.travis.yml

dist: xenial
language: cpp

cache:
  ccache: true

os:
  - linux
  - osx

compiler:
  - gcc
  - clang

branches:
  except:
    - /^.*appveyor.*$/

stages:
  - check
  - test
  - test-long

env:
  global:
    - TRAVIS_CMAKE_GENERATOR="Unix Makefiles"
    - TRAVIS_BUILD_TYPE=Release
    - TRAVIS_WITH_INTEGRATION_TESTS=false
    - TRAVIS_WITH_ACE=true
    - TRAVIS_WITH_MATH=true
    - TRAVIS_WITH_BINDINGS=true
    - TRAVIS_STATIC=false
    - TRAVIS_CLEAN_API=false
    - TRAVIS_WITH_VALGRIND=false
    - TRAVIS_NO_DEPRECATED=false
    - TRAVIS_WITH_EXECUTABLES=true
    - TRAVIS_WITH_BROKEN_TESTS=false
    - TRAVIS_RUN_UNIT_TESTS=true
# ROS-related env variables. Used only by integration tests
    - ROS_HOSTNAME=localhost
    - ROS_MASTER_URI=http://localhost:11311
    - ROBOT=sim
# Force ccache to build the original cpp file instead of the pre-processed file
    - CCACHE_CPP2=yes
# CMake/CTest variables
    - CTEST_OUTPUT_ON_FAILURE=1
    - CLICOLOR_FORCE=1
# Port 10010 is used by docker-containerd on travis-xenial
# See also https://travis-ci.community/t/port-10010-is-used-by-docker-containerd/3865
    - YARP_PORT_RANGE=20000

addons:
  apt:
    update: true
    sources:
      - ubuntu-toolchain-r-test
      - llvm-toolchain-xenial-8
      - sourceline: 'ppa:robotology/travis'
      - sourceline: 'ppa:robotology/ppa'
    packages:
      # gcc
      - gcc-8
      - g++-8
      # clang
      - clang-8
      # build tools
      - ninja-build
      - lcov
      - valgrind
      - ccache
      # Robotology dependencies
      - ycm
      - librobottestingframework-dev
      # libraries
      - libace-dev
      - libsqlite3-dev
      - libtinyxml-dev
      - libedit-dev
      - qtbase5-dev
      - qtdeclarative5-dev
      - qtmultimedia5-dev
      - libqt5opengl5-dev
      - libqcustomplot-dev
      - libopencv-dev
      - libeigen3-dev
      - libgraphviz-dev
      - libgstreamer1.0-dev
      - libgstreamer-plugins-base1.0-dev
      - libpng-dev
      - libv4l-dev
      #- libavcodec-dev
      #- libavdevice-dev
      #- libavformat-dev
      #- libavutil-dev
      #- portaudio19-dev
      # Bindings
      - swig3.0
      # C# bindings
      - mono-mcs
      # Lua bindings
      - liblua5.1-0-dev
      - lua5.1
      # TCL/TK bindings
      - tcl-dev
      - tk-dev
      # Python bindings
      - python3-dev
      # Octave bindings
      - liboctave-dev
      # Java bindings
      - default-jdk
      # Ruby bindings
      - ruby-dev
      - ruby
      # Perl bindings and license check
      - perl
  homebrew:
    update: true
    packages:
    - ace
    - sqlite
    - tinyxml
    - libedit
    - qt5
    - opencv@3
    - eigen
    - graphviz
    - ccache
    - libpng

matrix:
  exclude:
  - os: osx

  include:
    # Static check only.
    - stage: check
      os: linux
      compiler: gcc
      before_install: skip
      script: (cd build; ctest --build . -C ${TRAVIS_BUILD_TYPE} -R misc)
      after_success: skip

    # No ACE build (linux, gcc)
    - stage: test
      os: linux
      compiler: gcc
      env: TRAVIS_WITH_ACE=false

    # No ACE build (linux, clang)
    - stage: test
      os: linux
      compiler: clang
      env: TRAVIS_WITH_ACE=false

    # No YARP_math build (linux, gcc)
    - stage: test
      os: linux
      compiler: gcc
      env:
        - TRAVIS_WITH_MATH=false
        - TRAVIS_WITH_BINDINGS=false

    # No YARP_math build (linux, clang)
    - stage: test
      os: linux
      compiler: clang
      env:
        - TRAVIS_WITH_MATH=false
        - TRAVIS_WITH_BINDINGS=false

    # Normal build with CLEAN_API (linux, gcc)
    - stage: test
      os: linux
      compiler: gcc
      env:
        - TRAVIS_CLEAN_API=true
        - TRAVIS_RUN_UNIT_TESTS=false
        - TRAVIS_WITH_BINDINGS=false

    # Normal build with CLEAN_API (linux, clang)
    - stage: test
      os: linux
      compiler: clang
      env:
        - TRAVIS_CLEAN_API=true
        - TRAVIS_RUN_UNIT_TESTS=false
        - TRAVIS_WITH_BINDINGS=false

    # Normal build with Ninja generator (linux, gcc)
    - stage: test
      os: linux
      compiler: gcc
      env: TRAVIS_CMAKE_GENERATOR="Ninja"

    # Normal build with Ninja generator (linux, clang)
    - stage: test
      os: linux
      compiler: clang
      env: TRAVIS_CMAKE_GENERATOR="Ninja"

    # Normal build no deprecated (linux, gcc)
    - stage: test
      os: linux
      compiler: gcc
      env: TRAVIS_NO_DEPRECATED=true

    # Normal build no deprecated (linux, clang)
    - stage: test
      os: linux
      compiler: clang
      env: TRAVIS_NO_DEPRECATED=true

    # No-executables build (linux, gcc)
    - stage: test
      os: linux
      compiler: gcc
      env:
        - TRAVIS_WITH_EXECUTABLES=false
        - TRAVIS_RUN_UNIT_TESTS=false

    # No-executables build (linux, clang)
    - stage: test
      os: linux
      compiler: clang
      env:
        - TRAVIS_WITH_EXECUTABLES=false
        - TRAVIS_RUN_UNIT_TESTS=false

    # Static build (linux, gcc)
    - stage: test
      os: linux
      compiler: gcc
      env: TRAVIS_STATIC=true

    # Static build (linux, clang)
    - stage: test
      os: linux
      compiler: clang
      env: TRAVIS_STATIC=true

    # Static build, no ACE (linux, gcc)
    - stage: test
      os: linux
      compiler: gcc
      env:
        - TRAVIS_WITH_ACE=false
        - TRAVIS_STATIC=true
        - TRAVIS_WITH_BINDINGS=false

    # Static build, no ACE (linux, clang)
    - stage: test
      os: linux
      compiler: clang
      env:
        - TRAVIS_WITH_ACE=false
        - TRAVIS_STATIC=true
        - TRAVIS_WITH_BINDINGS=false

    # Normal build with valgrind (linux, gcc)
    - stage: test-long
      os: linux
      compiler: gcc
      env:
        - TRAVIS_WITH_VALGRIND=true
        - TRAVIS_WITH_BINDINGS=false
        - TRAVIS_BUILD_TYPE=Debug


    # No ACE build with valgrind (linux, gcc)
    - stage: test-long
      os: linux
      compiler: gcc
      env:
        - TRAVIS_WITH_ACE=false
        - TRAVIS_WITH_VALGRIND=true
        - TRAVIS_WITH_BINDINGS=false
        - TRAVIS_BUILD_TYPE=Debug

    # Normal build with valgrind and broken tests (linux, gcc)
#    - stage: test-long
#      os: linux
#      compiler: gcc
#      env:
#        - TRAVIS_WITH_VALGRIND=true
#        - TRAVIS_WITH_BROKEN_TESTS=true
#        - TRAVIS_WITH_BINDINGS=false
#        - TRAVIS_BUILD_TYPE=Debug

    # Normal build with clang (osx, clang)
    - stage: test-long
      os: osx
      osx_image: xcode9.4
      compiler: clang
      env:
        - TRAVIS_WITH_BINDINGS=false

    # Normal build with Xcode 9.4 (osx, clang)
    - stage: test-long
      os: osx
      osx_image: xcode9.4
      compiler: clang
      env:
        - TRAVIS_CMAKE_GENERATOR="Xcode"
        - TRAVIS_WITH_BINDINGS=false

    # Normal build with Xcode 10.2 (osx, clang)
    - stage: test-long
      os: osx
      osx_image: xcode10.2
      compiler: clang
      env:
        - TRAVIS_CMAKE_GENERATOR="Xcode"
        - TRAVIS_WITH_BINDINGS=false

    # Normal build with Coverage (linux, gcc)
#    - stage: test
#      os: linux
#      compiler: gcc
#      env:
#        - TRAVIS_BUILD_TYPE=Profile
#        - TRAVIS_WITH_BINDINGS=false

    # Normal build with integration tests (linux, gcc)
#    - stage: test
#      os: linux
#      compiler: gcc
#      env:
#        - TRAVIS_WITH_INTEGRATION_TESTS=true
#        - TRAVIS_WITH_BINDINGS=false
#      addons:
#         apt:
#           sources:
#             - sourceline: 'deb http://packages.ros.org/ros/ubuntu xenial main'
#               key_url: 'http://packages.ros.org/ros.key'
#           packages:
#             - ros-lunar-desktop-full

    # Normal build with integration tests (linux, clang)
#    - stage: test
#      os: linux
#      compiler: clang
#      env:
#        - TRAVIS_WITH_INTEGRATION_TESTS=true
#        - TRAVIS_WITH_BINDINGS=false
#      addons:
#         apt:
#           sources:
#             - sourceline: 'deb http://packages.ros.org/ros/ubuntu xenial main'
#               key_url: 'http://packages.ros.org/ros.key'
#           packages:
#             - ros-lunar-desktop-full

#  allow_failures:
#    # Broken tests are supposed to fail
#    - env:
#        - TRAVIS_WITH_VALGRIND=true
#        - TRAVIS_WITH_BROKEN_TESTS=true


notifications:
  irc:
    channels:
      - "chat.freenode.net#yarpers"
    template:
      - "%{repository}/%{branch} (%{commit} - %{author}): %{build_url}: %{message}"
    use_notice: true
    skip_join: true
  slack:
    secure: PFCRF5GqjLKAghKHz+Dl2yOlRM5Ud8uI8s4AvshsHVmW4VNDhJfLzi3cGqWGjptZ2CBSMSrd5noANQCfeKObqwpeW3na8vrEO/l0RrgqV0idpiDOMotSRbCTB6I7DNKL31ZsQ4qm7eOroWlauNSiC+CBLmwShE9+N2zWC25JXSo=


before_install:
  # Stop docker service
  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then sudo service docker stop; fi

  # Enable ccache on osx
  - if [ "$TRAVIS_OS_NAME" == "osx" ]; then export PATH="/usr/local/opt/ccache/libexec:$PATH"; fi

  # Use ccache also for clang and clang++ on linux
  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then sudo ln -s ../../bin/ccache /usr/lib/ccache/clang; fi
  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then sudo ln -s ../../bin/ccache /usr/lib/ccache/clang++; fi
  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then sudo ln -s ../../bin/ccache /usr/lib/ccache/clang-8; fi
  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then sudo ln -s ../../bin/ccache /usr/lib/ccache/clang++-8; fi

  # Force gcc-8
  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then if [ "$TRAVIS_COMPILER" == "gcc" ]; then export CC=gcc-8; export CXX=g++-8; fi; fi

  # Force clang-8
  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then if [ "$TRAVIS_COMPILER" == "clang" ]; then export CC=clang-8; export CXX=clang++-8; fi; fi

  ## Remove default clang from path
  #- if [ "$TRAVIS_OS_NAME" == "linux" ]; then export PATH=`echo $PATH | sed -e 's/\/usr\/local\/clang-3.5.0\/bin://'`; fi

  # Print some more system information after installing all build tools
  - echo "-------------------- BEGIN SYSTEM INFORMATION --------------------"
  - uname -a
  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then lsb_release -a; fi
  - if [ "$TRAVIS_OS_NAME" == "osx" ]; then system_profiler SPSoftwareDataType; fi
  - env
  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then cat /etc/apt/sources.list; fi
  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then ls /etc/apt/sources.list.d; fi
  - which cmake
  - cmake --version
  - which $CC
  - $CC --version
  - which $CXX
  - $CXX --version
  - which ccache
  - ccache --version
  - ccache -s
  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then ls -la /usr/lib/ccache; fi
  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then which swig3.0; fi
  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then swig3.0 -version; fi
  - which javac
  - javac -version
  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then sudo netstat -tulpn; fi
  - echo "--------------------  END SYSTEM INFORMATION  --------------------"


install:
  # Install Qt5 GUIs dependencies
  - if [ "$TRAVIS_OS_NAME" == "osx" ]; then export Qt5_DIR="/usr/local/opt/qt5/lib/cmake/Qt5"; fi

  # Install opencv@3 (keg-only)
  - if [ "$TRAVIS_OS_NAME" == "osx" ]; then brew link --force opencv@3; fi

  # Install swig stuff
  - if $TRAVIS_WITH_INTEGRATION_TESTS; then wget https://github.com/robotology-dependencies/swigs/releases/download/v0.0.7/swigs.zip; fi
  - if $TRAVIS_WITH_INTEGRATION_TESTS; then unzip -q swigs.zip; mkdir -p cache; mv swigs cache/swig; fi

  # Init ROS
  - if $TRAVIS_WITH_INTEGRATION_TESTS; then source /opt/ros/lunar/setup.bash; fi

before_script:
  # Prepare build directory
  - mkdir -p build
  - if $TRAVIS_WITH_INTEGRATION_TESTS; then ln -s ../cache build/cache; fi

  # Prepare cmake options
  - . scripts/admin/generate-cmake-options.sh $(hostname) $(lsb_release -cs) continuous
  - export YARP_INSTALL_PREFIX="${PWD}/install"
  - export YARP_CMAKE_OPTIONS="${CMAKE_OPTIONS} -DCMAKE_INSTALL_PREFIX=${YARP_INSTALL_PREFIX}"
  - if ! $TRAVIS_WITH_ACE; then export YARP_CMAKE_OPTIONS="${YARP_CMAKE_OPTIONS} -DSKIP_ACE=ON -DYARP_TEST_HEAP=ON"; fi
  - if ! $TRAVIS_WITH_MATH; then export YARP_CMAKE_OPTIONS="${YARP_CMAKE_OPTIONS} -DYARP_COMPILE_libYARP_math:BOOL=OFF"; fi
  - if $TRAVIS_STATIC; then export YARP_CMAKE_OPTIONS="${YARP_CMAKE_OPTIONS} -DBUILD_SHARED_LIBS=OFF"; fi
  - if $TRAVIS_CLEAN_API; then export YARP_CMAKE_OPTIONS="${YARP_CMAKE_OPTIONS} -DYARP_CLEAN_API=ON -DYARP_COMPILE_TESTS=OFF"; fi
  - if ! $TRAVIS_WITH_EXECUTABLES; then export YARP_CMAKE_OPTIONS="${YARP_CMAKE_OPTIONS} -DYARP_COMPILE_EXECUTABLES=OFF -DYARP_COMPILE_TESTS=OFF"; fi
  - if $TRAVIS_WITH_VALGRIND; then export YARP_CMAKE_OPTIONS="${YARP_CMAKE_OPTIONS} -DYARP_VALGRIND_TESTS=ON -DYARP_DISABLE_FAILING_TESTS=ON"; fi
  - if $TRAVIS_NO_DEPRECATED; then export YARP_CMAKE_OPTIONS="${YARP_CMAKE_OPTIONS} -DYARP_NO_DEPRECATED=ON"; fi
  - if $TRAVIS_WITH_BROKEN_TESTS; then export YARP_CMAKE_OPTIONS="${YARP_CMAKE_OPTIONS} -DYARP_ENABLE_BROKEN_TESTS=ON"; fi
  - if $TRAVIS_WITH_INTEGRATION_TESTS; then export YARP_CMAKE_OPTIONS="${YARP_CMAKE_OPTIONS} -DYARP_ENABLE_INTEGRATION_TESTS=ON"; fi

  # These devices link to glib/gobject causing some memory leak on valgrind, therefore they are not enabled on valgrind builds
  - if ! $TRAVIS_WITH_VALGRIND; then if [ "$TRAVIS_OS_NAME" == "linux" ]; then export YARP_CMAKE_OPTIONS="${YARP_CMAKE_OPTIONS} -DENABLE_yarpcar_h264:BOOL=ON"; fi; fi
  - if ! $TRAVIS_WITH_VALGRIND; then if [ "$TRAVIS_OS_NAME" == "linux" ]; then export YARP_CMAKE_OPTIONS="${YARP_CMAKE_OPTIONS} -DENABLE_yarpmod_usbCamera=ON -DENABLE_yarpmod_usbCameraRaw=ON"; fi; fi
  #- if ! $TRAVIS_WITH_VALGRIND; then if [ "$TRAVIS_OS_NAME" == "linux" ]; then export YARP_CMAKE_OPTIONS="${YARP_CMAKE_OPTIONS} -DENABLE_yarpmod_ffmpeg_grabber=ON -DENABLE_yarpmod_ffmpeg_writer=ON"; fi; fi
  - if ! $TRAVIS_WITH_VALGRIND; then if [ "$TRAVIS_OS_NAME" == "linux" ]; then export YARP_CMAKE_OPTIONS="${YARP_CMAKE_OPTIONS} -DENABLE_yarpmod_portaudio=ON -DENABLE_yarpmod_portaudioPlayer=ON -DENABLE_yarpmod_portaudioRecorder=ON"; fi; fi
  #- if ! $TRAVIS_WITH_VALGRIND; then export YARP_CMAKE_OPTIONS="${YARP_CMAKE_OPTIONS} -DENABLE_yarpmod_opencv_grabber=ON"; fi

  # Build rplidar2 on linux
  # FIXME gcc only, see https://github.com/robotology/yarp/issues/1984
  - if [ "$TRAVIS_OS_NAME" == "linux" ]; then if [ "$TRAVIS_COMPILER" == "gcc" ]; then YARP_CMAKE_OPTIONS="${YARP_CMAKE_OPTIONS} -DENABLE_yarpmod_rpLidar2=ON"; fi; fi

  # Avoid building Qt5 guis twice on macOS.
  - if [ "$TRAVIS_OS_NAME" == "osx" ]; then YARP_CMAKE_OPTIONS="${YARP_CMAKE_OPTIONS} -DYARP_DISABLE_OSX_BUNDLES=ON"; fi

  # Disable tests with race conditions on macOS.
  - if [ "$TRAVIS_OS_NAME" == "osx" ]; then YARP_CMAKE_OPTIONS="${YARP_CMAKE_OPTIONS} -DYARP_DISABLE_FAILING_TESTS=ON"; fi

  # Print cmake flags
  - echo "--------------------     BEGIN CMAKE FLAGS    --------------------"
  - echo "-G\"${TRAVIS_CMAKE_GENERATOR}\" -DCMAKE_BUILD_TYPE=${TRAVIS_BUILD_TYPE} ${YARP_CMAKE_OPTIONS}"
  - echo "--------------------      END CMAKE FLAGS     --------------------"

  # Run CMake
  - (cd build; cmake -G"${TRAVIS_CMAKE_GENERATOR}" -DCMAKE_BUILD_TYPE=${TRAVIS_BUILD_TYPE} ${YARP_CMAKE_OPTIONS} ..)

  # Print cmake cache
  - echo "--------------------     BEGIN CMAKE CACHE    --------------------"
  - (cd build; cat CMakeCache.txt)
  - echo "--------------------      END CMAKE CACHE     --------------------"

  # Reset coverage information
  - if [ "$TRAVIS_BUILD_TYPE" == "Profile" ]; then (cd build; lcov --directory . --zerocounters); fi


script:
  # Build yarp
  - (cd build; cmake --build . --config ${TRAVIS_BUILD_TYPE})

  # Configure yarp
  - if $TRAVIS_WITH_INTEGRATION_TESTS; then build/bin/yarp conf 0 0 local; fi

  # Run unit tests
  - if $TRAVIS_RUN_UNIT_TESTS; then (cd build; ctest --build . -C ${TRAVIS_BUILD_TYPE}); fi

  # Test bindings from build directory
  - if $TRAVIS_WITH_BINDINGS; then export YARP_BINDINGS_OPTIONS="-DYARP_COMPILE_BINDINGS=ON -DCREATE_LUA=ON -DCREATE_RUBY=ON -DCREATE_PYTHON=ON -DCREATE_TCL=ON -DCREATE_JAVA=ON -DCREATE_CSHARP=ON -DCREATE_PERL=ON"; fi
  - if $TRAVIS_WITH_BINDINGS; then (cd build; cmake -G"${TRAVIS_CMAKE_GENERATOR}" -DCMAKE_BUILD_TYPE=${TRAVIS_BUILD_TYPE} ${YARP_CMAKE_OPTIONS} ${YARP_BINDINGS_OPTIONS} ..); fi
  - if $TRAVIS_WITH_BINDINGS; then (cd build; cmake --build . --config ${TRAVIS_BUILD_TYPE}); fi
  - if $TRAVIS_WITH_BINDINGS; then (cd build; ctest --build . -C ${TRAVIS_BUILD_TYPE} -R bindings); fi

  # Test installation
  - (cd build; cmake --build . --config ${TRAVIS_BUILD_TYPE} --target install)

  # Test bindings from yarp installation
  - if $TRAVIS_WITH_BINDINGS; then mkdir -p "${PWD}/install/share/yarp/bindings/build"; fi
  - if $TRAVIS_WITH_BINDINGS; then (cd "${PWD}/install/share/yarp/bindings/build" && cmake -G"${TRAVIS_CMAKE_GENERATOR}" -DCMAKE_BUILD_TYPE=${TRAVIS_BUILD_TYPE} -DYARP_DIR=${YARP_INSTALL_PREFIX}/lib/cmake/YARP ${YARP_BINDINGS_OPTIONS} ..); fi
  - if $TRAVIS_WITH_BINDINGS; then (cd "${PWD}/install/share/yarp/bindings/build" && cmake --build . --config ${TRAVIS_BUILD_TYPE}); fi

  # Build also the os examples
  - mkdir example/os/build
  - (cd example/os/build; cmake -G"${TRAVIS_CMAKE_GENERATOR}" -DCMAKE_BUILD_TYPE=${TRAVIS_BUILD_TYPE} -DYARP_DIR=${YARP_INSTALL_PREFIX}/lib/cmake/YARP ..)
  - (cd example/os/build; cmake --build . --config ${TRAVIS_BUILD_TYPE})


after_success:
  # Capture coverage info for Profile builds
  - if [ "$TRAVIS_BUILD_TYPE" == "Profile" ]; then (cd build; lcov --directory . --capture --output-file coverage.info); fi
  # Filter out system and test code
  - if [ "$TRAVIS_BUILD_TYPE" == "Profile" ]; then (cd build; lcov --remove coverage.info '/usr/*' 'tests/*' 'example/*' 'extern/*' 'idls/*' '*/harness/*' 'yarp/build/*' 'src/libYARP_serversql/*' 'src/libYARP_name/*' --output-file coverage.info); fi
  # Debug before upload
  - if [ "$TRAVIS_BUILD_TYPE" == "Profile" ]; then (cd build; lcov --list coverage.info); fi
  # Uploads to coveralls
  - if [ "$TRAVIS_BUILD_TYPE" == "Profile" ]; then (cd build; coveralls-lcov --source-encoding=ISO-8859-1 coverage.info); fi