stages:
  - .pre
  - ade
  - build
  - test
  - deploy

.ade_base: &ade_base
  stage: ade
  image: docker
  services:
    - docker:dind
  script:
    - docker login -u gitlab-ci-token -p $CI_JOB_TOKEN $CI_REGISTRY
    - apk add --update-cache git
    - mv ros-deps tools/ade_image
    - cp autoware.auto.foxy.repos tools/ade_image
    - cd tools/ade_image
    - export ADE_SHA=$(find . -type f | sort | xargs sha256sum | sha256sum | rev | cut -c 4- | rev)
    - '
      if [[ -n "$FORCE" ]]; then
          chmod og-w . -R;
          docker build
              --build-arg ROS_DISTRO=${ROS_DISTRO}
              --build-arg CODENAME=${UBUNTU_DISTRO}
              --label ade_image_commit_sha="$CI_COMMIT_SHA"
              --label ade_image_commit_tag="$CI_COMMIT_TAG"
              -t image .;
      else
          (
              docker pull $CI_REGISTRY_IMAGE/$ARCH/ade-$ROS_DISTRO:change-$ADE_SHA &&
              docker tag $CI_REGISTRY_IMAGE/$ARCH/ade-$ROS_DISTRO:change-$ADE_SHA image
          ) || (
              chmod og-w . -R;
              docker build
                  --build-arg ROS_DISTRO=${ROS_DISTRO}
                  --build-arg CODENAME=${UBUNTU_DISTRO}
                  --label ade_image_commit_sha="$CI_COMMIT_SHA"
                  --label ade_image_commit_tag="$CI_COMMIT_TAG"
                  -t image .;
          );
      fi
      '
    - docker tag image $CI_REGISTRY_IMAGE/$ARCH/ade-$ROS_DISTRO:change-$ADE_SHA
    - docker tag image $CI_REGISTRY_IMAGE/$ARCH/ade-$ROS_DISTRO:commit-$CI_COMMIT_SHA
    - docker tag image $CI_REGISTRY_IMAGE/$ARCH/ade-$ROS_DISTRO:$CI_COMMIT_REF_NAME
    - docker push $CI_REGISTRY_IMAGE/$ARCH/ade-$ROS_DISTRO:change-$ADE_SHA
    - docker push $CI_REGISTRY_IMAGE/$ARCH/ade-$ROS_DISTRO:commit-$CI_COMMIT_SHA
    - docker push $CI_REGISTRY_IMAGE/$ARCH/ade-$ROS_DISTRO:$CI_COMMIT_REF_NAME
  after_script:
    - docker container rm -f $(docker container ls --filter "status=exited" -q)
    - docker image rm $(docker image ls -q)

.build_barebones_base: &build_barebones_base
  stage: build
  script:
    - 'apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends
          gnupg
          keyboard-configuration
          tzdata
      '
    - 'apt-get update && apt-get -y --no-install-recommends install
          ca-certificates
          curl
          gnupg2
          lsb-release
          sudo
      '
    - 'curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -'
    - 'echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" | tee /etc/apt/sources.list.d/ros2-latest.list'
    - 'apt-get update && apt-get -y --no-install-recommends install
          build-essential
          clang-tidy
          cmake
          git
          python3-colcon-common-extensions
          python3-rosdep
          python3-vcstool
          ros-$ROS_DISTRO-cyclonedds
          ros-$ROS_DISTRO-rmw-cyclonedds-cpp
      '
    - 'source /opt/ros/$ROS_DISTRO/setup.bash'
    - 'vcs import < autoware.auto.$ROS_DISTRO.repos'
    # Temporary work-around for acado_vendor
    - 'rm -rf src/external/acado_vendor'
    - 'curl -L -o ros-foxy-acado-vendor_1.0.0-0focal_$ARCH.deb https://gitlab.com/autowarefoundation/autoware.auto/acado_vendor/-/jobs/artifacts/main/raw/ros-foxy-acado-vendor_1.0.0-0focal_$ARCH.deb?job=build_debian_$ARCH'
    - 'dpkg -i ros-foxy-acado-vendor*.deb'
    - 'rm ros-foxy-acado-vendor*.deb'
    # End temporary work-around for acado_vendor
    - 'rosdep init && rosdep update'
    - 'rosdep install -y --from . --ignore-src --rosdistro $ROS_DISTRO'
    - 'source /opt/ros/$ROS_DISTRO/setup.bash'
    - 'colcon build
           --merge-install
           --install-base /opt/AutowareAuto
      '

.build_base: &build_base
  stage: build
  image: $CI_REGISTRY_IMAGE/$ARCH/ade-$ROS_DISTRO:commit-$CI_COMMIT_SHA
  script:
    - 'apt-get update && apt-get -y --no-install-recommends install
          clang-tidy
          git
          git-lfs
      '
    - 'git lfs install'
    - 'git lfs pull --include="*" --exclude=""'
    - 'vcs import < autoware.auto.$ROS_DISTRO.repos'
    # Temporary work-around for acado_vendor
    - 'rm -rf src/external/acado_vendor'
    - 'curl -L -o ros-foxy-acado-vendor_1.0.0-0focal_${ARCH}.deb https://gitlab.com/autowarefoundation/autoware.auto/acado_vendor/-/jobs/artifacts/main/raw/ros-foxy-acado-vendor_1.0.0-0focal_${ARCH}.deb?job=build_debian_${ARCH}'
    - 'dpkg -i ros-foxy-acado-vendor*.deb'
    - 'rm ros-foxy-acado-vendor*.deb'
    # End temporary work-around for acado_vendor
    # build and test
    - 'colcon build
           --merge-install
           --install-base /opt/AutowareAuto
           --cmake-args -DCMAKE_BUILD_TYPE=Release
      '
    - chmod -R og-w /opt/AutowareAuto
    - tar czf opt.tar.gz /opt/AutowareAuto
    - grep -h -r -o -P "(?<=\<name\>).*(?=\<\/name\>)" $(find src/external -name package.xml) | sort >> external_deps.txt
  artifacts:
    name: "$CI_JOB_NAME"
    paths:
      - build/
      - external_deps.txt
      - opt.tar.gz

.gen_deps_base: &gen_deps_base
  stage: .pre
  script:
    - apt-get update && apt-get install python3-vcstool
    - vcs import < autoware.auto.$ROS_DISTRO.repos
    - rosdep update
    - rosdep install --as-root "apt:false pip:false" --simulate --reinstall --ignore-src -y --from-paths src | sort >> ros-deps
  artifacts:
    name: "$CI_JOB_NAME"
    paths:
      - ros-deps

.test_base: &test_base
  stage: test
  image: $CI_REGISTRY_IMAGE/$ARCH/ade-$ROS_DISTRO:commit-$CI_COMMIT_SHA
  script:
    - tar xzf opt.tar.gz -C /
    - rm opt.tar.gz
    - source /opt/AutowareAuto/setup.bash
    - 'colcon test
           --merge-install
           --install-base /opt/AutowareAuto
           --packages-skip $(cat external_deps.txt)
           --return-code-on-test-failure
      '
    - 'colcon test-result --all |grep xml |cut -d":" -f1 |xargs .gitlab-ci/merge-test-results test-results.xml || true'

    # Test package
    - 'ros2 run autoware_auto_create_pkg main.py
          --pkg-name my_cool_pkg
          --destination /tmp/tmp_ws/src
          --description "My cool package does cool stuff"
          --maintainer "Jane Doe"
          --email "jane.doe@awesome-company.com"
      '
    - cd /tmp/tmp_ws
    - colcon build --packages-select my_cool_pkg
    - colcon test --packages-select my_cool_pkg
    - cd -

    # prepare volume artifact
    - mkdir /opt/AutowareAuto/src
    - '(cd src && git archive --format=tar HEAD | (cd /opt/AutowareAuto/src && tar xf -))'
    - cp -a LICENSE /opt/AutowareAuto
    - chmod -R og-w /opt/AutowareAuto
    - tar cfz opt.tar.gz /opt/AutowareAuto
  after_script:
    - colcon test-result --verbose
  artifacts:
    name: "$CI_JOB_NAME"
    paths:
      - log
      - opt.tar.gz
    reports:
      junit: test-results.xml

.volume_base: &volume_base
  stage: deploy
  image: docker
  services:
    - docker:dind
  script:
    - 'echo -e "*\n!opt.tar.gz" > .dockerignore'
    - |
      cat >Dockerfile <<EOF
      FROM alpine
      ADD opt.tar.gz /
      VOLUME /opt/AutowareAuto
      CMD ["/bin/sh", "-c", "trap 'exit 147' TERM; tail -f /dev/null & wait ${!}"]
      EOF
    - 'docker build
          --build-arg ROS_DISTRO=${ROS_DISTRO}
          --build-arg CODENAME=${UBUNTU_DISTRO}
          --label ade_image_commit_sha="$CI_COMMIT_SHA"
          --label ade_image_commit_tag="$CI_COMMIT_TAG"
          -t image .
      '
    - docker login -u gitlab-ci-token -p $CI_JOB_TOKEN $CI_REGISTRY
    - docker tag image $CI_REGISTRY_IMAGE/$ARCH/binary-$ROS_DISTRO:commit-$CI_COMMIT_SHA
    - docker tag image $CI_REGISTRY_IMAGE/$ARCH/binary-$ROS_DISTRO:$CI_COMMIT_REF_NAME
    - docker push $CI_REGISTRY_IMAGE/$ARCH/binary-$ROS_DISTRO:commit-$CI_COMMIT_SHA
    - docker push $CI_REGISTRY_IMAGE/$ARCH/binary-$ROS_DISTRO:$CI_COMMIT_REF_NAME
  after_script:
    - docker container rm -f $(docker container ls --filter "status=exited" -q)
    - docker image rm $(docker image ls -q)

gen_ros_deps_foxy:
  image: ros:foxy
  <<: *gen_deps_base

ade_amd64_foxy:
  variables:
    ARCH: amd64
    DOCKER_DRIVER: overlay2
    ROS_DISTRO: foxy
    UBUNTU_DISTRO: focal
  <<: *ade_base
  needs:
    - gen_ros_deps_foxy

ade_arm64_foxy:
  variables:
    ARCH: arm64
    DOCKER_DRIVER: overlay2
    ROS_DISTRO: foxy
    UBUNTU_DISTRO: focal
  tags:
    - arm64
  <<: *ade_base
  needs:
    - gen_ros_deps_foxy
  only:
    - branches@autowarefoundation/autoware.auto/AutowareAuto

build_barebones_amd64_foxy:
  image: ubuntu:focal
  variables:
    ARCH: amd64
    RMW_IMPLEMENTATION: rmw_fastrtps_cpp
    ROS_DISTRO: foxy
  <<: *build_barebones_base
  needs:
    - gen_ros_deps_foxy

build_barebones_arm64_foxy:
  image: ubuntu:focal
  tags:
    - arm64
  variables:
    ARCH: arm64
    RMW_IMPLEMENTATION: rmw_fastrtps_cpp
    ROS_DISTRO: foxy
  <<: *build_barebones_base
  needs:
    - gen_ros_deps_foxy
  only:
    - branches@autowarefoundation/autoware.auto/AutowareAuto

build_amd64_foxy:
  variables:
    ARCH: amd64
    RMW_IMPLEMENTATION: rmw_cyclonedds_cpp
    ROS_DISTRO: foxy
  <<: *build_base
  needs:
    - job: ade_amd64_foxy

build_arm64_foxy:
  variables:
    ARCH: arm64
    RMW_IMPLEMENTATION: rmw_cyclonedds_cpp
    ROS_DISTRO: foxy
  tags:
    - arm64
  <<: *build_base
  only:
    - branches@autowarefoundation/autoware.auto/AutowareAuto
  needs:
    - job: ade_arm64_foxy

test_amd64_foxy:
  variables:
    ARCH: amd64
    RMW_IMPLEMENTATION: rmw_cyclonedds_cpp
    ROS_DISTRO: foxy
  <<: *test_base
  needs:
    - build_amd64_foxy

test_arm64_foxy:
  variables:
    ARCH: arm64
    RMW_IMPLEMENTATION: rmw_cyclonedds_cpp
    ROS_DISTRO: foxy
  tags:
    - arm64
  <<: *test_base
  only:
    - branches@autowarefoundation/autoware.auto/AutowareAuto
  needs:
    - build_arm64_foxy

coverage:
  stage: test
  image: $CI_REGISTRY_IMAGE/amd64/ade-foxy:commit-$CI_COMMIT_SHA
  script:
    - 'apt-get update && apt-get -y --no-install-recommends install
          clang-tidy
          git
          git-lfs
      '
    - 'git lfs install'
    - 'git lfs pull --include="*" --exclude=""'
    - 'vcs import < autoware.auto.$ROS_DISTRO.repos'
    # Temporary work-around for acado_vendor
    - 'rm -rf src/external/acado_vendor'
    - 'curl -L -o ros-foxy-acado-vendor_1.0.0-0focal_amd64.deb https://gitlab.com/autowarefoundation/autoware.auto/acado_vendor/-/jobs/artifacts/main/raw/ros-foxy-acado-vendor_1.0.0-0focal_amd64.deb?job=build_debian_amd64'
    - 'dpkg -i ros-foxy-acado-vendor*.deb'
    - 'rm ros-foxy-acado-vendor*.deb'
    # End temporary work-around for acado_vendor
    - './tools/coverage/coverage.sh -u'
  after_script:
    - colcon test-result --verbose
  artifacts:
    name: "$CI_JOB_NAME"
    paths:
      - coverage
      - log
  coverage: /\s*lines.*:\s(\d+\.\d+\%\s\(\d+\sof\s\d+.*\))/
  needs:
    - ade_amd64_foxy

docs:
  stage: build
  image: $CI_REGISTRY_IMAGE/amd64/ade-foxy:commit-$CI_COMMIT_SHA
  script:
    - docs/.doxygen/build.py
  artifacts:
    name: "$CI_JOB_NAME"
    paths:
      - docs/_build/html
  needs:
    - ade_amd64_foxy

pages:
  stage: deploy
  image: alpine
  script:
    - mv docs/_build/html public
    - mv coverage public
  artifacts:
    name: "$CI_JOB_NAME"
    paths:
      - public
  only:
    - master
  needs:
    - coverage
    - docs

volume_amd64_foxy:
  stage: deploy
  image: docker
  services:
    - docker:dind
  variables:
    ARCH: amd64
    DOCKER_DRIVER: overlay2
    RMW_IMPLEMENTATION: rmw_cyclonedds_cpp
    ROS_DISTRO: foxy
    UBUNTU_DISTRO: bionic
  <<: *volume_base
  needs:
    - test_amd64_foxy

volume_arm64_foxy:
  stage: deploy
  image: docker
  services:
    - docker:dind
  tags:
    - arm64
  variables:
    ARCH: arm64
    DOCKER_DRIVER: overlay2
    RMW_IMPLEMENTATION: rmw_cyclonedds_cpp
    ROS_DISTRO: foxy
    UBUNTU_DISTRO: bionic
  <<: *volume_base
  only:
    - branches@autowarefoundation/autoware.auto/AutowareAuto
  needs:
    - test_arm64_foxy