121 lines
2.8 KiB
Bash
121 lines
2.8 KiB
Bash
#!/bin/bash
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##########################################################
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# Build and test GTSAM for *nix based systems.
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# Specifically Linux and macOS.
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##########################################################
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set -e # Make sure any error makes the script to return an error code
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set -x # echo
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# install TBB with _debug.so files
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function install_tbb()
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{
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echo install_tbb
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if [ "$(uname)" == "Linux" ]; then
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sudo apt-get -y install libtbb-dev
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elif [ "$(uname)" == "Darwin" ]; then
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brew install tbb
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fi
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}
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# common tasks before either build or test
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function configure()
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{
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# delete old build
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rm -rf build
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if [ "${GTSAM_WITH_TBB:-OFF}" == "ON" ]; then
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install_tbb
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fi
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if [ ! -z "$GCC_VERSION" ]; then
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export CC=gcc-$GCC_VERSION
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export CXX=g++-$GCC_VERSION
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fi
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# GTSAM_BUILD_WITH_MARCH_NATIVE=OFF: to avoid crashes in builder VMs
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# CMAKE_CXX_FLAGS="-w": Suppress warnings to avoid IO latency in CI logs
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export CMAKE_GENERATOR=Ninja
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cmake $GITHUB_WORKSPACE \
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-B build \
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-DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE:-Debug} \
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-DCMAKE_CXX_FLAGS="-w" \
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-DGTSAM_BUILD_TESTS=${GTSAM_BUILD_TESTS:-OFF} \
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-DGTSAM_BUILD_UNSTABLE=${GTSAM_BUILD_UNSTABLE:-ON} \
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-DGTSAM_WITH_TBB=${GTSAM_WITH_TBB:-OFF} \
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-DGTSAM_BUILD_EXAMPLES_ALWAYS=${GTSAM_BUILD_EXAMPLES_ALWAYS:-ON} \
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-DGTSAM_ALLOW_DEPRECATED_SINCE_V43=${GTSAM_ALLOW_DEPRECATED_SINCE_V43:-OFF} \
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-DGTSAM_USE_QUATERNIONS=${GTSAM_USE_QUATERNIONS:-OFF} \
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-DGTSAM_ROT3_EXPMAP=${GTSAM_ROT3_EXPMAP:-ON} \
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-DGTSAM_POSE3_EXPMAP=${GTSAM_POSE3_EXPMAP:-ON} \
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-DGTSAM_USE_SYSTEM_EIGEN=${GTSAM_USE_SYSTEM_EIGEN:-OFF} \
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-DGTSAM_USE_SYSTEM_METIS=${GTSAM_USE_SYSTEM_METIS:-OFF} \
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-DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
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-DGTSAM_SINGLE_TEST_EXE=OFF
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}
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# common tasks after either build or test
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function finish ()
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{
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# Print ccache stats
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if [ -x "$(command -v ccache)" ]; then
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ccache -s
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fi
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}
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# compile the code with the intent of populating the cache
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function build ()
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{
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export GTSAM_BUILD_EXAMPLES_ALWAYS=ON
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export GTSAM_BUILD_TESTS=OFF
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configure
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if [ "$(uname)" == "Linux" ]; then
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if (($(nproc) > 2)); then
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cmake --build build -j4
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else
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cmake --build build -j2
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fi
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elif [ "$(uname)" == "Darwin" ]; then
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cmake --build build -j$(sysctl -n hw.physicalcpu)
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fi
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finish
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}
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# run the tests
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function test ()
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{
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export GTSAM_BUILD_EXAMPLES_ALWAYS=OFF
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export GTSAM_BUILD_TESTS=ON
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configure
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# Actual testing
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if [ "$(uname)" == "Linux" ]; then
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if (($(nproc) > 2)); then
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cmake --build build -j$(nproc) --target check
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else
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cmake --build build -j2 --target check
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fi
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elif [ "$(uname)" == "Darwin" ]; then
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cmake --build build -j$(sysctl -n hw.physicalcpu) --target check
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fi
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finish
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}
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# select between build or test
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case $1 in
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-b)
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build
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;;
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-t)
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test
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;;
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esac
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