.gitlab-ci.yml

# Copyright (c) 2020-2021 Advanced Robotics at the University of Washington <robomstr@uw.edu>
#
# This file is part of aruw-edu.
#
# aruw-edu is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# aruw-edu is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with aruw-edu.  If not, see <https://www.gnu.org/licenses/>.

default:
  image: aruw/mcb-2020-gitlab-ci:2021-06-02.1

variables:
  ARTIFACT_PATH: isolated-deploy
  GIT_SUBMODULE_STRATEGY: normal
  DEFAULT_BUILD_ELF_FILE: build/hardware/scons-release/aruw-edu-project.elf
  DEFAULT_TESTS_BUILD_ELF_FILE: build/tests/scons-fast/aruw-edu-project-tests.elf
  NUM_JOBS: 4

.verification_except: &verification_except
  - schedules

.default_only: &default_only
  - merge_requests
  - develop
  - schedules

stages:
  - Build
  - Test
  - Quality
  - Deploy Pages

# Quality
# Last stage, but configured to not depend on preceding jobs

clang-format:
  stage: Quality
  needs: []
  script:
    - python3 /run-clang-format.py --clang-format-executable clang-format-10 -r aruw-edu-project/src/ aruw-edu-project/test/
  except: *verification_except
  only: *default_only

"Policy Checks":
  stage: Quality
  variables:
    GIT_SUBMODULE_STRATEGY: recursive
  script:
    - python3 ./taproot-scripts/check_singleton_drivers.py DoNotUse_getDrivers
        -p ./aruw-edu-project/src/
        -w drivers_singleton.cpp
            drivers_singleton.hpp
            main.cpp

    - python3 ./taproot-scripts/check_license_headers.py
        -p aruw-edu
        -i './**/__init__.py' 'taproot/**/*' 'taproot-scripts/**/*' 'aruw-edu-project/taproot/**/*' 'aruw-edu-project/robot-type/robot_type.hpp'
        -o 'Advanced Robotics at the University of Washington'

    - ./taproot-scripts/check_taproot_submodule.sh ./aruw-edu-project ./taproot
  except: *verification_except
  only: *default_only

# Hidden jobs to be extended for each robot

.hw_build:
  stage: Build
  script:
    - cd aruw-edu-project
    - python3 $(which scons) build robot=TARGET_$ROBOT -j${NUM_JOBS} additional-ccflags=-Werror
    - python3 $(which scons) size robot=TARGET_$ROBOT -j${NUM_JOBS} additional-ccflags=-Werror > size.txt
    - python3 ../taproot-scripts/parse_metrics.py -i size.txt -o metrics.txt --identifier $ROBOT
    - cp $DEFAULT_BUILD_ELF_FILE ../$ARTIFACT_PATH/aruw-edu-project-$ROBOT.elf
  artifacts:
    name: "$CI_JOB_NAME-$CI_COMMIT_REF_NAME-$ROBOT-mcb"
    paths:
      - $ARTIFACT_PATH/*
    expire_in: 2 weeks
    reports:
      metrics: metrics.txt
  only: *default_only

.sim_build:
  stage: Build
  script:
    - cd aruw-edu-project
    - python3 $(which scons) build-sim profile=fast robot=TARGET_$ROBOT -j${NUM_JOBS}
  only: *default_only

.test_build:
  stage: Build
  script:
    - cd aruw-edu-project
    - python3 $(which scons) build-tests profile=fast robot=TARGET_$ROBOT -j${NUM_JOBS}
  artifacts:
    paths:
      - aruw-edu-project/$DEFAULT_TESTS_BUILD_ELF_FILE
  only:
    variables:
      - $RUN_TESTS

.test_run:
  stage: Test
  script:
    - cd aruw-edu-project
    - valgrind --leak-check=full --error-exitcode=1 --show-leak-kinds=all $DEFAULT_TESTS_BUILD_ELF_FILE
  only: *default_only


# Standard

"Standard: build for hardware":
  extends:
    - .hw_build
  variables:
    ROBOT: STANDARD

"Standard: build for sim":
  extends:
    - .sim_build
  variables:
    ROBOT: STANDARD

"Standard: build for tests":
  extends:
    - .test_build
  variables:
    ROBOT: STANDARD

"Standard: run tests":
  # The Standard's test run is also evaluated for code coverage and used as the repo-level coverage report
  needs: [ "Standard: build for tests" ]
  dependencies: [ "Standard: build for tests" ]
  extends:
    - .test_run
  variables:
    ROBOT: STANDARD
  script:
    - cd aruw-edu-project
    - valgrind --leak-check=full --error-exitcode=1 --show-leak-kinds=all $DEFAULT_TESTS_BUILD_ELF_FILE
    - cd .. && gcovr -g --xml > cobertura.xml
    - 'sed -i "s=<source>.</source>=<source>./aruw-edu-project</source>=g" cobertura.xml'
    - 'sed -i "s;filename=\";filename=\"aruw-edu-project/;g" cobertura.xml'
  coverage: '/\s+Total:\|(\d+.\d+\%).+\|.+\|.+/'
  artifacts:
    name: "$CI_JOB_NAME-$CI_COMMIT_REF_NAME-standard-tests"
    reports:
      coverage_report:
        coverage_format: cobertura
        path: cobertura.xml
    expire_in: 2 weeks
  only:
    variables:
      - $RUN_TESTS

"Generate Docs":
  image: alpine
  needs: []
  variables:
    GIT_SUBMODULE_STRATEGY: none
  stage: Deploy Pages
  before_script:
    - apk update
    - apk add py-pip python3-dev
    - apk add make
    - apk add --no-cache g++ gcc libxml2-dev libxslt-dev
    - pip3 install -r docs/requirements.txt
    - apk add doxygen
  script:
    - cd docs && make html
    - mv _build/html/ ../public/
  artifacts:
    paths:
      - public
  only:
    - develop
    - merge_requests
  except:
    - schedules
  environment:
    name: "docs preview ${CI_COMMIT_REF_SLUG}"
    url: "https://aruw.gitlab.io/-/controls/$CI_PROJECT_NAME/-/jobs/$CI_JOB_ID/artifacts/public/index.html"

pages:
  image: alpine
  needs: ["Generate Docs"]
  dependencies: ["Generate Docs"]
  variables:
    GIT_SUBMODULE_STRATEGY: none
  stage: Deploy Pages
  script: "true"
  artifacts:
    paths:
      - public
  only:
    - develop
  except:
    - schedules