#!/bin/bash
set -e
function travis_time_start {
set +x
TRAVIS_START_TIME=$(date +%s%N)
TRAVIS_TIME_ID=$(cat /dev/urandom | tr -dc 'a-z0-9' | fold -w 8 | head -n 1)
TRAVIS_FOLD_NAME=$1
echo -e "\e[0Ktraivs_fold:start:$TRAVIS_FOLD_NAME"
echo -e "\e[0Ktraivs_time:start:$TRAVIS_TIME_ID"
set -x
}
function travis_time_end {
set +x
_COLOR=${1:-32}
TRAVIS_END_TIME=$(date +%s%N)
TIME_ELAPSED_SECONDS=$(( ($TRAVIS_END_TIME - $TRAVIS_START_TIME)/1000000000 ))
echo -e "traivs_time:end:$TRAVIS_TIME_ID:start=$TRAVIS_START_TIME,finish=$TRAVIS_END_TIME,duration=$(($TRAVIS_END_TIME - $TRAVIS_START_TIME))\n\e[0K"
echo -e "traivs_fold:end:$TRAVIS_FOLD_NAME"
echo -e "\e[0K\e[${_COLOR}mFunction $TRAVIS_FOLD_NAME takes $(( $TIME_ELAPSED_SECONDS / 60 )) min $(( $TIME_ELAPSED_SECONDS % 60 )) sec\e[0m"
set -x
}
function setup {
travis_time_start setup.before_install
#before_install:
# Install ROS
sudo sh -c "echo \"deb http://packages.ros.org/ros-shadow-fixed/ubuntu `lsb_release -cs` main\" > /etc/apt/sources.list.d/ros-latest.list"
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
# Setup EoL repository
if [[ "$ROS_DISTRO" == "hydro" || "$ROS_DISTRO" == "jade" || "$ROS_DISTRO" == "lunar" ]]; then
sudo -E sh -c 'echo "deb http://snapshots.ros.org/$ROS_DISTRO/final/ubuntu `lsb_release -sc` main" >> /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key 0xCBF125EA
fi
sudo apt-get update -qq
### HotFix: Hold python-vcs-tools for hydro (https://github.com/vcstools/vcstools/issues/157)
if [[ "$ROS_DISTRO" == "hydro" ]]; then
sudo apt-get install -y --force-yes -q python-vcstools=0.1.40-1
sudo apt-mark hold python-vcstools
fi
###
# Install ROS
if [[ "$ROS_DISTRO" == "noetic" ]]; then
sudo apt-get install -y -q python3-catkin-pkg python3-catkin-tools python3-rosdep python3-wstool python3-rosinstall-generator python3-osrf-pycommon
else
sudo apt-get install -y -q python-catkin-pkg python-catkin-tools python-rosdep python-wstool python-rosinstall-generator
fi
sudo apt-get install -y -q ros-$ROS_DISTRO-catkin
source /opt/ros/$ROS_DISTRO/setup.bash
# Setup for rosdep
sudo rosdep init
rosdep update --include-eol-distros
travis_time_end
travis_time_start setup.install
#install:
mkdir -p ~/catkin_ws/src
# Add the package under test to the workspace.
cd ~/catkin_ws/src
ln -s $CI_SOURCE_PATH . # Link the repo we are testing to the new workspace
# Install all dependencies, using wstool and rosdep.
# wstool looks for a ROSINSTALL_FILE defined in before_install.
travis_time_end
travis_time_start setup.before_script
#before_script:
# source dependencies: install using wstool.
cd ~/catkin_ws/src
wstool init
#if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi
if [ "$OPENCV_VERSION" == 3 ]; then rosinstall_generator image_pipeline --upstream >> .rosinstall.opencv3; fi # need to recompile image_proc
if [ "$OPENCV_VERSION" == 3 ]; then rosinstall_generator compressed_image_transport --upstream >> .rosinstall.opencv3; fi # need to recompile compressed_image_transport
if [ "$OPENCV_VERSION" == 3 ]; then rosinstall_generator vision_opencv --upstream >> .rosinstall.opencv3; fi # need to recompile visoin_opencv
if [ "$OPENCV_VERSION" == 3 ]; then wstool merge .rosinstall.opencv3; fi # need to recompile visoin_opencv
wstool up
wstool info
if [ "$OPENCV_VERSION" == 3 ]; then sed -i 's@libopencv-dev@opencv3@' */*/package.xml ; fi
# package depdencies: install using rosdep.
cd ~/catkin_ws
rosdep install -q -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
travis_time_end
}
function build {
travis_time_start build.script
source /opt/ros/$ROS_DISTRO/setup.bash
cd ~/catkin_ws
catkin build -p1 -j1 --no-status
travis_time_end
}
function run_test {
travis_time_start run_test.script
source /opt/ros/$ROS_DISTRO/setup.bash
cd ~/catkin_ws
catkin run_tests -p1 -j1 --no-status opencv_apps --no-deps
catkin_test_results --verbose build || catkin_test_results --all build
travis_time_end
}
function build_install {
travis_time_start build_install.script
source /opt/ros/$ROS_DISTRO/setup.bash
cd ~/catkin_ws
catkin clean -b --yes || catkin clean -b -a
catkin config --install
catkin build -p1 -j1 --no-status
travis_time_end
}
travis_time_start apt.before_install
apt-get update -qq && apt-get install -y -q wget sudo lsb-release gnupg # for docker
# set DEBIAN_FRONTEND=noninteractive
echo 'debconf debconf/frontend select Noninteractive' | sudo debconf-set-selections
travis_time_end
if [ "$TEST" == "catkin_lint" ]; then
travis_time_start catkin_lint.script
apt-get install -y -q python-pip
pip install catkin_lint rosdep
rosdep init
rosdep update
travis_time_end
ROS_DISTRO=melodic catkin_lint --resolve-env --strict $CI_SOURCE_PATH
elif [ "$TEST" == "clang-format" ]; then
travis_time_start clang_format.script
apt-get install -y -q clang-format-3.9 git
find $CI_SOURCE_PATH -name '*.h' -or -name '*.hpp' -or -name '*.cpp' | xargs clang-format-3.9 -i -style=file
travis_time_end
git -C $CI_SOURCE_PATH --no-pager diff
git -C $CI_SOURCE_PATH diff-index --quiet HEAD -- .
elif [ "$TEST" == "clang-tidy" ]; then
setup
travis_time_start clang_tidy.script
apt-get install -y -q clang-tidy clang-tools
cd ~/catkin_ws
catkin config --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
travis_time_end
build
travis_time_start clang_tidy.script
for file in $(find ~/catkin_ws/build -name compile_commands.json) ; do
run-clang-tidy -fix -p $(dirname $file)
done
travis_time_end
git -C $CI_SOURCE_PATH --no-pager diff
git -C $CI_SOURCE_PATH diff-index --quiet HEAD -- .
else
# Compile and test.
setup
build
run_test
build_install
fi