From 1a5801e43e98f122a0d41257382e2890036deb41 Mon Sep 17 00:00:00 2001
From: Nikolaus Demmel <nikolaus@nikolaus-demmel.de>
Date: Mon, 22 Nov 2021 01:53:57 +0100
Subject: [PATCH] ci: test GCC 10 and 11

---
 .gitlab-ci.yml            | 58 +++++++++++++++++++++++++++++++++++++++
 thirdparty/basalt-headers |  2 +-
 2 files changed, 59 insertions(+), 1 deletion(-)

diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 9802fd1..c31a1cb 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -193,6 +193,64 @@ focal-relwithdebinfo-compile:
   only:
     - master
 
+focal-gcc10-relwithdebinfo-compile:
+  <<: *prepare_docker_definition
+  image: vladyslavusenko/b_image_focal:latest
+  variables:
+    BUILD_TYPE: CiRelWithDebInfo
+    CC: gcc-10
+    CXX: g++-10
+  only:
+#    - master
+  stage: build
+  script:
+    - add-apt-repository ppa:ubuntu-toolchain-r/ppa -y
+    - apt-get update
+    - apt-get install -y g++-10
+    - mkdir build
+    - cd build
+    - cmake .. -DCMAKE_BUILD_TYPE=${BUILD_TYPE} -DCXX_MARCH=${CXX_MARCH} -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
+    - make -j3
+    - ctest
+    # smoke test to see if all executables at least start up
+    - ./basalt_calibrate --help
+    - ./basalt_calibrate_imu --help
+    - ./basalt_mapper --help
+    - ./basalt_mapper_sim --help
+    - ./basalt_mapper_sim_naive --help
+    - ./basalt_opt_flow --help
+    - ./basalt_vio --help
+    - ./basalt_vio_sim --help
+
+focal-gcc11-relwithdebinfo-compile:
+  <<: *prepare_docker_definition
+  image: vladyslavusenko/b_image_focal:latest
+  variables:
+    BUILD_TYPE: CiRelWithDebInfo
+    CC: gcc-11
+    CXX: g++-11
+  only:
+#    - master
+  stage: build
+  script:
+    - add-apt-repository ppa:ubuntu-toolchain-r/test -y
+    - apt-get update
+    - apt-get install -y g++-11
+    - mkdir build
+    - cd build
+    - cmake .. -DCMAKE_BUILD_TYPE=${BUILD_TYPE} -DCXX_MARCH=${CXX_MARCH} -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
+    - make -j3
+    - ctest
+    # smoke test to see if all executables at least start up
+    - ./basalt_calibrate --help
+    - ./basalt_calibrate_imu --help
+    - ./basalt_mapper --help
+    - ./basalt_mapper_sim --help
+    - ./basalt_mapper_sim_naive --help
+    - ./basalt_opt_flow --help
+    - ./basalt_vio --help
+    - ./basalt_vio_sim --help
+
 catalina-relwithdebinfo-compile:
   <<: *compile_test_definition
   tags: [macos, "10.15"]
diff --git a/thirdparty/basalt-headers b/thirdparty/basalt-headers
index 7c5dd97..e9bce48 160000
--- a/thirdparty/basalt-headers
+++ b/thirdparty/basalt-headers
@@ -1 +1 @@
-Subproject commit 7c5dd97dd8aba4ce6fb6df4d0e1dce0c7fb6be79
+Subproject commit e9bce48383ab0d7bad83c6e26711798a346467d2