.travis.yml

sudo: required
cache:
  - apt

# Specify what combinations of Ubuntu/ROS we want to build
# Limited to what is available on Travis VMs.
language: generic
matrix:
  allow_failures:
    - env: CHECK_COMMIT_FORMAT=ON
  include:
    - name: "Xenial kinetic"
      dist: xenial
      env: ROS_DISTRO=kinetic
    # Check for proper clang formatting in the pull request.
    - env: CHECK_FORMAT=ON
      dist: xenial

# Configuration variables. All variables are global now, but this can be used to
# trigger a build matrix for different ROS distributions if desired.
env:
  global:
    - ROS_CI_DESKTOP="`lsb_release -cs`"  # e.g. [precise|trusty|...]
    - CI_SOURCE_PATH=$(pwd)
    - ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall
    - CATKIN_OPTIONS=$CI_SOURCE_PATH/catkin.options
    - ROS_PARALLEL_JOBS='-j8 -l6'
    # Set the python path manually to include /usr/-/python2.7/dist-packages
    # as this is where apt-get installs python packages.
    - PYTHONPATH=$PYTHONPATH:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages
################################################################################

# Install barebones ROS setup.
before_install:
  #- sudo add-apt-repository ppa:ubuntu-toolchain-r/test -y
  - sudo apt-get update -q
  - |
    if [[ "$ROS_DISTRO" == "kinetic" ]]; then
      # Install the clang format diff tool, but only for pull requests.
      sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
      sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
      sudo apt-get update -qq
      sudo apt-get install dpkg
      sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-ros-base
      source /opt/ros/$ROS_DISTRO/setup.bash
      # Prepare rosdep to install dependencies.
      sudo rosdep init
      rosdep update
    fi
  - |
    if [[ "$CHECK_FORMAT" == "ON" && "$TRAVIS_PULL_REQUEST" != "false" ]]; then
      # Install the clang format diff tool, but only for pull requests.
      echo "Installing clang format diff tool"
      mkdir -p scripts
      curl -L http://llvm.org/svn/llvm-project/cfe/tags/RELEASE_600/final/tools/clang-format/clang-format-diff.py -o scripts/clang-format-diff.py
      wget -O scripts/check_code_format.sh https://www.dropbox.com/s/r3bb5z3fakfnnxo/check_code_format.sh
      sudo chmod +x scripts/check_code_format.sh
    fi
  - sudo apt-get remove clang-format-*
  - sudo apt-get install clang-format-6.0
  - sudo ln -s /usr/bin/clang-format-6.0 /usr/bin/clang-format
  - clang-format --version
  - echo $TRAVIS_COMMIT
  - echo $TRAVIS_TAG
  - echo $TRAVIS_BRANCH
  - echo $TRAVIS_BUILD_NUMBER
  - echo $TRAVIS_REPO_SLUG
  - echo $CHECK_FORMAT
  - echo $TRAVIS_PULL_REQUEST
  - sudo pip install --upgrade cmake
  - cmake -version
# Create a catkin workspace with the package under integration.
install:
  - |
    if [[ "$ROS_DISTRO" == "kinetic" ]]; then
      mkdir -p ~/catkin_ws/src
      cd ~/catkin_ws/src
      catkin_init_workspace
      # Create the devel/setup.bash (run catkin_make with an empty workspace) and
      # source it to set the path variables.
      cd ~/catkin_ws
      catkin_make
      source devel/setup.bash
      # Add the package under integration to the workspace using a symlink.
      cd ~/catkin_ws/src
      ln -s $CI_SOURCE_PATH .
    fi
  - |
    if [[ "$CHECK_FORMAT" == "ON" ]]; then
      echo "Clang-format check = ON"
      if [[ "$TRAVIS_PULL_REQUEST" != "false" ]]; then
        mkdir -p ~/catkin_ws/src
        cd ~/catkin_ws/src
        ln -s $CI_SOURCE_PATH .
      fi
    fi
  - cd $CI_SOURCE_PATH
# Install all dependencies, using wstool first and rosdep second.
# wstool looks for a ROSINSTALL_FILE defined in the environment variables.
before_script:
  - |
    if [[ "$ROS_DISTRO" == "kinetic" ]]; then
      # source dependencies: install using wstool.
      cd ~/catkin_ws/src
      git clone git@github.com:BEAMRobotics/ladybug_msgs.git
      cd ~/catkin_ws/src
      wstool init
      if [[ -f $ROSINSTALL_FILE ]]; then wstool merge $ROSINSTALL_FILE ; fi
      wstool up
      # package depdencies: install using rosdep.
      cd ~/catkin_ws
      rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
    fi

# Compile and test (mark the build as failed if any step fails). If the
# CATKIN_OPTIONS file exists, use it as an argument to catkin_make, for example
# to blacklist certain packages.
#
# NOTE on testing: `catkin_make run_tests` will show the output of the tests
# (gtest, nosetest, etc..) but always returns 0 (success) even if a test
# fails. Running `catkin_test_results` aggregates all the results and returns
# non-zero when a test fails (which notifies Travis the build failed).
script:
  - |
    if [[ "$ROS_DISTRO" == "kinetic" ]]; then
      source /opt/ros/$ROS_DISTRO/setup.bash
      cd ~/catkin_ws
      catkin_make
      # Run the tests, ensuring the path is set correctly.
      source devel/setup.bash
    #      catkin_make run_tests && catkin_test_results
    fi
  - |
    if [[ "$CHECK_FORMAT" == "ON" ]]; then
      echo "Clang-format check = ON"
      if [[ "$TRAVIS_PULL_REQUEST" != "false" ]]; then
        echo "TRAVIS_PULL_REQUEST = TRUE"
        # Run the clang format check only for pull request builds because the
        # master branch is needed to do the git diff.
        echo "Checking clang-format between TRAVIS_BRANCH=$TRAVIS_BRANCH and TRAVIS_PULL_REQUEST_BRANCH=$TRAVIS_PULL_REQUEST_BRANCH"
        sudo chmod +x scripts/check_code_format.sh
        sudo sh scripts/check_code_format.sh
      else
        echo "Skipping clang-format check since this is not a pull request."
      fi
    fi