Cleanup CircleCI config

.circleci/config.yml

@@ -2,16 +2,7 @@ version: 2.1
 orbs:
   codecov: codecov/codecov@1.0.5
 
-references:
-  common_environment: &common_environment
-    ROS_WS: "/opt/ros_ws"
-    UNDERLAY_WS: "/opt/underlay_ws"
-    OVERLAY_WS: "/opt/overlay_ws"
-    CCACHE_LOGFILE: "/tmp/ccache.log"
-    CCACHE_MAXSIZE: "200M"
-    MAKEFLAGS: "-j 1 -l 2"
-    RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED: "1"
-    RETEST_UNTIL_PASS: "2"
+_commands:
   common_commands: &common_commands
     restore_from_cache:
       description: "Restore From Cache"
@@ -153,11 +144,8 @@ references:
                     --show-counts | \
                   xargs)
               set -o xtrace
-              colcon test \
-                --packages-select ${TEST_PACKAGES}
               colcon test \
                 --packages-select ${TEST_PACKAGES} \
-                --packages-select-test-failures \
                 --retest-until-pass ${RETEST_UNTIL_PASS} \
                 --ctest-args --test-regex "test_.*"
               colcon test-result \
@@ -180,6 +168,8 @@ references:
             path: << parameters.workspace >>/test_results
         - store_artifacts:
             path: << parameters.workspace >>/test_results
+
+_steps:
   pre_checkout: &pre_checkout
     run:
       name: Pre Checkout
@@ -193,6 +183,7 @@ references:
           (echo ros_entrypoint && cat) >> checksum.txt
         sha256sum $PWD/checksum.txt >> checksum.txt
         rm -rf $OVERLAY_WS/*
+        mv ~/.ccache /mnt/ramdisk/.ccache
   on_checkout: &on_checkout
     checkout:
       path: src/navigation2
@@ -259,7 +250,7 @@ references:
     save_to_cache:
       key: ccache
       workspace: /opt/underlay_ws
-      path: ~/.ccache
+      path: /mnt/ramdisk/.ccache
       when: always
   test_overlay_workspace: &test_overlay_workspace
     test_workspace:
@@ -318,6 +309,18 @@ commands:
       - *collect_overlay_coverage
       - *upload_overlay_coverage
 
+_environments:
+  common_environment: &common_environment
+    ROS_WS: "/opt/ros_ws"
+    UNDERLAY_WS: "/opt/underlay_ws"
+    OVERLAY_WS: "/opt/overlay_ws"
+    CCACHE_DIR: "/mnt/ramdisk/.ccache"
+    CCACHE_LOGFILE: "/tmp/ccache.log"
+    CCACHE_MAXSIZE: "200M"
+    MAKEFLAGS: "-j 1 -l 2"
+    RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED: "0"
+    RETEST_UNTIL_PASS: "2"
+
 executors:
   debug_exec:
     docker:
@@ -338,6 +341,16 @@ executors:
       OVERLAY_MIXINS: "release ccache"
       UNDERLAY_MIXINS: "release ccache"
 
+_jobs:
+  job_test: &job_test
+    parameters:
+      rmw:
+        default: "rmw_fastrtps_cpp"
+        type: string
+    parallelism: 1
+    environment:
+      RMW_IMPLEMENTATION: << parameters.rmw >>
+
 jobs:
   debug_build: &debug_build
     executor: debug_exec
@@ -349,30 +362,18 @@ jobs:
     executor: release_exec
     <<: *debug_build
   debug_test:
+    <<: *job_test
     executor: debug_exec
-    parallelism: 1
     steps:
       - restore_build
       - test_build
       - report_coverage
   release_test: &release_test
+    <<: *job_test
     executor: release_exec
-    parallelism: 1
     steps:
       - restore_build
       - test_build
-  test_rmw_connext_cpp:
-    <<: *release_test
-    environment:
-      RMW_IMPLEMENTATION: "rmw_connext_cpp"
-  test_rmw_cyclonedds_cpp:
-    <<: *release_test
-    environment:
-      RMW_IMPLEMENTATION: "rmw_cyclonedds_cpp"
-  test_rmw_fastrtps_cpp:
-    <<: *release_test
-    environment:
-      RMW_IMPLEMENTATION: "rmw_fastrtps_cpp"
 
 workflows:
   version: 2
@@ -393,15 +394,15 @@ workflows:
           requires:
             - debug_build
       - release_build
-      # - test_rmw_connext_cpp:
-      #     requires:
-      #       - release_build
-      - test_rmw_cyclonedds_cpp:
-          requires:
-            - release_build
-      - test_rmw_fastrtps_cpp:
+      - release_test:
           requires:
             - release_build
+          matrix:
+            parameters:
+              rmw:
+                # - rmw_connext_cpp
+                - rmw_cyclonedds_cpp
+                - rmw_fastrtps_cpp
     triggers:
       - schedule:
           cron: "0 0 * * *"