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[WIP] TravisCI: fix and improve MacOS build #353

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[WIP] TravisCI: fix and improve MacOS build #353

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c56aa62
Travis CI: install gstreamer-1.0 through binaries
TSC21 Oct 5, 2019
17b67f5
CMake: fix Qt5 find in MacOS
TSC21 Oct 5, 2019
9cd990b
Travis CI: MacOS: remove unnecessary steps
TSC21 Oct 6, 2019
33e6182
MacOS build: pass -DCMAKE_PREFIX_PATH option
TSC21 Oct 6, 2019
c73fe25
fix build gstreamer plugin in MacOS
TSC21 Oct 6, 2019
9f7d22f
CMakeLists.txt: set CMP0071 to NEW
TSC21 Oct 6, 2019
da3131f
Merge branch 'master' of github.com:PX4/sitl_gazebo into update_ci
TSC21 Oct 11, 2019
6d16e03
Travis CI: Cleanup scripts and add more MacOSX build pipelines
TSC21 Oct 11, 2019
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85 changes: 55 additions & 30 deletions .travis.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -79,9 +79,25 @@ matrix:
env:
- PX4_DOCKER_REPO=px4io/px4-dev-simulation-bionic:2019-10-04
- BUILD="source ./scripts/validate_sdf.bash"
- name: MacOSX 10.14 (Xcode 11.0) build with Gazebo 9
- name: MacOSX Sierra (Xcode 9.2) build with Gazebo 7
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I would drop this version. Supporting 2 and with Catalina 3 is enough.

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I am adding this one so we can have a build pipe for Gazebo 7 also in MacOSX.

os: osx
osx_image: xcode11
osx_image: xcode9.2
language: cpp
cache:
ccache: true
env:
- GAZEBO_VERSION="gazebo7"
- name: MacOSX High Sierra (Xcode 10.1) build with Gazebo 9
os: osx
osx_image: xcode10.1
language: cpp
cache:
ccache: true
env:
- GAZEBO_VERSION="gazebo9"
- name: MacOSX Mojave (Xcode 11.2) build with Gazebo 9
os: osx
osx_image: xcode11.2
language: cpp
cache:
ccache: true
Expand All @@ -90,40 +106,49 @@ matrix:

before_install:
- if [[ "$TRAVIS_OS_NAME" == "osx" ]]; then
brew update;
curl https://gstreamer.freedesktop.org/data/pkg/osx/1.0.10/gstreamer-1.0-1.0.10-universal.pkg -LO /tmp/gstreamer-1.0-1.0.10-universal.pkg;
curl https://gstreamer.freedesktop.org/data/pkg/osx/1.0.10/gstreamer-1.0-devel-1.0.10-universal.pkg -LO /tmp/gstreamer-1.0-devel-1.0.10-universal.pkg;
git clone --depth 1 https://github.com/mavlink/c_library_v2.git /usr/local/include/mavlink/v2.0;
rm -rf /usr/local/include/mavlink/v2.0/.git;
git clone https://github.com/google/googletest;
pushd googletest;
mkdir build;
pushd build;
cmake ..;
make;
make install;
popd;
popd;
brew update;
git clone https://github.com/google/googletest;
git clone --depth 1 https://github.com/mavlink/c_library_v2.git /usr/local/include/mavlink/v2.0;
curl https://gstreamer.freedesktop.org/data/pkg/osx/1.0.10/gstreamer-1.0-1.0.10-universal.pkg -vlo gstreamer-1.0-1.0.10-universal.pkg;
curl https://gstreamer.freedesktop.org/data/pkg/osx/1.0.10/gstreamer-1.0-devel-1.0.10-universal.pkg -vlo gstreamer-1.0-devel-1.0.10-universal.pkg;
fi

install:
- if [[ "$TRAVIS_OS_NAME" == "osx" ]]; then
brew tap PX4/px4;
brew install px4-dev pkg-config;
installer -allowUntrusted -verboseR -pkg /tmp/gstreamer-1.0-1.0.10-universal.pkg -target /;
installer -allowUntrusted -verboseR -pkg /tmp/gstreamer-1.0-devel-1.0.10-universal.pkg -target /;
export PKG_CONFIG_PATH="/Frameworks/GStreamer.framework/Versions/Current/lib/pkgconfig${PKG_CONFIG_PATH:+:$PKG_CONFIG_PATH}";
brew tap osrf/simulation;
brew install opencv ${GAZEBO_VERSION};
brew cask reinstall xquartz java;
sudo -H pip2 install --upgrade pip setuptools;
sudo -H pip2 install rospkg pyserial empy toml numpy pandas jinja2;
sudo -H pip2 install --upgrade --force-reinstall numpy;
pushd googletest;
mkdir build;
pushd build;
cmake ..;
make;
make install;
popd;
popd;
brew tap PX4/px4;
brew install px4-dev;
brew tap osrf/simulation;
brew install opencv ${GAZEBO_VERSION};
sudo -H pip2 install --upgrade pip setuptools;
sudo -H pip2 install rospkg pyserial empy toml numpy pandas jinja2;
sudo installer -allowUntrusted -verboseR -pkg gstreamer-1.0-1.0.10-universal.pkg -target /;
sudo installer -allowUntrusted -verboseR -pkg gstreamer-1.0-devel-1.0.10-universal.pkg -target /;
fi

after_install:
- if [[ "$TRAVIS_OS_NAME" == "osx" ]]; then
brew cleanup;
rm -rf /usr/local/include/mavlink/v2.0/.git googletest/.git;
rm gstreamer-1.0-1.0.10-universal.pkg gstreamer-1.0-devel-1.0.10-universal.pkg;
fi

before_script:
- if [[ "$TRAVIS_OS_NAME" == "osx" ]]; then
export PKG_CONFIG_PATH="/Frameworks/GStreamer.framework/Versions/Current/lib/pkgconfig${PKG_CONFIG_PATH:+:$PKG_CONFIG_PATH}";
fi

script:
- if [[ "$TRAVIS_OS_NAME" == "osx" ]]; then
mkdir Build;
cd Build && cmake -DENABLE_UNIT_TESTS=On .. && make -j$(sysctl -n hw.physicalcpu) -l$(sysctl -n hw.physicalcpu); make test;
else docker run -it --rm -w ${TRAVIS_BUILD_DIR} --env=CCACHE_DIR="${CCACHE_DIR}" --volume=${CCACHE_DIR}:${CCACHE_DIR}:rw --volume=${TRAVIS_BUILD_DIR}:${TRAVIS_BUILD_DIR}:rw ${PX4_DOCKER_REPO} /bin/bash -e -c "${BUILD}";
mkdir Build;
cd Build && cmake -DENABLE_UNIT_TESTS=On .. && make -j$(sysctl -n hw.physicalcpu) -l$(sysctl -n hw.physicalcpu); make test;
else
docker run -it --rm -w ${TRAVIS_BUILD_DIR} --env=CCACHE_DIR="${CCACHE_DIR}" --volume=${CCACHE_DIR}:${CCACHE_DIR}:rw --volume=${TRAVIS_BUILD_DIR}:${TRAVIS_BUILD_DIR}:rw ${PX4_DOCKER_REPO} /bin/bash -e -c "${BUILD}";
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@TSC21 what do we use docker for here?

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To build on the Linux distros.

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But that's inside the if [[ "$TRAVIS_OS_NAME" == "osx" ]]; then?

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Oh, there is the else 🙈

fi
39 changes: 27 additions & 12 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,9 @@ cmake_minimum_required(VERSION 3.5 FATAL_ERROR)
cmake_policy(SET CMP0042 NEW)
cmake_policy(SET CMP0048 NEW)
cmake_policy(SET CMP0054 NEW)
if(NOT ${CMAKE_VERSION} VERSION_LESS "3.10.0")
cmake_policy(SET CMP0071 NEW)
endif()

if (NOT CMAKE_INSTALL_PREFIX)
set(CMAKE_INSTALL_PREFIX "/usr" CACHE STRING "install prefix" FORCE)
Expand Down Expand Up @@ -37,16 +40,30 @@ find_program(px4 REQUIRED)
find_package(PythonInterp REQUIRED)
find_package(OpenCV REQUIRED)
find_package(TinyXML REQUIRED)
if (BUILD_GSTREAMER_PLUGIN)
if(BUILD_GSTREAMER_PLUGIN)
set(GStreamer_FIND_VERSION "1.0")
find_package(GStreamer)
if (GSTREAMER_FOUND)
find_package(GStreamer REQUIRED)
if(GSTREAMER_FOUND)
# Set AUTOMOC, AUTOGEN and AUTOUIC
set(CMAKE_AUTOMOC ON)
set(CMAKE_AUTOGEN ON)
set(CMAKE_AUTOUIC ON)
if("${GAZEBO_VERSION}" VERSION_LESS "8.0")
find_package (Qt4)
include (${QT_USE_FILE})
find_package(Qt4)
include(${QT_USE_FILE})
else()
find_package(Qt5Widgets REQUIRED)
find_package(Qt5Core REQUIRED)
# In order to have Qt5 found in MacOS/MacOSX, the Qt5 path needs to be
# added to the CMake prefix path
if(APPLE)
execute_process(COMMAND export Qt5_DIR=$(brew --prefix qt5))
execute_process(COMMAND brew --prefix qt5
ERROR_QUIET
OUTPUT_VARIABLE QT5_PREFIX_PATH
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Ah, actually this one is nicer than my solution.

)
list(APPEND CMAKE_PREFIX_PATH "${QT5_PREFIX_PATH}")
else()
find_package(Qt5 COMPONENTS Core Widgets REQUIRED)
endif()
endif()
endif()
endif()
Expand Down Expand Up @@ -365,25 +382,23 @@ if (GSTREAMER_FOUND)
${plugins}
gazebo_gst_camera_plugin
)
message(STATUS "Found GStreamer: adding gst_camera_plugin")
message(STATUS "Adding gst_camera_plugin")
if("${GAZEBO_VERSION}" VERSION_LESS "8.0")
QT4_WRAP_CPP(headers_MOC include/gazebo_video_stream_widget.h)
add_library(gazebo_video_stream_widget SHARED ${headers_MOC} src/gazebo_video_stream_widget.cpp)
target_link_libraries(gazebo_video_stream_widget ${GAZEBO_LIBRARIES} ${QT_LIBRARIES} ${PROTOBUF_LIBRARIES})
set(plugins
${plugins}
gazebo_video_stream_widget
)
message(STATUS "Found GStreamer: adding gst_video_stream_widget")
message(STATUS "Adding gst_video_stream_widget")
else()
QT5_WRAP_CPP(headers_MOC include/gazebo_video_stream_widget.h)
add_library(gazebo_video_stream_widget SHARED ${headers_MOC} src/gazebo_video_stream_widget.cpp)
target_link_libraries(gazebo_video_stream_widget ${GAZEBO_LIBRARIES} ${Qt5Core_LIBRARIES} ${Qt5Widgets_LIBRARIES} ${PROTOBUF_LIBRARIES} ${Qt5Test_LIBRARIES})
set(plugins
${plugins}
gazebo_video_stream_widget
)
message(STATUS "Found GStreamer: adding gst_video_stream_widget")
message(STATUS "Adding gst_video_stream_widget")
endif()
endif()

Expand Down