basalt/.gitlab-ci.yml

218 lines
5.2 KiB
YAML

image: vladyslavusenko/b_image:latest
variables:
GIT_SUBMODULE_STRATEGY: recursive
BUILD_TYPE: Release
CXX_MARCH: native
CMAKE_INSTALL_PREFIX: /usr/
DEB_DIR: deb
stages:
- build
- test
- eval
- eval_results
- deploy
# template for docker builds with ccache
.prepare_docker_template: &prepare_docker_definition
tags:
- docker
before_script:
- mkdir -p ccache
- export CCACHE_BASEDIR=${PWD}
- export CCACHE_DIR=${PWD}/ccache
cache:
paths:
- ccache/
key: ${CACHE_KEY}
# template for build & unit test & make deb configurations
.compile_test_package_template: &compile_test_package_definition
stage: build
script:
- mkdir build
- cd build
- cmake .. -DCMAKE_BUILD_TYPE=${BUILD_TYPE} -DCXX_MARCH=${CXX_MARCH} -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
- make -j3
- ctest
- make package
- cd ..
- mkdir $DEB_DIR
- mv build/*.deb $DEB_DIR/
- dpkg -i $DEB_DIR/*.deb
# smoke test to see if all executables at least start up
- basalt_calibrate --help
- basalt_calibrate_imu --help
- basalt_mapper --help
- basalt_mapper_sim --help
- basalt_mapper_sim_naive --help
- basalt_opt_flow --help
- basalt_vio --help
- basalt_vio_sim --help
# template for build & unit test configurations (no deb)
.compile_test_template: &compile_test_definition
stage: build
script:
- mkdir build
- cd build
- cmake .. -DCMAKE_BUILD_TYPE=${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
# template to test debian
.test_deb_template: &test_deb_definition
stage: test
tags:
- docker
variables:
GIT_STRATEGY: none
script:
- dpkg -i $DEB_DIR/*.deb
# smoke test to see if all executables at least start up
- basalt_calibrate --help
- basalt_calibrate_imu --help
- basalt_mapper --help
- basalt_mapper_sim --help
- basalt_mapper_sim_naive --help
- basalt_opt_flow --help
- basalt_vio --help
- basalt_vio_sim --help
bionic-release-compile:
<<: *prepare_docker_definition
<<: *compile_test_package_definition
variables:
CXX_MARCH: 'corei7-avx'
DEB_DIR: deb_bionic
CACHE_KEY: bionic-release
artifacts:
paths:
- deb_bionic/*.deb
- scripts/eval_full/*
expire_in: 1 week
xenial-release-compile:
<<: *prepare_docker_definition
<<: *compile_test_package_definition
image: vladyslavusenko/b_image_xenial:latest
variables:
CXX_MARCH: 'corei7-avx'
DEB_DIR: deb_xenial
CACHE_KEY: xenial-release
artifacts:
paths:
- deb_xenial/*.deb
expire_in: 1 week
bionic-debug-compile:
<<: *prepare_docker_definition
<<: *compile_test_package_definition
variables:
BUILD_TYPE: Debug
CACHE_KEY: bionic-debug
bionic-relwithdebinfo-compile:
<<: *prepare_docker_definition
<<: *compile_test_package_definition
variables:
BUILD_TYPE: RelWithDebInfo
CACHE_KEY: bionic-relwithdebinfo
elcapitan-relwithdebinfo-compile:
<<: *compile_test_definition
tags: [macos, "10.11"]
variables:
BUILD_TYPE: RelWithDebInfo
# check if clang-format would make any changes
clang-format:
tags:
- docker
stage: build
variables:
GIT_SUBMODULE_STRATEGY: none
script:
- ./scripts/clang-format-all.sh
# check if any files are now modified and error if yes
- (if git diff --name-only --diff-filter=M | grep '\..pp$'; then echo $'\n Some files are not properly formatted. You can use "./scripts/clang-format-all.sh".\n'; git diff --diff-filter=M; false; fi)
bionic-test:
<<: *test_deb_definition
variables:
DEB_DIR: deb_bionic
xenial-test:
<<: *test_deb_definition
image: vladyslavusenko/b_image_xenial:latest
variables:
DEB_DIR: deb_xenial
# evaluate on EuRoC sequences
eval_euroc:
stage: eval
parallel: 10
tags: [docker, dataset-eval]
variables:
GIT_STRATEGY: none
only:
- master
artifacts:
paths:
- scripts/eval_full/eval_results/*
expire_in: 1 week
script:
- dpkg -i deb_bionic/*.deb
- cd scripts/eval_full
- ./run_evaluations.sh
# aggregate results for all EuRoC sequences
gen_results_euroc:
stage: eval_results
variables:
GIT_STRATEGY: none
tags:
- docker
when: on_success
only:
- master
artifacts:
paths:
- euroc_results.txt
script:
- cd scripts/eval_full
- ./gen_results.py eval_results > euroc_results.txt
- cat euroc_results.txt
- mv euroc_results.txt ../../
# deploy deb packages
deploy:
stage: deploy
variables:
GIT_STRATEGY: none
tags:
- docker
only:
- master
before_script:
- eval $(ssh-agent -s)
- echo "$SSH_PRIVATE_KEY" | tr -d '\r' | ssh-add - > /dev/null
- mkdir -p ~/.ssh
- chmod 700 ~/.ssh
- echo "$SSH_KNOWN_HOSTS" > ~/.ssh/known_hosts
- chmod 644 ~/.ssh/known_hosts
script:
- scp $SCP_FLAGS deb_xenial/*.deb $REPOSITORY_URL/xenial/
- scp $SCP_FLAGS deb_bionic/*.deb $REPOSITORY_URL/bionic/