stages:
  - build
  - deploy

variables:
  VCS_FILE: build_depends.repos
  AUTOWARE_CROSS_TARGET_PLATFORM: generic-aarch64

.build: &build_common
  before_script:
    - mkdir -p src_tmp/$CI_PROJECT_NAME && mv `find -maxdepth 1 -not -name . -not -name src_tmp -not -name $VCS_FILE` src_tmp/$CI_PROJECT_NAME && mv src_tmp/ src/
    - sudo apt-get update
    - sudo apt-get install -y libarmadillo-dev libglew-dev libssh2-1-dev python-flask python-requests wget lcov
    - sudo apt-get install -y python3-pip python3-setuptools python3-colcon-common-extensions python3-vcstool
    # Update setuptools from PyPI because the version Ubuntu ships with is too old
    - pip3 install -U setuptools
    - vcs validate < $VCS_FILE
    - vcs import src/ < $VCS_FILE
    - rosdep update
    - rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
  script:
    # We first build the entire workspace normally
    - source /opt/ros/${ROS_DISTRO}/setup.bash
    - colcon build --cmake-args -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -fprofile-arcs -ftest-coverage" -DCMAKE_C_FLAGS="${CMAKE_C_FLAGS} -fprofile-arcs -ftest-coverage" -DCMAKE_BUILD_TYPE=Debug
    # And then build the tests target. catkin (ROS1) packages add their tests to the tests target
    # which is not the standard target for CMake projects. We need to trigger the tests target so that
    # tests are built and any fixtures are set up.
    - colcon build --cmake-target tests --cmake-args -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -fprofile-arcs -ftest-coverage" -DCMAKE_C_FLAGS="${CMAKE_C_FLAGS} -fprofile-arcs -ftest-coverage" -DCMAKE_BUILD_TYPE=Debug
    - lcov --initial --directory build --capture --output-file lcov.base
    - colcon test
    - colcon test-result --verbose
    - lcov --directory build --capture --output-file lcov.test
    - lcov -a lcov.base -a lcov.test -o lcov.total
    - lcov -r lcov.total '*/tests/*' '*/test/*' '*/build/*' '*/devel/*' '*/install/*' '*/log/*' '/usr/*' '/opt/*' '/tmp/*' '*/CMakeCCompilerId.c' '*/CMakeCXXCompilerId.cpp' -o lcov.total.filtered
    # BRANCH_NAME: gets branch name from CI_COMMIT_REF_NAME variable substituting / with _ (feature/test_this_lib becomes feature_test_this_lib)
    # CI_COMMIT_REF_NAME: (from https://docs.gitlab.com/ee/ci/variables/) The branch or tag name for which project is built
    - BRANCH_NAME="$(echo $CI_COMMIT_REF_NAME | sed 's/\//_/g')"
    - COVERAGE_FOLDER_NAME="coverage_$BRANCH_NAME"
    - genhtml -p "$PWD" --legend --demangle-cpp lcov.total.filtered -o $COVERAGE_FOLDER_NAME
    - tar -czvf coverage.tar.gz $COVERAGE_FOLDER_NAME
  artifacts:
    paths:
      - $CI_PROJECT_DIR/coverage.tar.gz
    expire_in: 48 hrs
  coverage: /\s*lines.*:\s(\d+\.\d+\%\s\(\d+\sof\s\d+.*\))/

.build_cuda: &build_cuda
  before_script:
    - mkdir -p src_tmp/$CI_PROJECT_NAME && mv `find -maxdepth 1 -not -name . -not -name src_tmp -not -name $VCS_FILE` src_tmp/$CI_PROJECT_NAME && mv src_tmp/ src/
    - sudo apt-get update
    - sudo apt-get install -y libarmadillo-dev libglew-dev libssh2-1-dev python-flask python-requests wget
    - sudo apt-get install -y python3-pip python3-setuptools python3-colcon-common-extensions python3-vcstool
    # Update setuptools from PyPI because the version Ubuntu ships with is too old
    - pip3 install -U setuptools
    - vcs validate < $VCS_FILE
    - vcs import src/ < $VCS_FILE
    - rosdep update
    - rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
  script:
    # We first build the entire workspace normally
    - source /opt/ros/${ROS_DISTRO}/setup.bash
    - colcon build --cmake-args -DCMAKE_BUILD_TYPE=Debug
    # And then build the tests target. catkin (ROS1) packages add their tests to the tests target
    # which is not the standard target for CMake projects. We need to trigger the tests target so that
    # tests are built and any fixtures are set up.
    - colcon build --cmake-target tests --cmake-args -DCMAKE_BUILD_TYPE=Debug
    - colcon test
    - colcon test-result --verbose

.build_cross_vars: &build_cross_vars
    AUTOWARE_TARGET_ARCH: aarch64
    AUTOWARE_TOOLCHAIN_FILE_PATH: $CI_PROJECT_DIR/cross_toolchain.cmake
    AUTOWARE_SYSROOT: /sysroot/${AUTOWARE_CROSS_TARGET_PLATFORM}

.build_cross: &build_cross_common
  script:
    - mkdir -p src_tmp/$CI_PROJECT_NAME && mv `find -maxdepth 1 -not -name . -not -name src_tmp -not -name $VCS_FILE` src_tmp/$CI_PROJECT_NAME && mv src_tmp/ src/
    - apt update -qq && apt install -y python3-vcstool git wget
    - wget https://gitlab.com/autowarefoundation/autoware.ai/docker/raw/master/crossbuild/cross_toolchain.cmake
    - source ${AUTOWARE_SYSROOT}/opt/ros/${ROS_DISTRO}/setup.bash
    - vcs validate < $VCS_FILE
    - vcs import src/ < $VCS_FILE
    - colcon build
        --merge-install
        --cmake-args
        -DCMAKE_TOOLCHAIN_FILE=${AUTOWARE_TOOLCHAIN_FILE_PATH}
        -DCMAKE_SYSTEM_PROCESSOR=${AUTOWARE_TARGET_ARCH}
        -DCMAKE_PREFIX_PATH="${CI_PROJECT_DIR}/install;${AUTOWARE_SYSROOT}/opt/ros/${ROS_DISTRO}"
        -DCMAKE_FIND_ROOT_PATH=${CI_PROJECT_DIR}/install

build_melodic:
  stage: build
  image: autoware/autoware:bleedingedge-melodic-base
  <<: *build_common
  only:
    - merge_requests
    - master

build_melodic_arm:
  tags:
    - arm64
  stage: build
  image: autoware/arm64v8:bleedingedge-melodic-base
  <<: *build_common
  only:
    - master

build_melodic_cuda:
  stage: build
  image: autoware/autoware:bleedingedge-melodic-base-cuda
  <<: *build_cuda
  only:
    - merge_requests
    - master

build_melodic_cross:
  stage: build
  image: autoware/build:${AUTOWARE_CROSS_TARGET_PLATFORM}-melodic-bleedingedge
  variables:
    ROS_DISTRO: melodic
    <<: *build_cross_vars
  <<: *build_cross_common
  only:
    - merge_requests
    - master

pages:
  stage: deploy
  image: alpine
  dependencies:
    - build_melodic
  script:
    - BRANCH_NAME="$(echo $CI_COMMIT_REF_NAME | sed 's/\//_/g')"
    - COVERAGE_FOLDER_NAME="coverage_$BRANCH_NAME"
    - tar -xzvf coverage.tar.gz
    - mv $COVERAGE_FOLDER_NAME public
  artifacts:
    paths:
      - public
  only:
    - master