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config.yml
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config.yml
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version: 2.1
_commands:
common_commands: &common_commands
ccache_stats:
description: "CCache Stats"
parameters:
workspace:
type: string
when:
type: string
default: on_success
steps:
- run:
name: CCache Stats
working_directory: << parameters.workspace >>
environment:
CCACHE_DIR: << parameters.workspace >>/.ccache
command: |
ccache -s # show stats
ccache -z # zero stats
ccache -V # show version
ccache -p # show config
when: << parameters.when >>
restore_from_cache:
description: "Restore From Cache"
parameters:
key:
type: string
workspace:
type: string
steps:
- restore_cache:
name: Restore Cache << parameters.key >>
keys:
- "<< parameters.key >>-v26\
-{{ arch }}\
-{{ .Branch }}\
-{{ .Environment.CIRCLE_PR_NUMBER }}\
-{{ checksum \"<< parameters.workspace >>/lockfile.txt\" }}"
- "<< parameters.key >>-v26\
-{{ arch }}\
-main\
-<no value>\
-{{ checksum \"<< parameters.workspace >>/lockfile.txt\" }}"
save_to_cache:
description: "Save To Cache"
parameters:
key:
type: string
workspace:
type: string
path:
type: string
when:
type: string
default: on_success
steps:
- save_cache:
name: Save Cache << parameters.key >>
key: "<< parameters.key >>-v26\
-{{ arch }}\
-{{ .Branch }}\
-{{ .Environment.CIRCLE_PR_NUMBER }}\
-{{ checksum \"<< parameters.workspace >>/lockfile.txt\" }}\
-{{ epoch }}"
paths:
- << parameters.path >>/.ccache
- << parameters.path >>/build
- << parameters.path >>/install
- << parameters.path >>/log
- << parameters.path >>/test_results
when: << parameters.when >>
install_dependencies:
description: "Install Dependencies"
parameters:
underlay:
type: string
workspace:
type: string
steps:
- run:
name: Install Dependencies | << parameters.workspace >>
working_directory: << parameters.workspace >>
command: |
. << parameters.underlay >>/install/setup.sh
AMENT_PREFIX_PATH=$(echo "$AMENT_PREFIX_PATH" | \
sed -e 's|:/opt/ros/'$ROS_DISTRO'$||')
if [ "$AMENT_PREFIX_PATH" == "/opt/ros/$ROS_DISTRO" ]
then
unset AMENT_PREFIX_PATH
fi
cat << parameters.underlay >>/lockfile.txt > lockfile.txt
vcs export --exact << parameters.underlay >>/src | \
(echo vcs_export && cat) >> lockfile.txt
sha256sum $PWD/lockfile.txt >> lockfile.txt
apt-get update
rosdep update --rosdistro $ROS_DISTRO
dependencies=$(
rosdep install -q -y \
--from-paths src \
--ignore-src \
--skip-keys " \
slam_toolbox \
" \
--verbose | \
awk '$1 ~ /^resolution\:/' | \
awk -F'[][]' '{print $2}' | \
tr -d \, | xargs -n1 | sort -u | xargs)
dpkg --list dpkg $dependencies | \
(echo workspace_dependencies && cat) >> lockfile.txt
sha256sum $PWD/lockfile.txt >> lockfile.txt
setup_workspace:
description: "Setup Workspace"
parameters:
underlay:
type: string
key:
type: string
workspace:
type: string
mixins:
type: string
packages_skip_regex:
default: ""
type: string
restore:
default: true
type: boolean
build:
default: true
type: boolean
steps:
- store_artifacts:
path: << parameters.workspace >>/lockfile.txt
- when:
condition: << parameters.restore >>
steps:
- restore_from_cache:
key: << parameters.key >>
workspace: << parameters.workspace >>
- when:
condition: << parameters.build >>
steps:
- ccache_stats:
workspace: << parameters.workspace >>
when: always
- run:
name: Build Workspace | << parameters.workspace >>
working_directory: << parameters.workspace >>
environment:
CCACHE_DIR: << parameters.workspace >>/.ccache
command: |
colcon cache lock
BUILD_UNFINISHED=$(
colcon list \
--names-only \
--packages-skip-build-finished \
| xargs)
echo BUILD_UNFINISHED: $BUILD_UNFINISHED
BUILD_FAILED=$(
colcon list \
--names-only \
--packages-select-build-failed \
| xargs)
echo BUILD_FAILED: $BUILD_FAILED
BUILD_INVALID=$(
colcon list \
--names-only \
--packages-select-cache-invalid \
--packages-select-cache-key build \
| xargs)
echo BUILD_INVALID: $BUILD_INVALID
BUILD_PACKAGES=""
if [ -n "$BUILD_UNFINISHED" ] || \
[ -n "$BUILD_FAILED" ] || \
[ -n "$BUILD_INVALID" ]
then
BUILD_PACKAGES=$(
colcon list \
--names-only \
--packages-skip-regex << parameters.packages_skip_regex >> \
--packages-above \
$BUILD_UNFINISHED \
$BUILD_FAILED \
$BUILD_INVALID \
| xargs)
fi
echo BUILD_PACKAGES: $BUILD_PACKAGES
colcon clean packages --yes \
--packages-select ${BUILD_PACKAGES} \
--base-select install
. << parameters.underlay >>/install/setup.sh
colcon build \
--packages-select ${BUILD_PACKAGES} \
--mixin << parameters.mixins >>
- ccache_stats:
workspace: << parameters.workspace >>
when: always
- save_to_cache:
key: << parameters.key >>
path: << parameters.workspace >>
workspace: << parameters.workspace >>
when: always
- run:
name: Copy Build Logs
working_directory: << parameters.workspace >>
command: cp -rH log/latest_build log/build
when: always
- store_artifacts:
path: << parameters.workspace >>/log/build
test_workspace:
description: "Test Workspace"
parameters:
key:
type: string
workspace:
type: string
cache_test:
type: boolean
packages_skip_regex:
type: string
default: ""
steps:
- run:
name: Test Workspace | << parameters.workspace >>
working_directory: << parameters.workspace >>
command: |
TEST_UNPASSED=$(
colcon list \
--names-only \
--packages-skip-test-passed \
| xargs)
echo TEST_UNPASSED: $TEST_UNPASSED
TEST_FAILURES=$(
colcon list \
--names-only \
--packages-select-test-failures \
| xargs)
echo TEST_FAILURES: $TEST_FAILURES
TEST_INVALID=$(
colcon list \
--names-only \
--packages-select-cache-invalid \
--packages-select-cache-key test \
| xargs)
echo TEST_INVALID: $TEST_INVALID
TEST_PACKAGES=""
if [ -n "$TEST_UNPASSED" ] || \
[ -n "$TEST_FAILURES" ] || \
[ -n "$TEST_INVALID" ]
then
TEST_PACKAGES=$(
colcon list \
--names-only \
--packages-skip-regex << parameters.packages_skip_regex >> \
--packages-above \
$TEST_UNPASSED \
$TEST_FAILURES \
$TEST_INVALID)
fi
if ( ! << parameters.cache_test >> )
then
TEST_PACKAGES=$(
colcon list \
--names-only \
--packages-skip-regex << parameters.packages_skip_regex >> )
fi
TEST_PACKAGES=$(
echo $TEST_PACKAGES \
| circleci tests split \
--split-by=timings \
--timings-type=classname \
--show-counts \
| xargs)
echo TEST_PACKAGES: $TEST_PACKAGES
colcon clean packages --yes \
--packages-select ${TEST_PACKAGES} \
--base-select test_result
colcon clean packages --yes \
--packages-select ${TEST_PACKAGES} \
--base-select build \
--clean-match \
"*.gcda"
. install/setup.sh
set -o xtrace
colcon test \
--packages-select ${TEST_PACKAGES}
colcon test-result \
--verbose
- when:
condition: << parameters.cache_test >>
steps:
- save_to_cache:
key: << parameters.key >>
path: << parameters.workspace >>
workspace: << parameters.workspace >>
when: always
- run:
name: Copy Test Logs
working_directory: << parameters.workspace >>
command: cp -rH log/latest_test log/test
when: always
- store_artifacts:
path: << parameters.workspace >>/log/test
- store_artifacts:
path: << parameters.workspace >>/test_results
- run:
name: Prepare Test Results
working_directory: << parameters.workspace >>
command: find test_results -name "Test.xml" -type f -delete
when: always
- store_test_results:
path: << parameters.workspace >>/test_results
_steps:
pre_checkout: &pre_checkout
run:
name: Pre Checkout
command: |
mkdir -p $ROS_WS/src && cd $ROS_WS
ln -s /opt/ros/$ROS_DISTRO install
echo $CACHE_NONCE | \
(echo cache_nonce && cat) >> lockfile.txt
sha256sum $PWD/lockfile.txt >> lockfile.txt
TZ=utc stat -c '%y' /ros_entrypoint.sh | \
(echo ros_entrypoint && cat) >> lockfile.txt
sha256sum $PWD/lockfile.txt >> lockfile.txt
rm -rf $OVERLAY_WS/*
on_checkout: &on_checkout
checkout:
path: src/navigation2
post_checkout: &post_checkout
run:
name: Post Checkout
command: |
cp $OVERLAY_WS/src/navigation2/.circleci/defaults.yaml $COLCON_DEFAULTS_FILE
if ! cmp \
$OVERLAY_WS/src/navigation2/tools/underlay.repos \
$UNDERLAY_WS/underlay.repos >/dev/null 2>&1
then
echo "Importing Underlay"
cp $OVERLAY_WS/src/navigation2/tools/underlay.repos \
$UNDERLAY_WS/underlay.repos
vcs import $UNDERLAY_WS/src \
< $UNDERLAY_WS/underlay.repos
fi
install_underlay_dependencies: &install_underlay_dependencies
install_dependencies:
underlay: /opt/ros_ws
workspace: /opt/underlay_ws
setup_underlay_workspace: &setup_underlay_workspace
setup_workspace: &setup_workspace_underlay
key: underlay_ws
underlay: /opt/ros_ws
workspace: /opt/underlay_ws
mixins: ${UNDERLAY_MIXINS}
restore_underlay_workspace: &restore_underlay_workspace
setup_workspace:
<<: *setup_workspace_underlay
build: false
install_overlay_dependencies: &install_overlay_dependencies
install_dependencies:
underlay: /opt/underlay_ws
workspace: /opt/overlay_ws
setup_overlay_workspace: &setup_overlay_workspace
setup_workspace: &setup_workspace_overlay
key: overlay_ws
underlay: /opt/underlay_ws
workspace: /opt/overlay_ws
mixins: ${OVERLAY_MIXINS}
build_workspace_overlay: &build_workspace_overlay
setup_workspace:
<<: *setup_workspace_overlay
packages_skip_regex: << parameters.packages_skip_regex >>
restore_overlay_workspace: &restore_overlay_workspace
setup_workspace:
<<: *setup_workspace_overlay
build: false
test_overlay_workspace: &test_overlay_workspace
test_workspace:
key: overlay_ws
workspace: /opt/overlay_ws
cache_test: << parameters.cache_test >>
packages_skip_regex: << parameters.packages_skip_regex >>
collect_overlay_coverage: &collect_overlay_coverage
run:
name: Collect Code Coverage
working_directory: /opt/overlay_ws
command: src/navigation2/tools/code_coverage_report.bash ci
when: always
upload_overlay_coverage: &upload_overlay_coverage
run:
name: Upload Code Coverage
working_directory: /opt/overlay_ws
command: |
curl -s https://codecov.io/bash > codecov
codecov_version=$(grep -o 'VERSION=\"[0-9\.]*\"' codecov | cut -d'"' -f2)
shasum -a 512 -c <(curl -s "https://raw.githubusercontent.com/codecov/codecov-bash/${codecov_version}/SHA512SUM" | grep -w "codecov")
bash codecov \
-f "lcov/total_coverage.info" \
-R "src/navigation2" \
-n "$RMW_IMPLEMENTATION" \
-Z || echo 'Codecov upload failed'
when: always
commands:
<<: *common_commands
checkout_source:
description: "Checkout Source"
steps:
- *pre_checkout
- *on_checkout
- *post_checkout
setup_dependencies:
description: "Setup Dependencies"
steps:
- *install_underlay_dependencies
- *setup_underlay_workspace
- *install_overlay_dependencies
build_source:
description: "Build Source"
parameters:
packages_skip_regex:
type: string
steps:
- *build_workspace_overlay
restore_build:
description: "Restore Build"
steps:
- checkout_source
- *install_underlay_dependencies
- *restore_underlay_workspace
- *install_overlay_dependencies
- *restore_overlay_workspace
test_build:
description: "Test Build"
parameters:
cache_test:
type: boolean
packages_skip_regex:
type: string
steps:
- *test_overlay_workspace
report_coverage:
description: "Report Coverage"
steps:
- *collect_overlay_coverage
- *upload_overlay_coverage
_environments:
common_environment: &common_environment
ROS_WS: "/opt/ros_ws"
UNDERLAY_WS: "/opt/underlay_ws"
OVERLAY_WS: "/opt/overlay_ws"
UNDERLAY_MIXINS: "release ccache lld"
CCACHE_LOGFILE: "/tmp/ccache.log"
CCACHE_MAXSIZE: "200M"
MAKEFLAGS: "-j 2 -l 2 "
COLCON_DEFAULTS_FILE: "/tmp/defaults.yaml"
RCUTILS_LOGGING_BUFFERED_STREAM: "0"
RCUTILS_LOGGING_USE_STDOUT: "0"
DEBIAN_FRONTEND: "noninteractive"
PYTHONUNBUFFERED: "1"
executors:
release_exec:
docker:
- image: ghcr.io/ros-navigation/navigation2:main
resource_class: large
working_directory: /opt/overlay_ws
environment:
<<: *common_environment
CACHE_NONCE: "Release"
OVERLAY_MIXINS: "release ccache coverage-gcc lld"
_jobs:
job_build: &job_build
parameters: &job_build_parameters
packages_skip_regex:
type: string
default: ""
job_test: &job_test
parameters:
<<: *job_build_parameters
cache_test:
type: boolean
default: false
rmw:
default: "rmw_cyclonedds_cpp"
type: string
parallelism: 1
environment:
RMW_IMPLEMENTATION: << parameters.rmw >>
jobs:
release_build: &release_build
<<: *job_build
executor: release_exec
steps:
- checkout_source
- setup_dependencies
- build_source:
packages_skip_regex: << parameters.packages_skip_regex >>
system_build: &system_build
<<: *release_build
release_test: &release_test
<<: *job_test
executor: release_exec
steps:
- restore_build
- test_build:
cache_test: << parameters.cache_test >>
packages_skip_regex: << parameters.packages_skip_regex >>
- report_coverage
_parameters:
release_parameters: &release_parameters
packages_skip_regex: "nav2_system_tests"
workflows:
version: 2
build_and_test:
jobs:
- release_build:
<<: *release_parameters
- system_build:
requires:
- release_build
- release_test:
requires:
- system_build
cache_test: true
nightly:
jobs:
- release_build:
<<: *release_parameters
- system_build:
requires:
- release_build
- release_test:
requires:
- system_build
<<: *release_parameters
matrix:
alias: release_test
parameters:
rmw:
- rmw_cyclonedds_cpp
- rmw_fastrtps_cpp
triggers:
- schedule:
cron: "0 13 * * *"
filters:
branches:
only:
- main