From 62a18b701b5368e99a969ecdccd029a241177305 Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Fri, 26 Jul 2024 11:42:17 +0200
Subject: [PATCH] added ci_tampleates
---
.ci_templates/.install_bodydynamics.yml | 25 ++++++++++++++++
.gitlab-ci.yml | 40 ++++++++-----------------
2 files changed, 38 insertions(+), 27 deletions(-)
create mode 100644 .ci_templates/.install_bodydynamics.yml
diff --git a/.ci_templates/.install_bodydynamics.yml b/.ci_templates/.install_bodydynamics.yml
new file mode 100644
index 0000000..bfb4b1d
--- /dev/null
+++ b/.ci_templates/.install_bodydynamics.yml
@@ -0,0 +1,25 @@
+.install_bodydynamics_script:
+ - cd ${CI_PROJECT_DIR}
+
+ # create 'ci_deps' folder (if not exists)
+ - mkdir -pv ci_deps
+
+ # clone or pull
+ - cd ${CI_PROJECT_DIR}/ci_deps
+ - if [ -d bodydynamics ]; then
+ - echo "directory bodydynamics exists"
+ - cd bodydynamics
+ - git fetch --all
+ - git checkout $WOLF_BODYDYNAMICS_BRANCH
+ - git pull
+ - else
+ - git clone -b $WOLF_BODYDYNAMICS_BRANCH ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/plugins/bodydynamics.git
+ - cd bodydynamics
+ - fi
+
+ # build and install
+ - mkdir -pv build
+ - cd build
+ - cmake -DCMAKE_BUILD_TYPE=release -DBUILD_DEMOS=OFF -DBUILD_TESTS=OFF ..
+ - make -j$(nproc)
+ - make install
\ No newline at end of file
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 6001e45..6d108b2 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -1,4 +1,5 @@
include:
+ # core ci_templates
- project: 'mobile_robotics/wolf_projects/wolf_lib/wolf'
ref: 454-implementation-of-new-nodes-creation #$WOLF_CORE_BRANCH
file:
@@ -7,6 +8,11 @@ include:
- '.ci_templates/.clang_format.yml'
- '.ci_templates/.install_core.yml'
- '.ci_templates/.preliminaries.yml'
+ # imu ci_templates
+ - project: 'mobile_robotics/wolf_projects/wolf_lib/plugins/imu'
+ ref: 28-adapt-to-new-sensor-constructors-in-core #$WOLF_IMU_BRANCH
+ file:
+ - '.ci_templates/.install_imu.yml'
# RUN the pipeline if it is triggered:
# - manually from web
@@ -33,14 +39,15 @@ stages:
############ YAML ANCHORS ############
.print_variables_template: &print_variables_definition
# Print variables
- - echo $WOLF_CORE_BRANCH
- echo $CI_COMMIT_BRANCH
- - echo $WOLF_BODYDYNAMICS_BRANCH
+ - echo $WOLF_CORE_BRANCH
- echo $WOLF_IMU_BRANCH
+ - echo $WOLF_BODYDYNAMICS_BRANCH
.preliminaries_template: &preliminaries_definition
## OVERRIDE VARIABLES
- export WOLF_CORE_BRANCH="454-implementation-of-new-nodes-creation"
+ - export WOLF_IMU_BRANCH="28-adapt-to-new-sensor-constructors-in-core"
## PRINT VARIABLES
- *print_variables_definition
@@ -51,24 +58,6 @@ stages:
## initialize build type as DEBUG
- export BUILD_TYPE=debug
-.install_wolfimu_template: &install_wolfimu_definition
- - cd ${CI_PROJECT_DIR}/ci_deps
- - if [ -d imu ]; then
- - echo "directory imu exists"
- - cd imu
- - git fetch --all
- - git checkout $WOLF_IMU_BRANCH
- - git pull
- - else
- - git clone -b $WOLF_IMU_BRANCH ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/plugins/imu.git
- - cd imu
- - fi
- - mkdir -pv build
- - cd build
- - cmake -DCMAKE_BUILD_TYPE=release -DBUILD_TESTS=OFF ..
- - make -j$(nproc)
- - make install
-
.build_and_test_template: &build_and_test_definition
- cd $CI_PROJECT_DIR
- mkdir -pv build
@@ -109,7 +98,7 @@ yaml_templates_generation:
- *preliminaries_definition
- !reference [.install_yamlschemacpp_script]
- !reference [.install_wolf_script]
- - *install_wolfimu_definition
+ - !reference [.install_imu_script]
script:
- !reference [.generate_yaml_templates_script]
@@ -131,8 +120,7 @@ build_and_test:bionic:
- *preliminaries_definition
- !reference [.install_yamlschemacpp_script]
- !reference [.install_wolf_script]
- - *install_wolfimu_definition
- - ldconfig # update links (shared libraries)
+ - !reference [.install_imu_script]
script:
- *build_and_test_definition
- export BUILD_TYPE=release
@@ -156,8 +144,7 @@ build_and_test:focal:
- *preliminaries_definition
- !reference [.install_yamlschemacpp_script]
- !reference [.install_wolf_script]
- - *install_wolfimu_definition
- - ldconfig # update links (shared libraries)
+ - !reference [.install_imu_script]
script:
- *build_and_test_definition
- export BUILD_TYPE=release
@@ -181,8 +168,7 @@ build_and_test:jammy:
- *preliminaries_definition
- !reference [.install_yamlschemacpp_script]
- !reference [.install_wolf_script]
- - *install_wolfimu_definition
- - ldconfig # update links (shared libraries)
+ - !reference [.install_imu_script]
script:
- *build_and_test_definition
- export BUILD_TYPE=release
--
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