Release v0.3.1

hungpham2511 · Aug 23, 2020 · dbc7bdb · dbc7bdb
2 parents e72b40b + fb0864d
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diff --git a/.circleci/README.md b/.circleci/README.md
@@ -6,8 +6,7 @@ We have the following CI workflows in CirclCI.
 
 The main workflow for new commits. The following jobs are done:
 - Check project codestyle.
-- Build and test toppra on Python 3.
-- Build and test toppra (C++).
+- Build and test toppra on Python 3 and the C++ API.
 
 ## release
 

diff --git a/.circleci/config.yml b/.circleci/config.yml
@@ -1,111 +1,162 @@
-version: 2
+version: 2.1
+
+# Use this orb install python dependences.
+orbs:
+  python: circleci/[email protected]
+  gh-pages: sugarshin/[email protected]
+
+
+commands:
+  # For installing dep and building toppra C++ API
+  build_cpp:
+    description: "Install dependencies (C++) and build toppra C++ API"
+    parameters:
+      python-version:
+        type: string
+        default: "3.6"
+      python-version-short:
+        type: string
+        default: "36"
+    steps:
+      - run:
+          name: Install dependencies
+          command: |
+            echo "deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -sc) robotpkg" \
+              | sudo tee /etc/apt/sources.list.d/robotpkg.list
+            curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key \
+              | sudo apt-key add -
+            sudo apt update
+            sudo apt install -y cmake clang-tidy libeigen3-dev robotpkg-pinocchio robotpkg-qpoases libglpk-dev \
+              robotpkg-py<< parameters.python-version-short >>-pinocchio \
+              robotpkg-py<< parameters.python-version-short >>-example-robot-data
+
+            cd ~/ && git clone https://github.com/pybind/pybind11
+            cd pybind11 && git checkout v2.5.0
+            mkdir build && cd build && cmake -DPYBIND11_TEST=false .. && sudo make install
+
+            cd ~/ && git clone https://github.com/msgpack/msgpack-c.git
+            cd msgpack-c && git checkout cpp-3.2.1 && cmake -DMSGPACK_CXX11=ON -DMSGPACK_BUILD_EXAMPLES=OFF -DMSGPACK_CXX_ONLY=ON .
+            sudo make install
+            
+          working_directory: ~/
+      - run:
+          name: Build toppra C++ API
+          command: |
+            export LD_LIBRARY_PATH=/opt/openrobots/lib:${LD_LIBRARY_PATH}
+            export CMAKE_PREFIX_PATH=/opt/openrobots
+            mkdir build && cd build && cmake \
+              -DBUILD_WITH_PINOCCHIO=ON \
+              -DBUILD_WITH_qpOASES=ON \
+              -DBUILD_WITH_GLPK=ON \
+              -DPYTHON_BINDINGS=ON \
+              -DPYTHON_VERSION=<< parameters.python-version >> \
+              -DBUILD_WITH_PINOCCHIO_PYTHON=true \
+              -DOPT_MSGPACK=ON ..
+            make -j4
+          working_directory: ~/repo/cpp
 
 jobs:
-  check-codestyle:
+  # Test the base python installation on multiple environments. In
+  # addition, run lint task.
+  python:
+    parameters:
+      python-version:
+        type: string
+        default: ""
+      tox-base-cmd:
+        type: string
+        default: "py"
     docker:
       - image: hungpham2511/toppra-dep:0.0.3
 
     working_directory: ~/repo
-
     steps:
       - checkout
-      - restore_cache:
-          keys:
-            - v1-dependencies3-{{ checksum "requirements3.txt" }}
       - run:
-          name: install dependencies
+          name: Run tests for python << parameters.python-version >>
           command: |
-            python3 -m virtualenv --python python3 venv3 && . venv3/bin/activate
-            pip install invoke pathlib2 numpy cython
-            invoke install-solvers
-            pip install -e .[dev]
-
-      - save_cache:
-          paths:
-            - ./venv3
-          key: v1-dependencies3-{{ checksum "requirements3.txt" }}
+            virtualenv --python python3.7 venv3 && . venv3/bin/activate
+            pip install tox numpy cython  # need numpy and cython to create the sdist
+            tox -e << parameters.tox-base-cmd >><< parameters.python-version >>
 
-      - run:
-          name: check codestyle
-          command: |
-            . venv3/bin/activate
-            invoke lint || echo "allow failure"
+      - store_test_results:
+          path: test-results
 
       - store_artifacts:
-          path: test-reports
-          destination: test-reports
+          path: test-results  
 
-  build-python-3:
+  # Test the cpp api and bindings on python3.6 The base image of this
+  # job is Ubuntu 18.04, which is required to install pinocchio and
+  # other deps.
+  cpp-python36:
+    description: Build and test the full Python API
     docker:
-      - image: hungpham2511/toppra-dep:0.0.3
-
+      - image: cimg/python:3.6
     working_directory: ~/repo
-
     steps:
       - checkout
-
-      # Download and cache dependencies
-      - restore_cache:
-          keys:
-            - v1-dependencies3-{{ checksum "requirements3.txt" }}
-
+      - build_cpp
       - run:
-          name: install dependencies
+          name: Unit tests (C++)
           command: |
-            virtualenv --python python3.7 venv3 && . venv3/bin/activate
-            pip install invoke pathlib2 numpy cython
+            ./tests/all_tests
+          working_directory: ~/repo/cpp/build
+      - run:
+          name: Check codestyle (C++)
+          command: |
+            clang-tidy  src/**/*.cpp \
+            -checks=clang-analyzer-*,clang-analyzer-cplusplus*,cppcoreguidelines-*,performance-*,modernize-*,readability-,-cppcoreguidelines-pro-bounds-array-to-pointer-decay\
+            -warnings-as-errors=clang-analyzer-*,clang-analyzer-cplusplus*,cppcoreguidelines-*,modernize-*
+          working_directory: ~/repo/cpp
+      - python/load-cache:
+          dependency-file: requirements3.txt
+      - python/install-deps:
+          dependency-file: requirements3.txt
+      - python/save-cache:
+          dependency-file: requirements3.txt
+      - run:
+          name: Install Python API with bindings
+          command: |
+            pip install numpy cython invoke  # absolute minimum to run setup.py
             invoke install-solvers
             pip install -e .[dev]
 
-      - save_cache:
-          paths:
-            - ./venv3
-          key: v1-dependencies3-{{ checksum "requirements3.txt" }}
-
       - run:
-          name: test
+          name: Test Python API with bindings
           command: |
-            . venv3/bin/activate
-            mkdir test-reports
-            python --version
-            python -m pytest -q tests --durations=3 --junitxml=test-reports/junit.xml
+            export ROS_PACKAGE_PATH=/opt/openrobots/share
+            export PYTHONPATH=/opt/openrobots/lib/python3.6/site-packages:$PYTHONPATH
+            pytest tests --durations=3 --junitxml=test-reports/junit.xml
 
       - store_test_results:
           path: test-reports
 
-  build-cpp:
-    docker:
-      - image: hungpham2511/toppra-dep:0.0.3
-
-    working_directory: ~/repo
-
-    steps:
-      - checkout
       - run:
-          name: dependencies
+          name: Build docs
           command: |
-            sudo apt install -y curl
-            echo "deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -sc) robotpkg" \
-              | sudo tee /etc/apt/sources.list.d/robotpkg.list
-            curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key \
-              | sudo apt-key add -
-            sudo apt update
-            sudo apt install -y clang-tidy libeigen3-dev robotpkg-pinocchio robotpkg-qpoases libglpk-dev
+            export ROS_PACKAGE_PATH=/opt/openrobots/share
+            export PYTHONPATH=/opt/openrobots/lib/python3.6/site-packages:$PYTHONPATH
+            pip install -r docs/requirements.txt
+            invoke build-docs
 
-      - run:
-          name: build
-          command: |
-            export LD_LIBRARY_PATH=/opt/openrobots/lib:${LD_LIBRARY_PATH}
-            export CMAKE_PREFIX_PATH=/opt/openrobots
-            mkdir build && cd build && cmake -DBUILD_WITH_PINOCCHIO=ON -DBUILD_WITH_qpOASES=ON -DBUILD_WITH_GLPK=ON ..
-            make -j4
-          working_directory: ~/repo/cpp
+      - persist_to_workspace:
+          root: .
+          paths:
+            - docs/build
 
-      - run:
-          name: test
-          command: |
-            ./tests/all_tests
-          working_directory: ~/repo/cpp/build
+  # Publishthe built doc from the last build step
+  publish-docs:
+    docker:
+      - image: cimg/python:3.6
+    working_directory: ~/repo
+    steps:
+      - checkout
+      - attach_workspace:
+          at: .
+      - add_ssh_keys
+      - gh-pages/deploy:
+          ssh-fingerprints: "9f:09:37:d6:4a:48:0d:17:a7:c5:4a:5d:af:b5:fc:ab"
+          build-dir: ./docs/build/html
 
   pre-release:
     docker:
@@ -122,48 +173,52 @@ jobs:
 
   release:
     docker:
-      - image: buildpack-deps:trusty
+      - image: cimg/python:3.6
     working_directory: ~/repo
     steps:
       - checkout
       - run:
-          name: Tag code with the latest version in VERSION and push tag.
+          name: Build distribution
           command: |
-            VERSION=`cat VERSION`
-            git fetch --tags
-            git tag $VERSION
-            git push origin $VERSION
+            pip install cython numpy twine
+            python setup.py sdist
+
       - run:
           name: Publish to PyPI
           command: |
-            echo "TODO"
+            twine upload dist/* --username hungpham --password $PYPI_PASSWORD
 
 workflows:
   version: 2
   integrate:
     jobs:
-      - build-cpp
-      - check-codestyle
-      - build-python-3:
+      - python:
+          tox-base-cmd: "lint"
+      - python:
+          matrix:
+            parameters:
+              python-version: ["27", "36", "37"]
+
+      - cpp-python36
+      - publish-docs:
           requires:
-            - check-codestyle
-
-  release:
-    jobs:
-      - pre-release:
+            - cpp-python36
           filters:
             branches:
               only:
-              - fix-ci
-              - /release-.*/
-
-  publish:
+                - fix-doc
+                - develop
+  release:
     jobs:
       - release:
           filters:
             branches:
               only:
               - master
+              - test-release
 
-
-
+      - pre-release:
+          filters:
+            branches:
+              only:
+              - /release-.*/
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
diff --git a/.github/workflows/stale.yml b/.github/workflows/stale.yml
@@ -0,0 +1,21 @@
+name: Mark stale issues and pull requests
+
+on:
+  schedule:
+  - cron: "0 0 * * *"
+
+jobs:
+  stale:
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/stale@v3
+      with:
+        repo-token: ${{ secrets.GITHUB_TOKEN }}
+        stale-issue-message: 'Stale issue message'
+        stale-pr-message: 'Stale pull request message'
+        stale-issue-label: 'no-issue-activity'
+        stale-pr-label: 'no-pr-activity'
+        days-before-stale: 365
+        days-before-close: 365
diff --git a/.pylintrc b/.pylintrc
@@ -142,7 +142,9 @@ disable=
         xrange-builtin,
         xreadlines-attribute,
         zip-builtin-not-iterating,
-	bad-continuation
+	bad-continuation,
+	arguments-differ,
+	super-with-arguments
 
 # Enable the message, report, category or checker with the given id(s). You can
 # either give multiple identifier separated by comma (,) or put this option
@@ -348,7 +350,7 @@ good-names=i,
 	   x, y, z, s, dt, F, g, a, b, c,
 	   N, ds, q, qd, qdd, qddd, qs, qss, qsss,
 	   us, xs, vs,  # special toppra-specific variables
-	   constraint_F, F_vec
+	   constraint_F, F_vec, ts, us, ss, t
 
 
 # Include a hint for the correct naming format with invalid-name