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Merge branch 'ver_3'
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Davide Faconti committed Feb 27, 2019
2 parents dcb5224 + d0e8b8c commit c6110f9
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1 change: 0 additions & 1 deletion .gitignore
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*~
/CMakeLists.txt.user
build*
site
58 changes: 29 additions & 29 deletions .travis.yml
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Expand Up @@ -45,39 +45,39 @@ matrix:
env: ROS_DISTRO="kinetic"
- ros_melodic:
env: ROS_DISTRO="melodic"
- <<: *conan-linux
env: CONAN_GCC_VERSIONS=5 CONAN_DOCKER_IMAGE=conanio/gcc5 ROS_DISTRO="none"
- <<: *conan-linux
env: CONAN_GCC_VERSIONS=6 CONAN_DOCKER_IMAGE=conanio/gcc6 ROS_DISTRO="none"
- <<: *conan-linux
env: CONAN_GCC_VERSIONS=7 CONAN_DOCKER_IMAGE=conanio/gcc7 ROS_DISTRO="none"
- <<: *conan-linux
env: CONAN_GCC_VERSIONS=8 CONAN_DOCKER_IMAGE=conanio/gcc8 ROS_DISTRO="none"
- <<: *conan-linux
env: CONAN_CLANG_VERSIONS=3.9 CONAN_DOCKER_IMAGE=conanio/clang39 ROS_DISTRO="none"
- <<: *conan-linux
env: CONAN_CLANG_VERSIONS=4.0 CONAN_DOCKER_IMAGE=conanio/clang40 ROS_DISTRO="none"
- <<: *conan-linux
env: CONAN_CLANG_VERSIONS=5.0 CONAN_DOCKER_IMAGE=conanio/clang50 ROS_DISTRO="none"
- <<: *conan-linux
env: CONAN_CLANG_VERSIONS=6.0 CONAN_DOCKER_IMAGE=conanio/clang60 ROS_DISTRO="none"
- <<: *conan-osx
osx_image: xcode8.3
env: CONAN_APPLE_CLANG_VERSIONS=8.1 ROS_DISTRO="none"
- <<: *conan-osx
osx_image: xcode9
env: CONAN_APPLE_CLANG_VERSIONS=9.0 ROS_DISTRO="none"
- <<: *conan-osx
osx_image: xcode9.4
env: CONAN_APPLE_CLANG_VERSIONS=9.1 ROS_DISTRO="none"
- <<: *conan-osx
osx_image: xcode10.1
env: CONAN_APPLE_CLANG_VERSIONS=10.0 ROS_DISTRO="none"
# - <<: *conan-linux
# env: CONAN_GCC_VERSIONS=5 CONAN_DOCKER_IMAGE=conanio/gcc5 ROS_DISTRO="none"
# - <<: *conan-linux
# env: CONAN_GCC_VERSIONS=6 CONAN_DOCKER_IMAGE=conanio/gcc6 ROS_DISTRO="none"
# - <<: *conan-linux
# env: CONAN_GCC_VERSIONS=7 CONAN_DOCKER_IMAGE=conanio/gcc7 ROS_DISTRO="none"
# - <<: *conan-linux
# env: CONAN_GCC_VERSIONS=8 CONAN_DOCKER_IMAGE=conanio/gcc8 ROS_DISTRO="none"
# - <<: *conan-linux
# env: CONAN_CLANG_VERSIONS=3.9 CONAN_DOCKER_IMAGE=conanio/clang39 ROS_DISTRO="none"
# - <<: *conan-linux
# env: CONAN_CLANG_VERSIONS=4.0 CONAN_DOCKER_IMAGE=conanio/clang40 ROS_DISTRO="none"
# - <<: *conan-linux
# env: CONAN_CLANG_VERSIONS=5.0 CONAN_DOCKER_IMAGE=conanio/clang50 ROS_DISTRO="none"
# - <<: *conan-linux
# env: CONAN_CLANG_VERSIONS=6.0 CONAN_DOCKER_IMAGE=conanio/clang60 ROS_DISTRO="none"
# - <<: *conan-osx
# osx_image: xcode8.3
# env: CONAN_APPLE_CLANG_VERSIONS=8.1 ROS_DISTRO="none"
# - <<: *conan-osx
# osx_image: xcode9
# env: CONAN_APPLE_CLANG_VERSIONS=9.0 ROS_DISTRO="none"
# - <<: *conan-osx
# osx_image: xcode9.4
# env: CONAN_APPLE_CLANG_VERSIONS=9.1 ROS_DISTRO="none"
# - <<: *conan-osx
# osx_image: xcode10.1
# env: CONAN_APPLE_CLANG_VERSIONS=10.0 ROS_DISTRO="none"
fast_finish: false

before_install:
- sudo apt-get update && sudo apt-get --reinstall install -qq build-essential
- if [ "$ROS_DISTRO" = "none" ]; then sudo apt-get --reinstall install -qq libzmq3-dev; fi
- if [ "$ROS_DISTRO" = "none" ]; then sudo apt-get --reinstall install -qq libzmq3-dev libdw-dev; fi
# GTest: see motivation here https://www.eriksmistad.no/getting-started-with-google-test-on-ubuntu/
- sudo apt-get --reinstall install -qq libgtest-dev cmake
- cd /usr/src/gtest
Expand Down
202 changes: 202 additions & 0 deletions 3rdparty/backward-cpp/BackwardConfig.cmake
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#
# BackwardMacros.cmake
# Copyright 2013 Google Inc. All Rights Reserved.
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.

###############################################################################
# OPTIONS
###############################################################################

set(STACK_WALKING_UNWIND TRUE CACHE BOOL
"Use compiler's unwind API")
set(STACK_WALKING_BACKTRACE FALSE CACHE BOOL
"Use backtrace from (e)glibc for stack walking")

set(STACK_DETAILS_AUTO_DETECT TRUE CACHE BOOL
"Auto detect backward's stack details dependencies")

set(STACK_DETAILS_BACKTRACE_SYMBOL FALSE CACHE BOOL
"Use backtrace from (e)glibc for symbols resolution")
set(STACK_DETAILS_DW FALSE CACHE BOOL
"Use libdw to read debug info")
set(STACK_DETAILS_BFD FALSE CACHE BOOL
"Use libbfd to read debug info")
set(STACK_DETAILS_DWARF FALSE CACHE BOOL
"Use libdwarf/libelf to read debug info")

set(BACKWARD_TESTS FALSE CACHE BOOL "Enable tests")

###############################################################################
# CONFIGS
###############################################################################
if (${STACK_DETAILS_AUTO_DETECT})
include(FindPackageHandleStandardArgs)

# find libdw
find_path(LIBDW_INCLUDE_DIR NAMES "elfutils/libdw.h" "elfutils/libdwfl.h")
find_library(LIBDW_LIBRARY dw)
set(LIBDW_INCLUDE_DIRS ${LIBDW_INCLUDE_DIR} )
set(LIBDW_LIBRARIES ${LIBDW_LIBRARY} )
find_package_handle_standard_args(libdw DEFAULT_MSG
LIBDW_LIBRARY LIBDW_INCLUDE_DIR)
mark_as_advanced(LIBDW_INCLUDE_DIR LIBDW_LIBRARY)

# find libbfd
find_path(LIBBFD_INCLUDE_DIR NAMES "bfd.h")
find_path(LIBDL_INCLUDE_DIR NAMES "dlfcn.h")
find_library(LIBBFD_LIBRARY bfd)
find_library(LIBDL_LIBRARY dl)
set(LIBBFD_INCLUDE_DIRS ${LIBBFD_INCLUDE_DIR} ${LIBDL_INCLUDE_DIR})
set(LIBBFD_LIBRARIES ${LIBBFD_LIBRARY} ${LIBDL_LIBRARY})
find_package_handle_standard_args(libbfd DEFAULT_MSG
LIBBFD_LIBRARY LIBBFD_INCLUDE_DIR
LIBDL_LIBRARY LIBDL_INCLUDE_DIR)
mark_as_advanced(LIBBFD_INCLUDE_DIR LIBBFD_LIBRARY
LIBDL_INCLUDE_DIR LIBDL_LIBRARY)

# find libdwarf
find_path(LIBDWARF_INCLUDE_DIR NAMES "libdwarf.h" PATH_SUFFIXES libdwarf)
find_path(LIBELF_INCLUDE_DIR NAMES "libelf.h")
find_path(LIBDL_INCLUDE_DIR NAMES "dlfcn.h")
find_library(LIBDWARF_LIBRARY dwarf)
find_library(LIBELF_LIBRARY elf)
find_library(LIBDL_LIBRARY dl)
set(LIBDWARF_INCLUDE_DIRS ${LIBDWARF_INCLUDE_DIR} ${LIBELF_INCLUDE_DIR} ${LIBDL_INCLUDE_DIR})
set(LIBDWARF_LIBRARIES ${LIBDWARF_LIBRARY} ${LIBELF_LIBRARY} ${LIBDL_LIBRARY})
find_package_handle_standard_args(libdwarf DEFAULT_MSG
LIBDWARF_LIBRARY LIBDWARF_INCLUDE_DIR
LIBELF_LIBRARY LIBELF_INCLUDE_DIR
LIBDL_LIBRARY LIBDL_INCLUDE_DIR)
mark_as_advanced(LIBDWARF_INCLUDE_DIR LIBDWARF_LIBRARY
LIBELF_INCLUDE_DIR LIBELF_LIBRARY
LIBDL_INCLUDE_DIR LIBDL_LIBRARY)

if (LIBDW_FOUND)
LIST(APPEND _BACKWARD_INCLUDE_DIRS ${LIBDW_INCLUDE_DIRS})
LIST(APPEND _BACKWARD_LIBRARIES ${LIBDW_LIBRARIES})
set(STACK_DETAILS_DW TRUE)
set(STACK_DETAILS_BFD FALSE)
set(STACK_DETAILS_DWARF FALSE)
set(STACK_DETAILS_BACKTRACE_SYMBOL FALSE)
elseif(LIBBFD_FOUND)
LIST(APPEND _BACKWARD_INCLUDE_DIRS ${LIBBFD_INCLUDE_DIRS})
LIST(APPEND _BACKWARD_LIBRARIES ${LIBBFD_LIBRARIES})

# If we attempt to link against static bfd, make sure to link its dependencies, too
get_filename_component(bfd_lib_ext "${LIBBFD_LIBRARY}" EXT)
if (bfd_lib_ext STREQUAL "${CMAKE_STATIC_LIBRARY_SUFFIX}")
list(APPEND _BACKWARD_LIBRARIES iberty z)
endif()

set(STACK_DETAILS_DW FALSE)
set(STACK_DETAILS_BFD TRUE)
set(STACK_DETAILS_DWARF FALSE)
set(STACK_DETAILS_BACKTRACE_SYMBOL FALSE)
elseif(LIBDWARF_FOUND)
LIST(APPEND _BACKWARD_INCLUDE_DIRS ${LIBDWARF_INCLUDE_DIRS})
LIST(APPEND BACKWARD_LIBRARIES ${LIBDWARF_LIBRARIES})

set(STACK_DETAILS_DW FALSE)
set(STACK_DETAILS_BFD FALSE)
set(STACK_DETAILS_DWARF TRUE)
set(STACK_DETAILS_BACKTRACE_SYMBOL FALSE)
else()
set(STACK_DETAILS_DW FALSE)
set(STACK_DETAILS_BFD FALSE)
set(STACK_DETAILS_DWARF FALSE)
set(STACK_DETAILS_BACKTRACE_SYMBOL TRUE)
endif()
else()
if (STACK_DETAILS_DW)
LIST(APPEND _BACKWARD_LIBRARIES dw)
endif()

if (STACK_DETAILS_BFD)
LIST(APPEND _BACKWARD_LIBRARIES bfd dl)
endif()

if (STACK_DETAILS_DWARF)
LIST(APPEND _BACKWARD_LIBRARIES dwarf elf)
endif()
endif()

macro(map_definitions var_prefix define_prefix)
foreach(def ${ARGN})
if (${${var_prefix}${def}})
LIST(APPEND _BACKWARD_DEFINITIONS "${define_prefix}${def}=1")
else()
LIST(APPEND _BACKWARD_DEFINITIONS "${define_prefix}${def}=0")
endif()
endforeach()
endmacro()

if (NOT _BACKWARD_DEFINITIONS)
map_definitions("STACK_WALKING_" "BACKWARD_HAS_" UNWIND BACKTRACE)
map_definitions("STACK_DETAILS_" "BACKWARD_HAS_" BACKTRACE_SYMBOL DW BFD DWARF)
endif()

set(BACKWARD_INCLUDE_DIR "${CMAKE_CURRENT_LIST_DIR}")

set(BACKWARD_HAS_EXTERNAL_LIBRARIES FALSE)
set(FIND_PACKAGE_REQUIRED_VARS BACKWARD_INCLUDE_DIR)
if(DEFINED _BACKWARD_LIBRARIES)
set(BACKWARD_HAS_EXTERNAL_LIBRARIES TRUE)
list(APPEND FIND_PACKAGE_REQUIRED_VARS _BACKWARD_LIBRARIES)
endif()

include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(Backward
REQUIRED_VARS ${FIND_PACKAGE_REQUIRED_VARS}
)
list(APPEND _BACKWARD_INCLUDE_DIRS ${BACKWARD_INCLUDE_DIR})

macro(add_backward target)
target_include_directories(${target} PRIVATE ${BACKWARD_INCLUDE_DIRS})
set_property(TARGET ${target} APPEND PROPERTY COMPILE_DEFINITIONS ${BACKWARD_DEFINITIONS})
set_property(TARGET ${target} APPEND PROPERTY LINK_LIBRARIES ${BACKWARD_LIBRARIES})
endmacro()

set(BACKWARD_INCLUDE_DIRS ${_BACKWARD_INCLUDE_DIRS} CACHE INTERNAL "_BACKWARD_INCLUDE_DIRS")
set(BACKWARD_DEFINITIONS ${_BACKWARD_DEFINITIONS} CACHE INTERNAL "BACKWARD_DEFINITIONS")
set(BACKWARD_LIBRARIES ${_BACKWARD_LIBRARIES} CACHE INTERNAL "BACKWARD_LIBRARIES")
mark_as_advanced(BACKWARD_INCLUDE_DIRS BACKWARD_DEFINITIONS BACKWARD_LIBRARIES)

# Expand each definition in BACKWARD_DEFINITIONS to its own cmake var and export
# to outer scope
foreach(var ${BACKWARD_DEFINITIONS})
string(REPLACE "=" ";" var_as_list ${var})
list(GET var_as_list 0 var_name)
list(GET var_as_list 1 var_value)
set(${var_name} ${var_value})
mark_as_advanced(${var_name})
endforeach()

if (NOT TARGET Backward::Backward)
add_library(Backward::Backward INTERFACE IMPORTED)
set_target_properties(Backward::Backward PROPERTIES
INTERFACE_INCLUDE_DIRECTORIES "${BACKWARD_INCLUDE_DIRS}"
INTERFACE_COMPILE_DEFINITIONS "${BACKWARD_DEFINITIONS}"
)
if(BACKWARD_HAS_EXTERNAL_LIBRARIES)
set_target_properties(Backward::Backward PROPERTIES
INTERFACE_LINK_LIBRARIES "${BACKWARD_LIBRARIES}"
)
endif()
endif()
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