Merge pull request #250 from acxz/tbb_ci_simple

Add TBB to Travis CI (simple)

.travis.sh

@@ -1,5 +1,37 @@
 #!/bin/bash
 
+# install TBB with _debug.so files
+function install_tbb()
+{
+  TBB_BASEURL=https://github.com/oneapi-src/oneTBB/releases/download
+  TBB_VERSION=4.4.2
+  TBB_DIR=tbb44_20151115oss
+  TBB_SAVEPATH="/tmp/tbb.tgz"
+
+  if [ "$TRAVIS_OS_NAME" == "linux" ]; then
+    OS_SHORT="lin"
+    TBB_LIB_DIR="intel64/gcc4.4"
+    SUDO="sudo"
+
+  elif [ "$TRAVIS_OS_NAME" == "osx" ]; then
+    OS_SHORT="lin"
+    TBB_LIB_DIR=""
+    SUDO=""
+
+  fi
+
+  wget "${TBB_BASEURL}/${TBB_VERSION}/${TBB_DIR}_${OS_SHORT}.tgz" -O $TBB_SAVEPATH
+  tar -C /tmp -xf $TBB_SAVEPATH
+
+  TBBROOT=/tmp/$TBB_DIR
+  # Copy the needed files to the correct places.
+  # This works correctly for travis builds, instead of setting path variables.
+  # This is what Homebrew does to install TBB on Macs
+  $SUDO cp -R $TBBROOT/lib/$TBB_LIB_DIR/* /usr/local/lib/
+  $SUDO cp -R $TBBROOT/include/ /usr/local/include/
+
+}
+
 # common tasks before either build or test
 function configure()
 {
@@ -14,6 +46,8 @@ function configure()
   rm -fr $BUILD_DIR || true
   mkdir $BUILD_DIR && cd $BUILD_DIR
 
+  install_tbb
+
   if [ ! -z "$GCC_VERSION" ]; then
     export CC=gcc-$GCC_VERSION
     export CXX=g++-$GCC_VERSION
@@ -24,6 +58,7 @@ function configure()
       -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE:-Debug} \
       -DGTSAM_BUILD_TESTS=${GTSAM_BUILD_TESTS:-OFF} \
       -DGTSAM_BUILD_UNSTABLE=${GTSAM_BUILD_UNSTABLE:-ON} \
+      -DGTSAM_WITH_TBB=${GTSAM_WITH_TBB:-OFF} \
       -DGTSAM_USE_QUATERNIONS=${GTSAM_USE_QUATERNIONS:-OFF} \
       -DGTSAM_BUILD_EXAMPLES_ALWAYS=${GTSAM_BUILD_EXAMPLES_ALWAYS:-ON} \
       -DGTSAM_ALLOW_DEPRECATED_SINCE_V4=${GTSAM_ALLOW_DEPRECATED_SINCE_V4:-OFF} \

.travis.yml

@@ -18,7 +18,7 @@ addons:
     - libboost-all-dev
 
 # before_install:
-#  - if [ "$TRAVIS_OS_NAME" == "osx" ]; then brew update          ; fi
+  # - if [ "$TRAVIS_OS_NAME" == "osx" ]; then brew update; fi
 
 install:
   - if [ "$TRAVIS_OS_NAME" == "osx" ]; then HOMEBREW_NO_AUTO_UPDATE=1 brew install ccache  ; fi
@@ -89,6 +89,12 @@ jobs:
     compiler: clang
     env: CC=clang-9 CXX=clang++-9 CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_ALLOW_DEPRECATED_SINCE_V4=ON
     script: bash .travis.sh -b
+# on Linux, with GTSAM_WITH_TBB on to make sure GTSAM still compiles/tests
+  - stage: special
+    os: linux
+    compiler: gcc
+    env: CMAKE_BUILD_TYPE=Debug GTSAM_BUILD_UNSTABLE=OFF GTSAM_WITH_TBB=ON
+    script: bash .travis.sh -b
 # -------- STAGE 2: TESTS -----------
 # on Mac, GCC
   - stage: test

CMakeLists.txt

@@ -199,12 +199,17 @@ find_package(TBB 4.4 COMPONENTS tbb tbbmalloc)
 
 # Set up variables if we're using TBB
 if(TBB_FOUND AND GTSAM_WITH_TBB)
-	set(GTSAM_USE_TBB 1)  # This will go into config.h
-  # all definitions and link requisites will go via imported targets:
-  # tbb & tbbmalloc
-  list(APPEND GTSAM_ADDITIONAL_LIBRARIES tbb tbbmalloc)
+    set(GTSAM_USE_TBB 1)  # This will go into config.h
+    if (${TBB_VERSION_MAJOR} GREATER_EQUAL 2020)
+        set(TBB_GREATER_EQUAL_2020 1)
+    else()
+        set(TBB_GREATER_EQUAL_2020 0)
+    endif()
+    # all definitions and link requisites will go via imported targets:
+    # tbb & tbbmalloc
+    list(APPEND GTSAM_ADDITIONAL_LIBRARIES tbb tbbmalloc)
 else()
-	set(GTSAM_USE_TBB 0)  # This will go into config.h
+    set(GTSAM_USE_TBB 0)  # This will go into config.h
 endif()
 
 ###############################################################################

gtsam/linear/VectorValues.cpp

@@ -51,7 +51,11 @@ namespace gtsam {
       Key key;
       size_t n;
       boost::tie(key, n) = v;
+#ifdef TBB_GREATER_EQUAL_2020
       values_.emplace(key, x.segment(j, n));
+#else
+      values_.insert(std::make_pair(key, x.segment(j, n)));
+#endif
       j += n;
     }
   }
@@ -60,7 +64,11 @@ namespace gtsam {
   VectorValues::VectorValues(const Vector& x, const Scatter& scatter) {
     size_t j = 0;
     for (const SlotEntry& v : scatter) {
+#ifdef TBB_GREATER_EQUAL_2020
       values_.emplace(v.key, x.segment(j, v.dimension));
+#else
+      values_.insert(std::make_pair(v.key, x.segment(j, v.dimension)));
+#endif
       j += v.dimension;
     }
   }
@@ -70,7 +78,11 @@ namespace gtsam {
   {
     VectorValues result;
     for(const KeyValuePair& v: other)
+#ifdef TBB_GREATER_EQUAL_2020
       result.values_.emplace(v.first, Vector::Zero(v.second.size()));
+#else
+      result.values_.insert(std::make_pair(v.first, Vector::Zero(v.second.size())));
+#endif
     return result;
   }
 
@@ -86,7 +98,11 @@ namespace gtsam {
 
   /* ************************************************************************* */
   VectorValues::iterator VectorValues::emplace(Key j, const Vector& value) {
+#ifdef TBB_GREATER_EQUAL_2020
     std::pair<iterator, bool> result = values_.emplace(j, value);
+#else
+    std::pair<iterator, bool> result = values_.insert(std::make_pair(j, value));
+#endif
     if(!result.second)
       throw std::invalid_argument(
       "Requested to emplace variable '" + DefaultKeyFormatter(j)
@@ -266,7 +282,11 @@ namespace gtsam {
     VectorValues result;
     // The result.end() hint here should result in constant-time inserts
     for(const_iterator j1 = begin(), j2 = c.begin(); j1 != end(); ++j1, ++j2)
+#ifdef TBB_GREATER_EQUAL_2020
       result.values_.emplace(j1->first, j1->second + j2->second);
+#else
+      result.values_.insert(std::make_pair(j1->first, j1->second + j2->second));
+#endif
 
     return result;
   }
@@ -324,7 +344,11 @@ namespace gtsam {
     VectorValues result;
     // The result.end() hint here should result in constant-time inserts
     for(const_iterator j1 = begin(), j2 = c.begin(); j1 != end(); ++j1, ++j2)
+#ifdef TBB_GREATER_EQUAL_2020
       result.values_.emplace(j1->first, j1->second - j2->second);
+#else
+      result.values_.insert(std::make_pair(j1->first, j1->second - j2->second));
+#endif
 
     return result;
   }
@@ -340,7 +364,11 @@ namespace gtsam {
   {
     VectorValues result;
     for(const VectorValues::KeyValuePair& key_v: v)
+#ifdef TBB_GREATER_EQUAL_2020
       result.values_.emplace(key_v.first, a * key_v.second);
+#else
+      result.values_.insert(std::make_pair(key_v.first, a * key_v.second));
+#endif
     return result;
   }
 

gtsam/linear/VectorValues.h

@@ -198,7 +198,11 @@ namespace gtsam {
      *  exist, it is inserted and an iterator pointing to the new element, along with 'true', is
      *  returned. */
     std::pair<iterator, bool> tryInsert(Key j, const Vector& value) {
-      return values_.emplace(j, value); 
+#ifdef TBB_GREATER_EQUAL_2020
+      return values_.emplace(j, value);
+#else
+      return values_.insert(std::make_pair(j, value));
+#endif
     }
 
     /** Erase the vector with the given key, or throw std::out_of_range if it does not exist */