folder. Afterwards, you can generate and browse a local website executing the following commands:

```
mkdir buildWebsite
cd buildWebsite
cmake -DWBT_BUILD_DOCS=ON ..
make mkdocs
# If there are any errors, fix them.
cd doc/mkdocs
python3 -m http.server
# Browse to http://localhost:8000
```

## Policies

## Versioning

After an assessment period, with few releases without any defined versioning policy, starting from the release `4` WB-Toolbox follows the following pattern:
Starting from `v5`, this project hosts only a blockfactory plugin library. All the public APIs have been moved to [robotology/blockfactory](https://github.com/robotology/blockfactory). The versioning policy is not anymore related to public APIs.

#### Major releases, e.g. `4`
The next sections use the definition of **user code**: it represents all the functionalities that can be built with the `WBT` library. It includes Simulink models, autogenerated code from Simulink models, and C++ code that directly uses `WBT` as a C++ library.

- We use a fast rollout numbering, publishing a new major release every devel freeze. This happens when we decide that the amount of new features are worth a new release.
- Major releases may or may not break APIs. Read [Deprecations](#deprecations) for further information.
#### Major releases, e.g. `v5`

#### Minor releases, e.g. `4.1`
- We use a fast rollout numbering, publishing a new major release every `devel` freeze. This happens when we decide that the amount of new features are worth a new release.
- Major releases may or may not break user code. Read [Deprecations](#deprecations) for further information.

#### Minor releases, e.g. `v5.1`

- Minor releases may contain hot-fixes applied directly to `master` (and then merged to `devel`).
- APIs stability is preserved.
- User code is preserved.

## Deprecations

The following policy is still a rule-of-thumb. We are not yet enforcing it, but soon we will. Take note of it because this will be valid as soon as we reach an acceptable API stability.

- Functions and classes which are marked as deprecated in one major release will be kept at least for another major release. This means that a deprecated class in version `4` will still be present in version `5`, but it might be deleted in version `6`.
Functions and classes which are marked as deprecated in one major release will be kept at least for another major release. This means that a deprecated class in version `v4` will still be present in version `v5`, but it might be deleted in version `v6`. This should give users an acceptable time buffer to update their models.
55 changes: 36 additions & 19 deletions .travis.yml
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@@ -1,4 +1,4 @@
dist: trusty
dist: xenial
language: cpp
services: docker

Expand All @@ -9,10 +9,24 @@ cache:
- $HOME/.ccache
- $HOME/Library/Caches/Homebrew

addons:
apt:
packages:
- docker-ce
homebrew:
update: true
packages:
- ccache
- eigen
- ace
- tinyxml
- gsl

stages:
- test # Default stage with job matrix
- osx
- deploy
- name: deploy
if: fork = false AND branch IN (master, devel) AND type != pull_request AND env(DEPLOY_TOKEN) IS present

compiler:
- gcc
Expand Down Expand Up @@ -49,33 +63,35 @@ before_script:
travis_terminate 1
fi
- docker pull $DOCKER_IMAGE_NAME

script:
# Start the container in the background
- >-
docker run -it \
-v $TRAVIS_BUILD_DIR:$TRAVIS_BUILD_DIR \
-v $HOME/.ccache:$HOME/.ccache \
-w $TRAVIS_BUILD_DIR \
--env-file .ci/env-file \
docker run -it -d \
--name ci \
-v "$TRAVIS_BUILD_DIR:$TRAVIS_BUILD_DIR" \
-v "$HOME/.ccache:$HOME/.ccache" \
-w "$TRAVIS_BUILD_DIR" \
--env-file "$TRAVIS_BUILD_DIR/.ci/env-file" \
$DOCKER_IMAGE_NAME \
sh .ci/script.sh
bash
script:
- docker exec ci ./.ci/script.sh

# ==========
# STAGE: osx
# ==========

stage_osx:
before_install: &osx_before_install
# Setup ccache
- export PATH="/usr/local/opt/ccache/libexec:$PATH"
install: &osx_install
# Setup the dependencies folder
- export DEPS_CACHE=$HOME/deps
- 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
# Setup ccache
- brew install ccache
- export PATH="/usr/local/opt/ccache/libexec:$PATH"
# Install dependencies
- brew install eigen ace tinyxml gsl
- cd $TRAVIS_BUILD_DIR/.ci
- ./install.sh || travis_terminate 1
script: &osx_script
Expand Down Expand Up @@ -149,14 +165,16 @@ jobs:
- &osx_template
stage: osx
os: osx
osx_image: xcode9.3
before_install: skip
osx_image: xcode10.1
services:
before_install: *osx_before_install
install: *osx_install
before_script: skip
script: *osx_script
after_failure: skip
after_success: skip
after_script: skip
compiler:
env:
TRAVIS_CMAKE_GENERATOR="Xcode"
TRAVIS_BUILD_TYPE="Debug"
Expand All @@ -172,7 +190,6 @@ jobs:
stage: deploy
compiler:
cache:
if: fork = false AND branch = "master" AND type != pull_request
before_install: skip
install: *deploy_install
before_script: skip
Expand All @@ -194,8 +211,8 @@ jobs:
- doxygen-gui
- graphviz
- python3-pip
- <<: *deploy_template
if: fork = false AND branch = "devel" AND type != pull_request
- python3-setuptools
- python3-wheel

# notifications:
# email:
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