.gitlab-ci.yml

stages:
  - build
  - test
  - report

# Template for jobs that overlay on top of ROS binaries
.job_template: &bin_job_template
  image: osrf/ros2:nightly
  before_script:
    - echo "deb [arch=amd64,arm64] http://repo.ros2.org/ubuntu/main `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list
    - curl http://repo.ros2.org/repos.key | apt-key add -
    - apt-get update
    - apt-get install -y python3-colcon-common-extensions
    - source /opt/ros/crystal/setup.bash

# Template for jobs that want to build everything from source (much slower)
.job_template: &src_job_template
  image:
    name: osrf/ros2:nightly
    entrypoint: [""]
  before_script:
    - apt-get update && apt-get install -y 
      build-essential 
      cmake 
      git 
      python3-colcon-common-extensions 
      python3-pip 
      python-rosdep 
      python3-vcstool 
      wget
    - python3 -m pip install -U 
      argcomplete 
      flake8 
      flake8-blind-except 
      flake8-builtins 
      flake8-class-newline 
      flake8-comprehensions 
      flake8-deprecated 
      flake8-docstrings 
      flake8-import-order 
      flake8-quotes 
      git+https://github.com/lark-parser/lark.git@0.7d 
      pytest-repeat 
      pytest-rerunfailures 
      pytest 
      pytest-cov 
      pytest-runner 
      setuptools
    - apt-get install --no-install-recommends -y 
      libasio-dev 
      libtinyxml2-dev
    - mkdir upstream_src
    - wget https://raw.githubusercontent.com/ros2/ros2/master/ros2.repos
    - vcs import upstream_src < ros2.repos
    - rosdep update
    - rosdep install
      --from-paths upstream_src
      --ignore-src
      --rosdistro crystal
      -y
      --skip-keys "console_bridge fastcdr fastrtps libopensplice67 libopensplice69 rti-connext-dds-5.3.1 urdfdom_headers"

build_launchtest:
  <<: *bin_job_template
  stage: build
  script:
    - colcon build --packages-up-to apex_launchtest apex_launchtest_cmake
  artifacts:
    paths:
      - build
      - install 

build_all:
  <<: *bin_job_template
  stage: build
  script:
    - colcon build --symlink-install
  artifacts:
    paths:
      - build
      - install

build_all_crystal:
  <<: *bin_job_template
  image: osrf/ros:crystal-desktop
  stage: build
  script:
    - colcon build --symlink-install
  artifacts:
    paths:
      - build
      - install

# Build everything from source to make sure our package.xml deps are correct
build_isolated:
  <<: *src_job_template
  stage: build
  only:
    - schedules
  script:
    - env  # For debugging
    # Make sure we can build and test apex_launchtest
    - colcon list --topological-graph --packages-up-to apex_launchtest
    - colcon list --topological-graph --packages-up-to apex_launchtest | grep "rclpy" &> /dev/null && exit 1  # Fail if apex_launchtest depends on rclpy
    - colcon build --packages-up-to apex_launchtest
    - tar -cf launchtest_artifacts.tar build install
    # Make sure we can also build and test apex_launchtest_ros
    - colcon list --topological-graph --packages-up-to apex_launchtest_ros
    - colcon build --packages-up-to apex_launchtest_ros
    - tar -cf launchtest_ros_artifacts.tar build install
  artifacts:
    paths:
      - launchtest_artifacts.tar
      - launchtest_ros_artifacts.tar

test_launchtest:
  <<: *bin_job_template
  stage: test
  dependencies:
    - build_launchtest
  script:
    - pip3 install mock
    - colcon test --packages-select apex_launchtest apex_launchtest_cmake
    - colcon test-result --verbose
  artifacts:
    when: always
    paths:
      - log

test_all:
  <<: *bin_job_template
  stage: test
  dependencies:
    - build_all
  script:
    - pip3 install mock
    - colcon test --pytest-args "--cov"
    - colcon test-result --verbose
  artifacts:
    when: always
    paths:
      - build
      - install
      - log
      - "*/.coverage"

test_all_crystal:
  <<: *bin_job_template
  image: osrf/ros:crystal-desktop
  stage: test
  dependencies:
    - build_all_crystal
  script:
    - pip3 install mock
    - colcon test
    - colcon test-result --verbose
  artifacts:
    when: always
    paths:
      - log

test_isolated:
  <<: *src_job_template
  stage: test
  only:
    - schedules
  dependencies:
    - build_isolated
  script:
    - env  # For debugging
    - pip3 install mock
    - tar xf launchtest_artifacts.tar -C .
    - colcon test --packages-select apex_launchtest --pytest-args "-k not (test_flake8 or test_pep257)"
    - colcon test-result --all --verbose
    - tar xf launchtest_ros_artifacts.tar -C .
    - colcon test --packages-select apex_launchtest_ros --pytest-args "-k not (test_flake8 or test_pep257)"
    - colcon test-result --all --verbose
  artifacts:
    when: always
    paths:
      - log

coverage:
  stage: report
  image:
    name: python:3.6
  dependencies:
    - test_all
  script:
    - pip3 install coverage
    - find . -iname ".coverage" -exec coverage combine -a {} \;
    - coverage report
    - coverage html
  coverage: '/TOTAL\s+\d+\s+\d+\s+(\d+\%)/'
  artifacts:
    paths:
      - htmlcov