.travis.yml

cache:
  apt

git:
  submodules: false

os:
  - linux
  - osx

dist:
  xenial

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'
  jobs:
    - ANACONDA=false ROS_DISTRO=kinetic
    - ANACONDA=true ROS_DISTRO=
    # TODO: support ROS w/ Anaconda?


language: generic
jobs:
  exclude:
    - env: ANACONDA=false ROS_DISTRO=kinetic
      os: osx
  allow_failures:
    - env: ANACONDA=true ROS_DISTRO=
      os: osx
    # Something around March 2020 caused the Mac build to start failing.
    # It seems related to ctypes and/or libffi - the Python standard library?

before_install:
  - |
    if "$ANACONDA"; then
      # Install the right Miniconda for the OS.
      if [ "$TRAVIS_OS_NAME" == "osx" ]; then
        wget https://repo.continuum.io/miniconda/Miniconda2-latest-MacOSX-x86_64.sh -O miniconda.sh;
      else
        wget https://repo.continuum.io/miniconda/Miniconda2-latest-Linux-x86_64.sh -O miniconda.sh;
      fi
      bash miniconda.sh -b -p $HOME/miniconda
      source "$HOME/miniconda/etc/profile.d/conda.sh"
      hash -r
      conda config --set always_yes yes --set changeps1 no
      conda update -q conda
      # Useful for debugging any issues with conda
      conda info -a
      conda env create -f conda_env.yaml
      conda activate crazyswarm
    else
      # assert not TRAVIS_OS_NAME == "osx"
      # Install non-ROS system dependencies.
      sudo apt install -y git swig libpython-dev python-numpy python-yaml python-matplotlib python-pytest
      # Install firmware cross-compiler and hardware driver dependencies.
      sudo add-apt-repository -y ppa:team-gcc-arm-embedded/ppa
      sudo apt-get update
      sudo apt install -y gcc-arm-embedded libusb-1.0-0-dev sdcc
      # Set the python path manually to include /usr/-/python2.7/dist-packages
      # as this is where apt-get installs python packages.
      PYTHONPATH=$PYTHONPATH:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages
    fi
  - |
    if [ "$ROS_DISTRO" != "" ]; then
      # assert TRAVIS_OS_NAME == "linux"
      # assert not ANACONDA
      sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
      sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
      sudo apt-get update -qq
      sudo apt-get install dpkg
      sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-ros-base
      source /opt/ros/$ROS_DISTRO/setup.bash
      # Prepare rosdep to install dependencies.
      sudo rosdep init
      rosdep update
      sudo apt install -y ros-$ROS_DISTRO-vrpn ros-$ROS_DISTRO-tf ros-$ROS_DISTRO-tf-conversions
      # Install non-ROS dependencies that only seem to install correctly
      # in the post-ROS system state. (TODO: figure out why.)
      sudo apt install -y libpcl-dev
    fi

script:
  - |
    if [ "$ROS_DISTRO" != "" ]; then
      ./build.sh
    else
      ./buildSimOnly.sh
    fi
    cd ros_ws/src/crazyswarm/scripts
    python -m pytest