diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 89d533e50ec3edaf1b3916b80bebdb35ddf9eae8..165e13d1b00138c366b9cd2b863e265843b0f475 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -1,45 +1,147 @@
-# This file is a template, and might need editing before it works on your project.
-# To contribute improvements to CI/CD templates, please follow the Development guide at:
-# https://docs.gitlab.com/ee/development/cicd/templates.html
-# This specific template is located at:
-# https://gitlab.com/gitlab-org/gitlab/-/blob/master/lib/gitlab/ci/templates/Getting-Started.gitlab-ci.yml
-
-# This is a sample GitLab CI/CD configuration file that should run without any modifications.
-# It demonstrates a basic 3 stage CI/CD pipeline. Instead of real tests or scripts,
-# it uses echo commands to simulate the pipeline execution.
-#
-# A pipeline is composed of independent jobs that run scripts, grouped into stages.
-# Stages run in sequential order, but jobs within stages run in parallel.
-#
-# For more information, see: https://docs.gitlab.com/ee/ci/yaml/index.html#stages
-
-stages: # List of stages for jobs, and their order of execution
- - build
- - test
- - deploy
-
-build-job: # This job runs in the build stage, which runs first.
- stage: build
- script:
- - echo "Compiling the code..."
- - echo "Compile complete."
+stages:
+ - license
+ - build_and_test
+ - deploy_demos
+
+############ YAML ANCHORS ############
+.preliminaries_template: &preliminaries_definition
+ ## Install ssh-agent if not already installed, it is required by Docker.
+ ## (change apt-get to yum if you use an RPM-based image)
+ - 'which ssh-agent || ( apt-get update -y && apt-get install openssh-client -y )'
+
+ ## Run ssh-agent (inside the build environment)
+
+
+ ## Add the SSH key stored in SSH_PRIVATE_KEY variable to the agent store
+ ## We're using tr to fix line endings which makes ed25519 keys work
+ ## without extra base64 encoding.
+ ## https://gitlab.com/gitlab-examples/ssh-private-key/issues/1#note_48526556
+ - mkdir -p ~/.ssh
+ - chmod 700 ~/.ssh
+ - echo "$SSH_PRIVATE_KEY" | tr -d '\r' | ssh-add - > /dev/null
+ # - echo "$SSH_KNOWN_HOSTS" > $HOME/.ssh/known_hosts
+ - ssh-keyscan -H -p 2202 gitlab.iri.upc.edu >> $HOME/.ssh/known_hosts
+
+ # update apt
+ - apt-get update
+
+ # create ci_deps folder (if not exists)
+ - mkdir -pv ci_deps
+
+.license_header_template: &license_header_definition
+ - cd $CI_PROJECT_DIR
-unit-test-job: # This job runs in the test stage.
- stage: test # It only starts when the job in the build stage completes successfully.
+ # configure git
+ - export CI_NEW_BRANCH=ci_processing$RANDOM
+ - echo creating new temporary branch... $CI_NEW_BRANCH
+ - git config --global user.email "${CI_EMAIL}"
+ - git config --global user.name "${CI_USERNAME}"
+ - git checkout -b $CI_NEW_BRANCH # temporary branch
+
+ # license headers
+ - export CURRENT_YEAR=$( date +'%Y' )
+ - echo "current year:" ${CURRENT_YEAR}
+ - if [ -f license_header_${CURRENT_YEAR}.txt ]; then
+ # add license headers to new files
+ - echo "File license_header_${CURRENT_YEAR}.txt already exists. License headers are assumed to be updated. Adding headers to new files..."
+ - ./ci_deps/wolf/wolf_scripts/license_manager.sh --add --path=. --license-header=license_header_${CURRENT_YEAR}.txt --exclude=ci_deps
+ - else
+ # update license headers of all files
+ - export PREV_YEAR=$(( CURRENT_YEAR-1 ))
+ - echo "Creating new file license_header_${CURRENT_YEAR}.txt..."
+ - git mv license_header_${PREV_YEAR}.txt license_header_${CURRENT_YEAR}.txt
+ - sed -i "s/${PREV_YEAR}/${PREV_YEAR},${CURRENT_YEAR}/g" license_header_${CURRENT_YEAR}.txt
+ - ./ci_deps/wolf/wolf_scripts/license_manager.sh --update --path=. --license-header=license_header_${CURRENT_YEAR}.txt --exclude=ci_deps
+ - fi
+
+ # push changes (if any)
+ - if git commit -a -m "[skip ci] license headers added or modified" ; then
+ - git remote set-url --push origin "ssh://git@gitlab.iri.upc.edu:2202/${CI_PROJECT_PATH}.git"
+ - git push origin $CI_NEW_BRANCH:${CI_COMMIT_REF_NAME}
+ - else
+ - echo "No changes, nothing to commit!"
+ - fi
+
+.install_wolf_template: &install_wolf_definition
+ - cd ${CI_PROJECT_DIR}/ci_deps
+ - if [ -d wolf ]; then
+ - echo "directory wolf exists"
+ - cd wolf
+ - git pull
+ - git checkout $WOLF_CORE_BRANCH
+ - else
+ - git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/wolf.git
+ - cd wolf
+ - git checkout $WOLF_CORE_BRANCH
+ - fi
+ - mkdir -pv build
+ - cd build
+ - cmake -DCMAKE_BUILD_TYPE=release -DBUILD_EXAMPLES=ON -DBUILD_TESTS=ON ..
+ - make -j$(nproc)
+ - ctest -j$(nproc)
+ - make install
+
+.build_and_test_template: &build_and_test_definition
+ - echo "todo"
+
+############ LICENSE HEADERS ############
+license_headers:
+ stage: license
+ image: labrobotica/wolf_deps:16.04
+ cache:
+ - key: wolf-xenial
+ paths:
+ - ci_deps/wolf/
+ except:
+ - master
+ before_script:
+ - *preliminaries_definition
+ - *install_wolf_definition
script:
- - echo "Running unit tests... This will take about 60 seconds."
- - sleep 60
- - echo "Code coverage is 90%"
+ - *license_header_definition
-lint-test-job: # This job also runs in the test stage.
- stage: test # It can run at the same time as unit-test-job (in parallel).
+############ UBUNTU 16.04 TEST ############
+build_and_test:xenial:
+ stage: build_and_test
+ image: labrobotica/wolf_deps:16.04
+ cache:
+ - key: wolf-xenial
+ paths:
+ - ci_deps/wolf/
+ except:
+ - master
+ before_script:
+ - *preliminaries_definition
+ - *install_wolf_definition
script:
- - echo "Linting code... This will take about 10 seconds."
- - sleep 10
- - echo "No lint issues found."
+ - *build_and_test_definition
-deploy-job: # This job runs in the deploy stage.
- stage: deploy # It only runs when *both* jobs in the test stage complete successfully.
+############ UBUNTU 18.04 TEST ############
+build_and_test:bionic:
+ stage: build_and_test
+ image: labrobotica/wolf_deps:18.04
+ cache:
+ - key: wolf-bionic
+ paths:
+ - ci_deps/wolf/
+ except:
+ - master
+ before_script:
+ - *preliminaries_definition
+ - *install_wolf_definition
script:
- - echo "Deploying application..."
- - echo "Application successfully deployed."
+ - *build_and_test_definition
+
+############ DEPLOY DEMOS ############
+deploy_imu:
+ stage: deploy_demos
+ variables:
+ WOLF_CORE_BRANCH: $WOLF_CORE_BRANCH
+ WOLF_IMU_BRANCH: $WOLF_IMU_BRANCH
+ WOLF_BODYDYNAMICS_BRANCH: $WOLF_BODYDYNAMICS_BRANCH
+ WOLF_VISION_BRANCH: $WOLF_VISION_BRANCH
+ WOLF_APRILTAG_BRANCH: $WOLF_APRILTAG_BRANCH
+ WOLF_GNSS_BRANCH: $WOLF_GNSS_BRANCH
+ WOLF_LASER_BRANCH: $WOLF_LASER_BRANCH
+ trigger:
+ project: mobile_robotics/wolf_projects/wolf_ros/wolf_ros_imu
\ No newline at end of file