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|
#!/bin/sh
set -e
script_path="$(
cd "$(dirname "$0")"
pwd -P
)"
os=ubuntu-focal
dart_version=v6.12
build_dir_prefix=.build/
project_dir=/opt/dart/
cleanup_command=""
use_dev_image=false
build_mode="Release"
build_test=true
build_example=true
build_tutorial=true
build_dartpy=true
codecov_option=""
num_cores=1
help() {
cat <<EOF
Usage: ${0##*/} <routine> [<options>...]
Example: ${0##*/} build # Build with the default settings
Routines:
build Build DART and run its tests
clean Remove build directory for a specific build configuration
clean_all Remove all the build directories
launch Launch Docker image for DART build
Options:
-o <name> OS version. Available <name>: {ubuntu-bionic, ubuntu-focal (default), ubuntu-impish}
-v <version> DART version. Available <version>: {v6.10, v7.0 (default)}
-c Clean build. Empty the build directory before building.
-j <num_cores> Number of cores to use for build. Use -j 1 to disable parallel build. Single core will be used if this option is not specified.
--dev Use Docker image for development rather than release image.
--no-test Skip building and running tests
--no-example Skip building examples
--no-tutorial Skip building tutorials
--no-dartpy Skip building dartpy
--codecov Enable code coverage (experimental)
--mode <mode> Build mode. Available <mode>: {Release (default), Debug}
EOF
}
if [ "$#" -lt 1 ]; then
help
exit
else
routine=$1
shift
fi
while [ $# -gt 0 ]; do
case "$1" in
-o)
os=$2
shift
;;
-v)
dart_version=$2
shift
;;
-c)
cleanup_command="&& rm -rf *"
;;
--dev)
use_dev_image=true
;;
--no-test)
build_test=false
;;
--no-example)
build_example=false
;;
--no-tutorial)
build_tutorial=false
;;
--no-dartpy)
build_dartpy=false
;;
--mode)
build_mode=$2
shift
;;
-j)
num_cores=$2
shift
;;
--codecov)
codecov_option="-DDART_CODECOV=ON"
;;
*)
bash_command=$@
break
;;
esac
shift
done
full_image_name_deploy=dartsim/dart:$os-$dart_version
full_image_name_dev=dartsim/dart-dev:$os-$dart_version
if [ "$build_test" = true ]; then
test_command="&& make -j$num_cores tests && ctest --output-on-failure"
else
test_command=""
fi
if [ "$build_example" = true ]; then
example_command="&& make -j$num_cores examples"
else
example_command=""
fi
if [ "$build_tutorial" = true ]; then
tutorial_command="&& make -j$num_cores tutorials"
else
tutorial_command=""
fi
if [ "$build_dartpy" = true ]; then
dartpy_command="&& make -j30 dartpy && make pytest"
else
dartpy_command=""
fi
full_build_dir=$project_dir$build_dir_prefix$os-$dart_version-$build_mode/
launch() {
if [ "$use_dev_image" = true ]; then
full_image_name=$full_image_name_dev
else
full_image_name=$full_image_name_deploy
fi
docker pull $full_image_name
docker run \
-it \
--privileged \
--volume $(pwd):$project_dir \
-w $project_dir \
-t $full_image_name \
/bin/bash
}
clean() {
full_image_name=$full_image_name_dev
docker pull $full_image_name
docker run \
-it \
--volume $(pwd):$project_dir \
-w $project_dir/ \
$full_image_name /bin/bash -c \
"rm -rf $full_build_dir"
}
clean_all() {
full_image_name=$full_image_name_dev
docker pull $full_image_name
docker run \
-it \
--volume $(pwd):$project_dir \
-w $project_dir/ \
$full_image_name /bin/bash -c \
"rm -rf $project_dir$build_dir_prefix"
}
build() {
full_image_name=$full_image_name_dev
echo "======================================================================="
echo " [Build] "
echo " Docker : $full_image_name"
echo " Num cores: $num_cores / $(nproc)"
echo "======================================================================="
docker pull $full_image_name
docker run \
-it \
--volume $(pwd):$project_dir \
-w $project_dir/ \
$full_image_name /bin/bash -c \
"mkdir -p $full_build_dir \
&& cd $full_build_dir \
$cleanup_command \
&& cmake $project_dir \
-DCMAKE_BUILD_TYPE=$build_mode \
$codecov_option \
&& make -j$num_cores \
$test_command \
$example_command \
$tutorial_command \
$dartpy_command"
}
# Run the selected routine
"$routine"
|
