.gitlab-ci.yml

variables:
  PACKAGES: "slocum_glider_msgs slocum_glider_extctl_serial slocum_glider_extctl slocum_glider_mission_controller slocum_glider_pwrctl slocum_glider_extctl_logger"
  THIRD_PARTY_DEBS: "https://gitlab.com/sentinel-aug/ds_msgs/-/jobs/artifacts/master/raw/ros-ROSDIST-ds-core-msgs_ARCH.deb?job=collect-artifacts https://gitlab.com/sentinel-aug/ds_msgs/-/jobs/artifacts/master/raw/ros-ROSDIST-ds-nmea-msgs_ARCH.deb?job=collect-artifacts https://gitlab.com/sentinel-aug/ds_msgs/-/jobs/artifacts/master/raw/ros-ROSDIST-ds-sensor-msgs_ARCH.deb?job=collect-artifacts"

# This section is not strictly required, but prevents Gitlab CI from launching
# multiple redundent pipelines when a Merge Request is opened.
workflow:
  rules:
    - if: '$CI_PIPELINE_SOURCE == "merge_request_event"'
    - if: '$CI_COMMIT_BRANCH && $CI_OPEN_MERGE_REQUESTS'
      when: never
    - if: '$CI_COMMIT_BRANCH'
    - if: '$CI_COMMIT_TAG'

build debs:
  image: ros:$ROS_VERSION-ros-base
  script:
    - arch="$(dpkg --print-architecture)"
    - apt-get update
    - apt-get install -y fakeroot debhelper
    - '[ "$ROS_VERSION" = "melodic" ] || apt-get install -y python3-bloom python3-pip'
    - '[ "$ROS_VERSION" != "melodic" ] || apt-get install -y python-bloom python-pip'
    - |
      for deb in $THIRD_PARTY_DEBS; do
        url="$(echo "$deb" | sed s/ROSDIST/$ROS_VERSION/ | sed s/ARCH/$arch/)"
        file="$(mktemp)"
        echo "Downloading $url to $file"
        curl -fsSL "$url" > "$file"
        dpkg -i "$file"
      done
    - echo "yaml https://gitlab.com/sentinel-aug/ros/rosdep/-/raw/main/$ROS_VERSION.yaml" > /etc/ros/rosdep/sources.list.d/30-user.list
    - rosdep update
    - source /opt/ros/$ROS_VERSION/setup.bash
    - mkdir -p /catkin_ws/src
    - ln -s $(pwd) /catkin_ws/src/${CI_PROJECT_NAME}
    - pushd /catkin_ws/src
    - catkin_init_workspace
    - pushd $CI_PROJECT_NAME
    - rosdep install -y -r -i --from-paths $PACKAGES
    - popd
    - popd
    - |
      for package in $PACKAGES; do
        echo "working on $package"
        kebab_package="$(echo "$package" | tr _ -)"
        pushd "$package"
        bloom-generate rosdebian --native
        fakeroot debian/rules binary
        popd
        mv "ros-$ROS_DISTRO-${kebab_package}_"*.deb "ros-$ROS_DISTRO-${kebab_package}_$arch.deb"
        dpkg -i "ros-$ROS_DISTRO-${kebab_package}_$arch.deb"
        rosversion "$package" > "$kebab_package-version.txt"
      done
  artifacts:
    paths:
      - "*.deb"
      - "*-version.txt"
  parallel:
    matrix:
      - ROS_VERSION: [melodic, noetic]
        RUNNER: [docker, arm64]
  tags:
    - "$RUNNER"

collect-artifacts:
  script:
    - echo "collecting artifacts"
  artifacts:
    paths:
      - "*.deb"
      - version.txt
  needs:
    - build debs

check versions:
  image: alpine:latest
  script:
    - |
      for package in $PACKAGES; do
        kebab_package="$(echo "$package" | tr _ -)"
        if [ "$(cat "$kebab_package-version.txt")" != "${CI_COMMIT_TAG#v}" ]; then
          echo "Unexpected version for $kebab_package"
          exit 1
        fi
      done
  rules:
    - if: '$CI_COMMIT_TAG =~ /^v[0-9]+(\.[0-9]+)*(-.*)?$/'
  needs:
    - collect-artifacts

upload debs:
  image: curlimages/curl:latest
  script:
    - |
      for package in $PACKAGES; do
        echo "working on $package"
        kebab_package="$(echo "$package" | tr _ -)"
        for dist in melodic noetic; do
          for arch in amd64 arm64; do
            file_name="ros-$dist-${kebab_package}_$arch.deb"
            curl --header "JOB-TOKEN: $CI_JOB_TOKEN" --upload "$file_name" "${CI_API_V4_URL}/projects/${CI_PROJECT_ID}/packages/generic/ros-$dist-$kebab_package/$CI_COMMIT_TAG/$file_name"
          done
        done
      done
  rules:
    - if: '$CI_COMMIT_TAG =~ /^v[0-9]+(\.[0-9]+)*(-.*)?$/'
  needs:
    - collect-artifacts
    - check versions

release:
  image: registry.gitlab.com/gitlab-org/release-cli:latest
  script:
    - assets=""
    - |
      for package in $PACKAGES; do
        kebab_package="$(echo "$package" | tr _ -)"
        for dist in melodic noetic; do
          for arch in amd64 arm64; do
            file_name="ros-$dist-${kebab_package}_$arch.deb"
            assets="$assets --assets-link {\"name\":\"$file_name\",\"url\":\"${CI_API_V4_URL}/projects/${CI_PROJECT_ID}/packages/generic/ros-$dist-$kebab_package/$CI_COMMIT_TAG/$file_name\"}"
          done
        done
      done
    - |
      release-cli create --name "$CI_PROJECT_NAME $CI_COMMIT_TAG" --tag-name "$CI_COMMIT_TAG" $assets
  rules:
    - if: '$CI_COMMIT_TAG =~ /^v[0-9]+(\.[0-9]+)*(-.*)?$/'
  needs:
    - collect-artifacts
    - check versions

roslint:
  image: ros:noetic-ros-base
  script:
    - apt-get update
    - apt-get install -y ros-noetic-roslint
    - source /opt/ros/noetic/setup.bash
    - mkdir -p /catkin_ws/src
    - ln -s $(pwd) /catkin_ws/src/${CI_PROJECT_NAME}
    - cd /catkin_ws/src
    - catkin_init_workspace
    - cd ..
    - catkin_make
    - catkin_make roslint
  needs: []