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Merged
ruffsl merged 11 commits into from
May 9, 2023
Merged

Split nav2_system_tests into separate CI jobs #3554

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53a1e5a
Refactor nav2_system_tests into Separate jobs
ruffsl May 3, 2023
2166430
Require release_test for system_build job
ruffsl May 3, 2023
ab74f52
Keep cache test results from release_test
ruffsl May 3, 2023
1034b44
Alias matrix for system_build requires
ruffsl May 3, 2023
c108908
Refactor to use package select as well
ruffsl May 3, 2023
c95b2fe
Use yaml anchors to keep DRY
ruffsl May 3, 2023
0ee209e
Rename regex parameters
ruffsl May 3, 2023
f52ce07
Retain cache for build_and_test workflows
ruffsl May 3, 2023
91f440a
Bust cache to test CircleCI config
ruffsl May 3, 2023
1aa48e8
Resume testing all packages from release_test
ruffsl May 9, 2023
61746eb
Remove parameter packages_select_regex
ruffsl May 9, 2023
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69 changes: 50 additions & 19 deletions .circleci/config.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -33,12 +33,12 @@ _commands:
- restore_cache:
name: Restore Cache << parameters.key >>
keys:
- "<< parameters.key >>-v13\
- "<< parameters.key >>-v14\
-{{ arch }}\
-{{ .Branch }}\
-{{ .Environment.CIRCLE_PR_NUMBER }}\
-{{ checksum \"<< parameters.workspace >>/lockfile.txt\" }}"
- "<< parameters.key >>-v13\
- "<< parameters.key >>-v14\
-{{ arch }}\
-main\
-<no value>\
Expand All @@ -58,7 +58,7 @@ _commands:
steps:
- save_cache:
name: Save Cache << parameters.key >>
key: "<< parameters.key >>-v13\
key: "<< parameters.key >>-v14\
-{{ arch }}\
-{{ .Branch }}\
-{{ .Environment.CIRCLE_PR_NUMBER }}\
Expand Down Expand Up @@ -123,7 +123,7 @@ _commands:
type: string
mixins:
type: string
skip:
packages_skip_regex:
default: ""
type: string
restore:
Expand Down Expand Up @@ -185,6 +185,7 @@ _commands:
BUILD_PACKAGES=$(
colcon list \
--names-only \
--packages-skip-regex << parameters.packages_skip_regex >> \
--packages-above \
$BUILD_UNFINISHED \
$BUILD_FAILED \
Expand All @@ -200,7 +201,6 @@ _commands:
. << parameters.underlay >>/install/setup.sh
colcon build \
--packages-select ${BUILD_PACKAGES} \
--packages-skip << parameters.skip >> \
--mixin << parameters.mixins >>
- ccache_stats:
workspace: << parameters.workspace >>
Expand All @@ -226,6 +226,9 @@ _commands:
type: string
cache_test:
type: boolean
packages_skip_regex:
type: string
default: ""
steps:
- run:
name: Test Workspace | << parameters.workspace >>
Expand Down Expand Up @@ -261,6 +264,7 @@ _commands:
TEST_PACKAGES=$(
colcon list \
--names-only \
--packages-skip-regex << parameters.packages_skip_regex >> \
--packages-above \
$TEST_UNPASSED \
$TEST_FAILURES \
Expand All @@ -270,7 +274,8 @@ _commands:
then
TEST_PACKAGES=$(
colcon list \
--names-only)
--names-only) \
--packages-skip-regex << parameters.packages_skip_regex >>
fi
TEST_PACKAGES=$(
echo $TEST_PACKAGES \
Expand Down Expand Up @@ -380,14 +385,10 @@ _steps:
underlay: /opt/underlay_ws
workspace: /opt/overlay_ws
mixins: ${OVERLAY_MIXINS}
setup_workspace_overlay_1: &setup_workspace_overlay_1
setup_workspace:
<<: *setup_workspace_overlay
skip: nav2_system_tests
setup_workspace_overlay_2: &setup_workspace_overlay_2
build_workspace_overlay: &build_workspace_overlay
setup_workspace:
<<: *setup_workspace_overlay
restore: false
packages_skip_regex: << parameters.packages_skip_regex >>
restore_overlay_workspace: &restore_overlay_workspace
setup_workspace:
<<: *setup_workspace_overlay
Expand All @@ -397,6 +398,7 @@ _steps:
key: overlay_ws
workspace: /opt/overlay_ws
cache_test: << parameters.cache_test >>
packages_skip_regex: << parameters.packages_skip_regex >>
collect_overlay_coverage: &collect_overlay_coverage
run:
name: Collect Code Coverage
Expand Down Expand Up @@ -434,9 +436,11 @@ commands:
- *install_overlay_dependencies
build_source:
description: "Build Source"
parameters:
packages_skip_regex:
type: string
steps:
- *setup_workspace_overlay_1
- *setup_workspace_overlay_2
- *build_workspace_overlay
restore_build:
description: "Restore Build"
steps:
Expand All @@ -450,6 +454,8 @@ commands:
parameters:
cache_test:
type: boolean
packages_skip_regex:
type: string
steps:
- *test_overlay_workspace
report_coverage:
Expand Down Expand Up @@ -485,8 +491,14 @@ executors:
OVERLAY_MIXINS: "release ccache coverage-gcc lld"

_jobs:
job_build: &job_build
parameters: &job_build_parameters
packages_skip_regex:
type: string
default: ""
job_test: &job_test
parameters:
<<: *job_build_parameters
cache_test:
type: boolean
default: false
Expand All @@ -499,36 +511,55 @@ _jobs:

jobs:
release_build: &release_build
<<: *job_build
executor: release_exec
steps:
- checkout_source
- setup_dependencies
- build_source
- build_source:
packages_skip_regex: << parameters.packages_skip_regex >>
system_build: &system_build
<<: *release_build
release_test: &release_test
<<: *job_test
executor: release_exec
steps:
- restore_build
- test_build:
cache_test: << parameters.cache_test >>
packages_skip_regex: << parameters.packages_skip_regex >>
- report_coverage

_parameters:
release_parameters: &release_parameters
packages_skip_regex: "nav2_system_tests"

workflows:
version: 2
build_and_test:
jobs:
- release_build
- release_test:
- release_build:
<<: *release_parameters
- system_build:
requires:
- release_build
- release_test:
requires:
- system_build
cache_test: true
nightly:
jobs:
- release_build
- release_test:
- release_build:
<<: *release_parameters
- system_build:
requires:
- release_build
- release_test:
requires:
- system_build
<<: *release_parameters
matrix:
alias: release_test
parameters:
rmw:
- rmw_connextdds
Expand Down