variables:
  CI_SOURCE_PATH: $CI_PROJECT_DIR
  GIT_SUBMODULE_STRATEGY: recursive

.build: &build_common
  before_script:
    - mkdir -p src_tmp/${CI_PROJECT_NAME} && mv `find -maxdepth 1 -not -name . -not -name src_tmp` src_tmp/${CI_PROJECT_NAME} && mv src_tmp/ src/
    - apt-get update
    - apt-get install -y wget python3-pip python3-setuptools python3-colcon-common-extensions
    # Update setuptools from PyPI because the version Ubuntu ships with is too old
    - pip3 install -U setuptools
    - rosdep update
  script:
    - source /opt/ros/${ROS_DISTRO}/setup.bash
    - rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO}
    # We first build the entire workspace normally
    - colcon build --cmake-args -DCMAKE_CXX_FLAGS="${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
    - colcon test
    - colcon test-result
  coverage: /\s*lines.*:\s(\d+\.\d+\%\s\(\d+\sof\s\d+.*\))/
  only:
    - merge_requests
    - master

.build_cross_vars: &build_cross_vars
    AUTOWARE_HOME: $CI_PROJECT_DIR
    AUTOWARE_TARGET_ARCH: aarch64
    AUTOWARE_TARGET_PLATFORM: generic-aarch64
    AUTOWARE_BUILD_PATH: $CI_PROJECT_DIR/build-${AUTOWARE_TARGET_PLATFORM}
    AUTOWARE_INSTALL_PATH: $CI_PROJECT_DIR/install-${AUTOWARE_TARGET_PLATFORM}
    AUTOWARE_TOOLCHAIN_FILE_PATH: $CI_PROJECT_DIR/cross_toolchain.cmake
    AUTOWARE_SYSROOT: /sysroot/${AUTOWARE_TARGET_PLATFORM}

.build_cross: &build_cross_common
  script:
    - wget https://gitlab.com/autowarefoundation/autoware.ai/docker/raw/master/crossbuild/cross_toolchain.cmake
    - 'docker run
          -e AUTOWARE_SYSROOT=${AUTOWARE_SYSROOT}
          --rm
          -v ${AUTOWARE_HOME}:${AUTOWARE_HOME}
          -w ${AUTOWARE_HOME}
          autoware/build:${AUTOWARE_TARGET_PLATFORM}-${ROS_DISTRO}-${AUTOWARE_DOCKER_DATE}
          bash
            -c "
                source ${AUTOWARE_SYSROOT}/opt/ros/${ROS_DISTRO}/setup.bash &&
                colcon build
                    --merge-install
                    --build-base ${AUTOWARE_BUILD_PATH}
                    --install-base ${AUTOWARE_INSTALL_PATH}
                    --cmake-args
                    -DCMAKE_TOOLCHAIN_FILE=${AUTOWARE_TOOLCHAIN_FILE_PATH}
                    -DCMAKE_SYSTEM_PROCESSOR=${AUTOWARE_TARGET_ARCH}
                    -DCMAKE_PREFIX_PATH=\"${AUTOWARE_SYSROOT}/opt/ros/${ROS_DISTRO};${AUTOWARE_INSTALL_PATH}\"
                    -DCMAKE_FIND_ROOT_PATH=${AUTOWARE_INSTALL_PATH}
                  "
                  '
  only:
    - merge_requests
    - master

build_kinetic:
  image: ros:kinetic-perception
  variables:
    ROS_DISTRO: kinetic
  <<: *build_common

build_melodic:
  image: ros:melodic-perception
  variables:
    ROS_DISTRO: melodic
  <<: *build_common

build_kinetic_cross:
  image: docker
  services:
    - docker:dind
  variables:
    ROS_DISTRO: kinetic
    AUTOWARE_DOCKER_DATE: "latest"
    <<: *build_cross_vars
  <<: *build_cross_common

build_melodic_cross:
  image: docker
  services:
    - docker:dind
  variables:
    ROS_DISTRO: melodic
    AUTOWARE_DOCKER_DATE: "latest"
    <<: *build_cross_vars
  <<: *build_cross_common