.travis.yml

# This script is used by the Travis-CI (continuous integration) testing
# service to run opensim-core's tests with every GitHub push or pull-request.
# To learn about this file, go to http://docs.travis-ci.com/user/languages/c/
language: cpp

# Use container-based infrastructure to allow caching (for ccache).
sudo: false
dist: trusty

# For thread_local support on macOS, we require xcode8 or greater.
# Before 2018, xcode7 was the default. Now that xcode8.3 is the default,
# we no longer need to specify an osx_image.
# https://docs.travis-ci.com/user/reference/osx/#OS-X-Version
# osx_image: xcode8
    
matrix:
  include:
    # "cron" means periodic (e.g., daily) builds. 
    # see https://travis-ci.org/opensim-org/opensim-core/settings
    # for our scheduled cron jobs.
    - if: type != cron
      os: linux
      compiler: clang
      env: BTYPE=Release WRAP=on  DOXY=on  NPROC=3 DEPLOY=yes
    - if: type != cron
      os: linux
      compiler: gcc
      env: BTYPE=Release WRAP=off DOXY=off NPROC=3 DEPLOY=no
    - if: type = cron
      os: linux
      compiler: clang
      env: BTYPE=Debug   WRAP=off DOXY=off NPROC=3 DEPLOY=no
    - if: type != cron
      os: osx
      compiler: clang
      env: BTYPE=Release WRAP=on  DOXY=off  NPROC=2 DEPLOY=yes OSX_TARGET=10.10
      
branches:
  except:
  # Branches containing Development Proposals do not need to be tested.
  # Exclude any branch whose name starts with devprop (case-insensitive).
  # For example, devprop-feature and DEVPROP_feature are ignored.
  - /^(?i:devprop).*$/

env:
  global:
    # The python tests look for OPENSIM_HOME.
    - OPENSIM_HOME=~/opensim-core
    - OPENSIM_DEPENDENCIES_BUILD_DIR=~/opensim_dependencies-build
    - OPENSIM_DEPENDENCIES_INSTALL_DIR=~/opensim_dependencies-install
    - SWIG_VER=3.0.8
    - PATH="$PATH:$TRAVIS_BUILD_DIR/.github"
    - USE_CCACHE=1
    - CCACHE_COMPRESS=1
    # For Clang to work with ccache.
    - CCACHE_CPP2=1

cache: ccache

addons:
  # Dependencies on linux.
  apt:
    sources:
      # For gcc >= 4.8
      - ubuntu-toolchain-r-test
      # for clang
      - llvm-toolchain-precise-3.5
      # For cmake >= 2.8.8 (for CMakePackageConfigHelpers)
      - kubuntu-backports
      - george-edison55-precise-backports # cmake 3.2.3 / doxygen 1.8.3

    packages:
      # Must explicitly list cmake-data, otherwise the incorrect
      # version of cmake-data will be sought to satisfy the dependencies
      # of cmake.
      - cmake-data
      - cmake
      # For Simbody.
      - liblapack-dev
      - g++-4.9
      - clang-3.5
      # In case someone wants to check for memory leaks.
      - valgrind
      # To build doxygen documentation.
      # TOO OLD; see below. - doxygen
      # python3 as linux and osx are still on python2
      - python3
      - python3-pip
      - python3-numpy
  # To avoid being prompted when ssh'ing into sourceforge.
  ssh_known_hosts:
      # For uploading doxygen.
      - web.sourceforge.net
      # For deleting old doxygen.
      - shell.sourceforge.net
      # For uploading binaries.
      - frs.sourceforge.net

before_install:
  # If the Mac builds take too long when building bindings, then we can have the bindings 
  # (and doxygen) only build if we're going to deploy to sourceforge.
  #- if [[ "$TRAVIS_BRANCH" != "master" || "$TRAVIS_PULL_REQUEST" != "false" ]]; then export WRAP=off; export DOXY=off; fi

  - cd $TRAVIS_BUILD_DIR
  # Stop build if comment contains [skip travis].
  - if $(git log -n1 --format="%B" | grep --quiet '\[skip travis\]'); then exit; fi 
  
  - cmake --version # To help debug any cmake-related issues.
      
  ## Avoid bug on OSX (https://github.com/travis-ci/travis-ci/issues/6307)
  # This prevents the build from failing with:
  # `/Users/travis/build.sh: line 109: shell_session_update: command not found`
  # - if [ "$TRAVIS_OS_NAME" = "osx" ]; then rvm get head; fi
  
  # Avoid "Homebrew must be run under Ruby 2.3!"
  # https://github.com/PowerShell/PowerShell/issues/5062
  - if [[ "$TRAVIS_OS_NAME" == "osx" ]]; then brew update; fi
  
  ## Ensure that there are no tabs in source code.
  # GREP returns 0 (true) if there are any matches, and
  # we don't want any matches. If there are matches,
  # print a helpful message, and make the test fail by using "false".
  # The GREP command here checks for any tab characters in the the files
  # that match the specified pattern. GREP does not pick up explicit tabs
  # (e.g., literally a \t in a source file).
  - cd $TRAVIS_BUILD_DIR
  - if grep --line-num --recursive --exclude-dir="*dependencies*" --include={CMakeLists.txt,*.cpp,*.c,*.h} -P "\t" . ; then echo "Tabs found in the lines shown above. See CONTRIBUTING.md about tabs."; false; fi

  ## Set up environment variables.
  # Only if compiling with gcc, update environment variables to use the new
  # gcc.
  - if [ "$CXX" = "g++" ]; then export CXX="g++-4.9" CC="gcc-4.9"; fi
  - if [[ "$TRAVIS_OS_NAME" = "linux" && "$CXX" = "clang++" ]]; then export CXX="clang++-3.5" CC="clang-3.5"; fi

  ## Set up ccache.
  # Lots of this is borrowed from https://github.com/weitjong/Urho3D/blob/master/.travis.yml.
  # Since we install our own Clang, it's not set up for ccache. Workaround:
  - if [[ "$TRAVIS_OS_NAME" = "linux" && $CXX = *clang* ]]; then ln -s $(which ccache) $HOME/clang-3.5 && ln -s $(which ccache) $HOME/clang++-3.5 && export PATH=$HOME:$PATH; fi
  # Without the following lines, ccache causes clang to not print in color.
  - if [[ "$CC" = *clang* ]]; then export CC="$CC -fcolor-diagnostics"; fi;
  - if [[ "$CXX" = *clang* ]]; then export CXX="$CXX -fcolor-diagnostics"; fi;

  - if [ "$TRAVIS_OS_NAME" = "osx" ]; then brew install ccache; fi
  - if [ "$TRAVIS_OS_NAME" = "osx" ]; then PATH=/usr/local/opt/ccache/libexec:$PATH; fi

  ## Temporary hack to find libblas and liblapack.
  # TODO. Currently Simbody is using Travis CI's Ubuntu 14.04 VMs, which link with 
  # liblapack.so.3 and libblas.so.3. These files don't exist on the 12.04 machines.
  - if [ "$TRAVIS_OS_NAME" = "linux" ]; then mkdir ~/lib; fi
  - if [ "$TRAVIS_OS_NAME" = "linux" ]; then ln -s /usr/lib/liblapack.so ~/lib/liblapack.so.3; fi
  - if [ "$TRAVIS_OS_NAME" = "linux" ]; then ln -s /usr/lib/libblas.so ~/lib/libblas.so.3; fi
  - if [ "$TRAVIS_OS_NAME" = "linux" ]; then export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:~/lib; fi

  ## Doxygen.
  # Need a doxygen that is more recent than that available through apt-get.
  - if [[ "$DOXY" = "on" && "$TRAVIS_OS_NAME" = "linux" ]]; then mkdir ~/doxygen && cd ~/doxygen; fi
  - if [[ "$DOXY" = "on" && "$TRAVIS_OS_NAME" = "linux" ]]; then wget https://sourceforge.net/projects/doxygen/files/rel-1.8.10/doxygen-1.8.10.linux.bin.tar.gz; fi
  - if [[ "$DOXY" = "on" && "$TRAVIS_OS_NAME" = "linux" ]]; then tar xzf doxygen-1.8.10.linux.bin.tar.gz; fi
  - if [[ "$DOXY" = "on" && "$TRAVIS_OS_NAME" = "osx" ]]; then brew install doxygen; fi

  ## Install Simbody.
  # The Simbody travis script uploads the simbody binaries to sourceforge.
  - SIMBODYZIP=simbody-latest_${TRAVIS_OS_NAME}_${BTYPE}.zip
  - wget https://prdownloads.sourceforge.net/myosin/simbody/$SIMBODYZIP
  # Put Simbody in ~/simbody (-q: quiet).
  - unzip -q $SIMBODYZIP -d ~

  ## Install SWIG to build Java/python wrapping.
  # - if [[ "$WRAP" = "on" ]]; then if [ "$TRAVIS_OS_NAME" = "osx" ]; then brew install pcre; fi; fi
  - if [[ "$WRAP" = "on" ]]; then mkdir ~/swig-source && cd ~/swig-source; fi
  - if [[ "$WRAP" = "on" ]]; then wget https://github.com/swig/swig/archive/rel-$SWIG_VER.tar.gz; fi
  #- wget http://prdownloads.sourceforge.net/swig/$SWIG.tar.gz
  - if [[ "$WRAP" = "on" ]]; then tar xzf rel-$SWIG_VER.tar.gz && cd swig-rel-$SWIG_VER; fi
  - if [[ "$WRAP" = "on" ]]; then sh autogen.sh && ./configure --prefix=$HOME/swig --disable-ccache && make && make -j8 install; fi
  #- ./configure --prefix=$HOME/swig && make && make -j8 install

  ## Detect if we should check memory leaks with valgrind.
  - cd $TRAVIS_BUILD_DIR
  - if [ "$TRAVIS_OS_NAME" = "linux" ]; then git log --format=%B --no-merges -n 1 | grep '\[ci valgrind\]'; export RUN_VALGRIND=$?; true; fi
  - if [ $RUN_VALGRIND = "0" ]; then export CTEST_FLAGS="-D ExperimentalMemCheck"; fi
  
  ## Decide which tests to exclude, based on platform, configuration, etc.
  # Initialize environment variable.
  - export TESTS_TO_EXCLUDE="unmatched" # This is just for the regex.
  ## If we are building in debug, there are some tests to ignore.
  - if [ "$BTYPE" = "Debug" ]; then export TESTS_TO_EXCLUDE="$TESTS_TO_EXCLUDE|testOptimizationExample|testCMCGait10dof18musc|testCMCWithControlConstraintsRunningModel"; fi
  
  ## Set compiler flags.
  - export CXX_FLAGS="-Werror " # -Wno-tautological-undefined-compare -Wno-undefined-bool-conversion"
  #- if [ "$TRAVIS_OS_NAME" = "osx" ]; then export CXX_FLAGS="$CXX_FLAGS -Wno-inconsistent-missing-override"; fi;

  # Run superbuild to download, configure, build and install dependencies.
  - mkdir $OPENSIM_DEPENDENCIES_BUILD_DIR
  - cd $OPENSIM_DEPENDENCIES_BUILD_DIR
  - DEP_CMAKE_ARGS=($TRAVIS_BUILD_DIR/dependencies -DCMAKE_INSTALL_PREFIX=$OPENSIM_DEPENDENCIES_INSTALL_DIR -DCMAKE_BUILD_TYPE=$BTYPE -DSUPERBUILD_simbody=OFF -DSUPERBUILD_ezc3d=ON)
  - if [ "$TRAVIS_OS_NAME" = "osx" ]; then DEP_CMAKE_ARGS+=(-DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_TARGET); fi

  - printf '%s\n' "${DEP_CMAKE_ARGS[@]}"
  - cmake "${DEP_CMAKE_ARGS[@]}"
  - make -j8
  
  # Force some cleanup of homebrew cache so we do not exceed availabe disk space
  - if [ "$TRAVIS_OS_NAME" = "osx" ]; then brew cleanup; rm -rf "`brew cache`"; fi
  

install:

  #############################################################################
  # Configure OpenSim.
  #############################################################################
  - mkdir ~/opensim-core-build && cd ~/opensim-core-build
  ## Store CMake arguments in bash array.
  # https://stackoverflow.com/questions/1951506/add-a-new-element-to-an-array-without-specifying-the-index-in-bash
  - OSIM_CMAKE_ARGS=($TRAVIS_BUILD_DIR -DCMAKE_INSTALL_PREFIX=$OPENSIM_HOME -DCMAKE_BUILD_TYPE=$BTYPE -DCMAKE_CXX_FLAGS="$CXX_FLAGS")

  # The deployed binaries are used by the GUI, which requires the non-FHS
  # layout.
  - OSIM_CMAKE_ARGS+=(-DOPENSIM_INSTALL_UNIX_FHS=OFF)

  # The minimum macOS/OSX version we support.
  - if [ "$TRAVIS_OS_NAME" = "osx" ]; then OSIM_CMAKE_ARGS+=(-DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_TARGET); fi
  
  # Dependencies.
  - OSIM_CMAKE_ARGS+=(-DSIMBODY_HOME=~/simbody -DOPENSIM_DEPENDENCIES_DIR=$OPENSIM_DEPENDENCIES_INSTALL_DIR -DOPENSIM_C3D_PARSER=ezc3d)
  # Build applications
  - OSIM_CMAKE_ARGS+=(-DOPENSIM_BUILD_INDIVIDUAL_APPS=ON)

  # Bindings.
  - OSIM_CMAKE_ARGS+=(-DBUILD_PYTHON_WRAPPING=$WRAP -DBUILD_JAVA_WRAPPING=$WRAP -DSWIG_EXECUTABLE=$HOME/swig/bin/swig)
  # On Mac, use system python instead of Homebrew python.
  #- if [ "$TRAVIS_OS_NAME" = "osx" ]; then OSIM_CMAKE_ARGS+=(-DPYTHON_EXECUTABLE=/usr/bin/python3); fi
  
  # Doxygen.
  - OSIM_CMAKE_ARGS+=(-DOPENSIM_DOXYGEN_USE_MATHJAX=off -DOPENSIM_SIMBODY_DOXYGEN_LOCATION="https://simtk.org/api_docs/simbody/latest/")
  - if [[ "$DOXY" = "on" && "$TRAVIS_OS_NAME" = "linux" ]]; then OSIM_CMAKE_ARGS+=(-DDOXYGEN_EXECUTABLE=$HOME/doxygen/doxygen-1.8.10/bin/doxygen); fi
  
  - printf '%s\n' "${OSIM_CMAKE_ARGS[@]}"
  - cmake "${OSIM_CMAKE_ARGS[@]}"
  
  #############################################################################
  # Build OpenSim.
  #############################################################################
  # Build java and python C++ wrapper separately to avoid going over the memory limit.
  # On OSX, building the bindings separately slows down the build too much.
  - if [[ "$WRAP" = "on" && "$TRAVIS_OS_NAME" = "linux" ]]; then make -j$NPROC osimTools osimJavaJNI PythonBindings; fi
  # Build whatever remains (at least _opensim, tests and examples).
  - make -j$NPROC;

script:
  # Test OpenSim.
  # TODO On Debug, we need to tell travis not to timeout if it doesn't get
  # any output for more than 10 minutes. We do this using "travis_wait".
  #- if [ "$BTYPE" = "Debug" ]; export NO_TIMEOUT="travis_wait"; fi
  - ctest -j8 --output-on-failure $CTEST_FLAGS --exclude-regex $TESTS_TO_EXCLUDE

  ## Print out valgrind output.
  - if [ $RUN_VALGRIND ]; then find Testing/Temporary -name "MemoryCheck*" -print | xargs cat; fi

  ## Build doxygen documentation.
  - if [ "$DOXY" = "on" ]; then make doxygen; fi
  
  ## Install OpenSim. Suppress output.
  - make -j8 install > /dev/null

  ## Test python wrapping.
  # Since we use OPENSIM_COPY_DEPENDENCIES=ON, ensure the Python bindings are
  # not relying on the original Simbody/BTK libraries but rather the copied
  # ones. This should make sure we have the correct RPATH for Simbody/BTK on
  # macOS.
  - rm -r ~/simbody
  # Go to the python wrapping package directory.
  - if [ "$WRAP" = "on" ]; then cd $OPENSIM_HOME/sdk/Python; fi
  # Run the python tests, verbosely.
  - if [ "$WRAP" = "on" ]; then python3 -m unittest discover --start-directory opensim/tests --verbose; fi
    
  ## Set up ssh for sourceforge.
  - if [[ "$DEPLOY" = "yes" || ("$DOXY" = "on" && "$TRAVIS_OS_NAME" = "linux" && "$TRAVIS_PULL_REQUEST" != "false") ]]; then PREP_SOURCEFORGE_SSH=0; else PREP_SOURCEFORGE_SSH=1; fi
  # Decrypt the private key stored in the repository to the tmp dir.
  - if [ $PREP_SOURCEFORGE_SSH = "0" ]; then openssl aes-256-cbc -K $encrypted_b368d71b8a89_key -iv $encrypted_b368d71b8a89_iv -in $TRAVIS_BUILD_DIR/.github/.deploy_myosin_sourceforge_rsa.enc -out /tmp/deploy_myosin_sourceforge_rsa -d; fi
  # Start the ssh agent.
  - if [ $PREP_SOURCEFORGE_SSH = "0" ]; then eval "$(ssh-agent -s)"; fi
  # Register this private key with this client (the travis machine).
  - if [ $PREP_SOURCEFORGE_SSH = "0" ]; then chmod 600 /tmp/deploy_myosin_sourceforge_rsa; fi
  - if [ $PREP_SOURCEFORGE_SSH = "0" ]; then ssh-add /tmp/deploy_myosin_sourceforge_rsa; fi

  ## Upload doxygen to server for viewing.
  # View resulting doxygen at myosin.sourceforge.net/<pull-request-number>
  # https://sourceforge.net/p/forge/documentation/Project%20Web%20Services/
  - if [[ "$DOXY" = "on" && "$TRAVIS_OS_NAME" = "linux" ]]; then if [ "$TRAVIS_PULL_REQUEST" != "false" ]; then rsync -az $OPENSIM_HOME/sdk/doc/html_developer/ opensim-bot@web.sourceforge.net:/home/project-web/myosin/htdocs/$TRAVIS_PULL_REQUEST; fi; fi
  # If we're uploading doxygen, we also want to delete old
  # doxygen files from the server so they don't build up indefinitely.
  # However, ssh'ing into the server takes a while, so we only do this
  # randomly (1% of the time).
  - if [[ "$DOXY" = "on" && "$TRAVIS_OS_NAME" = "linux" && "$TRAVIS_PULL_REQUEST" != "false" && $(python -c "import random; print(random.random() < 0.01)") = "True" ]]; then CLEAN_UP_MYOSIN=0; else CLEAN_UP_MYOSIN=1; fi
  - if [ $CLEAN_UP_MYOSIN = "0" ]; then echo "This build is randomly selected to delete old folders from myosin.sourceforge.net."; fi
  # Creates an environment at sourceforge that we can ssh into.
  - if [ $CLEAN_UP_MYOSIN = "0" ]; then ssh opensim-bot,myosin@shell.sourceforge.net create; fi
  # Now that the environment is created, we can run a command on the server.
  # mindepth and maxdepth makes sure that we only look to delete folders
  # in the htdocs folder, and we don't look at subdirectories.
  # We only look for folders (`-type d`).
  # We delete folders older than 30 days (`-mtime +30`).
  # The "shutdown" command shuts down the ssh environment.
  - if [ $CLEAN_UP_MYOSIN = "0" ]; then ssh opensim-bot,myosin@shell.sourceforge.net 'cd /home/project-web/myosin/htdocs && find . -mindepth 1 -maxdepth 1 -type d -mtime +30 | xargs rm -rf && shutdown'; fi

   # Set the maximum size of the cache.
   # TODO 100 MB is not big enough. Using default limit of 1 GB for now.
   #- ccache --max-size 100M
    
before_cache:
  # Show cache statistics.
  - ccache --show-stats
  
before_deploy:
  # Zip up the installation using a file name that identifies where
  # the binaries were built.
  - mkdir ~/to_deploy
  - ZIPNAME=opensim-core-latest_${TRAVIS_OS_NAME}_${BTYPE}.zip
  # Zip up opensim relative to where it's installed.
  - cd $OPENSIM_HOME/../
  # Leave symlinks intact.
  - zip --symlinks --recurse-paths --quiet ~/to_deploy/$ZIPNAME opensim-core

  # SSH for sourceforge is already set up, in the `script:` section.

deploy:
  # Uploads to sourceforge.net/projects/myosin
  # See https://docs.travis-ci.com/user/deployment/custom/
  # '--archive' preserves symlinks.
  provider: script
  skip_cleanup: true
  script: rsync --archive --compress --verbose ~/to_deploy/$ZIPNAME opensim-bot@frs.sourceforge.net:/home/frs/project/myosin/opensim-core/
  on:
    branch: master
    # Upload for both linux (once) and OSX. Might need to modify the condition
    # if we change the build matrix.
    condition: "$DEPLOY = yes"

# Below is a description of the process for securely uploading files to
# Sourceforge, taken from https://oncletom.io/2016/travis-ssh-deploy/.
#
# The following link is a great page to learn about SSH.
# https://www.digitalocean.com/community/tutorials/understanding-the-ssh-encryption-and-connection-process
#
# Contact chrisdembia if you need the login information for opensim-bot at
# sourceforge, to manage myosin.sourceforge.net.
#
# You must install the travis command-line tool: `gem install travis`
# Locally, from the root of the opensim-core repository:
# Create a 4096-bit RSA key, providing a comment.
# $ ssh-keygen -t rsa -b 4096 -C 'opensim-bot@sourceforge.net' -f .github/.deploy_myosin_sourceforge_rsa
# When prompted for a passphrase, just hit enter (twice).
# First make a backup copy of .travis.yml.
# $ cp .travis-ci.yml travis-ci-backup.yml
# Encrypt the private key, add decryption line to .travis.yml. 
# $ travis encrypt-file .github/.deploy_myosin_sourceforge_rsa --add
# Manually edit the .travis.yml file to clean up the added lines and restore
# comments to the file; move the decryption line to the before_deploy step.
# Remove the unencrypted private key. DO NOT commmit the unencrypted private
# key.
# $ rm -f .github/.deploy_myosin_sourceforge_rsa
# Move the encrypted key to the .github folder.
# $ mv .deploy_myosin_sourceforge_rsa.enc .github/
# Manually, log into the sourceforge website (user opensim-bot) and add the
# public key (contents of .github/.deploy_myosin_sourceforge_rsa.pub) in
# Profile > SSH Settings.
# Now you can delete the public key file from your local machine.
# Commit the encrypted private key and the changes to .travis.yml.
# $ git commit .travis.yml .github/.deploy_myosin_sourceforge_rsa.enc