# Generic .travis.yml file for running continuous integration on Travis-CI for
# any ROS package.
#
# Available here:
# - http://felixduvallet.github.io/ros-travis-integration
# - https://github.com/felixduvallet/ros-travis-integration
#
# This installs ROS on a clean Travis-CI virtual machine, creates a ROS
# workspace, resolves all listed dependencies, and sets environment variables
# (setup.bash). Then, it compiles the entire ROS workspace (ensuring there are
# no compilation errors), and runs all the tests. If any of the compilation/test
# phases fail, the build is marked as a failure.
#
# We handle two types of package dependencies:
# - packages (ros and otherwise) available through apt-get. These are installed
# using rosdep, based on the information in the ROS package.xml.
# - dependencies that must be checked out from source. These are handled by
# 'wstool', and should be listed in a file named dependencies.rosinstall.
#
# There are two variables you may want to change:
# - ROS_DISTRO (default is indigo). Note that packages must be available for
# ubuntu 14.04 trusty.
# - ROSINSTALL_FILE (default is dependencies.rosinstall inside the repo
# root). This should list all necessary repositories in wstool format (see
# the ros wiki). If the file does not exists then nothing happens.
#
# See the README.md for more information.
#
# Author: Felix Duvallet <felixd@gmail.com>

# NOTE: The build lifecycle on Travis.ci is something like this:
# before_install
# install
# before_script
# script
# after_success or after_failure
# after_script
# OPTIONAL before_deploy
# OPTIONAL deploy
# OPTIONAL after_deploy

################################################################################

# Use ubuntu trusty (14.04) with sudo privileges.
dist: trusty
sudo: required
language:
 - generic
cache:
 - apt

# 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_DISTRO=indigo
 - 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'

################################################################################

# Install system dependencies, namely a very barebones ROS setup.
before_install:
 - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
 - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
 - sudo apt-get update -qq
 - sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin
 - source /opt/ros/$ROS_DISTRO/setup.bash

 # Prepare rosdep to install dependencies.
 - sudo rosdep init
 - rosdep update



# Create a catkin workspace with the package under integration.
install:
 - 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 .

# Install all dependencies, using wstool and rosdep.
# wstool looks for a ROSINSTALL_FILE defined in the environment variables.
before_script:
 # source dependencies: install using wstool.

 - 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

# Compile and test (fail 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. On the other hand, `catkin_make test` aggregates all results, but
# returns non-zero when a test fails (which notifies Travis the build
# failed). This is why we run both.
script:
 - source /opt/ros/$ROS_DISTRO/setup.bash
 - cd ~/catkin_ws
 - catkin_make $( [ -f $CATKIN_OPTIONS ] && cat $CATKIN_OPTIONS )
 # Run the tests, ensuring the path is set correctly.
 - source devel/setup.bash
 - catkin_make run_tests && catkin_make test