new CI (#6)

* new CI

Author: SomaGallai

.circleci/config.yml

@@ -3,14 +3,16 @@ version: 2.1
 
 orbs: 
  aws-s3: circleci/aws-s3@3.0.0
+ colcon_build-orb: cmrobotics/colcon_build-orb@0.2.1
+ openvpn3: versatile/openvpn3@1.0.19
 
 workflows:
  build, test and create:
  jobs:
  - build-test:
  filters:
  tags:
- ignore: /[0-9]*\.[0-9]*\.[0-9]/
+ ignore: /^[0-9]+\.[0-9]+\.[0-9]+$/
  context:
  - ROS Pipelines
  - OpenVPN
@@ -19,15 +21,15 @@ workflows:
  - build-test
  context:
  - ROS Pipelines
-
+ - OpenVPN
  build, test, create and deploy:
  jobs:
  - build-test:
  filters:
  branches:
  ignore: /.*/
  tags:
- only: /[0-9]*\.[0-9]*\.[0-9]/
+ only: /^[0-9]+\.[0-9]+\.[0-9]+$/
  context:
  - ROS Pipelines
  - OpenVPN
@@ -36,17 +38,18 @@ workflows:
  branches:
  ignore: /.*/
  tags:
- only: /[0-9]*\.[0-9]*\.[0-9]/
+ only: /^[0-9]+\.[0-9]+\.[0-9]+$/
  requires:
  - build-test
  context:
  - ROS Pipelines
+ - OpenVPN
  - deploy:
  filters:
  branches:
  ignore: /.*/
  tags:
- only: /[0-9]*\.[0-9]*\.[0-9]/
+ only: /^[0-9]+\.[0-9]+\.[0-9]+$/
  requires:
  - build-test
  - create
@@ -57,87 +60,54 @@ executors:
  simple-machine:
  machine: 
  image: ubuntu-2004:202111-02
- working_directory: ~/workspace/src/linak_actuator_modbus
+ working_directory: ~/workspace/src/cmr_tests_utils 
  simple-docker:
  docker:
- - image: gallaisoma/ros2-galactic:latest
+ - image: osrf/ros:galactic-desktop-focal
  working_directory: ~/workspace/src/cmr_tests_utils 
 jobs:
  build-test:
  executor: simple-machine
  steps:
  - checkout:
  path: ~/workspace/src/$CIRCLE_PROJECT_REPONAME
- - run:
- name: Install OpenVPN3
- command: |
- sudo apt update && sudo apt install apt-transport-https
- sudo wget https://swupdate.openvpn.net/repos/openvpn-repo-pkg-key.pub
- sudo apt-key add openvpn-repo-pkg-key.pub
- sudo wget -O /etc/apt/sources.list.d/openvpn3.list https://swupdate.openvpn.net/community/openvpn3/repos/openvpn3-focal.list
- sudo apt update && sudo apt install openvpn3
- - run: 
- name: VPN setup
- background: true
- command: |
- echo $VPN_CLIENT_CONFIG | base64 --decode > /tmp/config.ovpn
- phone_home=$(ss -Hnto state established '( sport = :ssh )' | head -n1 | awk '{ split($4, a, ":"); print a[1] }')
- echo $phone_home
- if [ -n "$phone_home" ]; then
- echo -e "\nroute $phone_home 255.255.255.255 net_gateway" >> /tmp/config.ovpn
- fi
- echo "\nroute 169.254.0.0 255.255.0.0 net_gateway" >> /tmp/config.ovpn
- sudo openvpn3 session-start --config /tmp/config.ovpn > /tmp/openvpn.log
- - run:
- name: Wait for the connection to be established and check
- command: |
- until sudo openvpn3 sessions-list|grep "Client connected"; do
- echo "Attempting to connect to VPN server..."
- sleep 1;
- done
- - run:
- name: Start Docker
- command: |
- docker pull gallaisoma/ros2-galactic:latest
- docker run -e ROSDISTRO_INDEX_URL=$ROSDISTRO_INDEX_URL -v ~/workspace/src/$CIRCLE_PROJECT_REPONAME:/root/workspace/src/$CIRCLE_PROJECT_REPONAME --name ci_fun -dit gallaisoma/ros2-galactic:latest 
- - run:
- name: Run build and test inside docker
- command: docker exec -it ci_fun /bin/bash -c " source /opt/ros/galactic/setup.bash && cd ~/workspace && curl -o aptly_repo_signing.key http://172.31.46.198/aptly_repo_signing.key && apt-key add aptly_repo_signing.key && echo 'deb http://172.31.46.198/ focal main' >> /etc/apt/sources.list && apt update && rosdep init && rosdep update && rosdep install --from-paths src --ignore-src -r -y && colcon build --packages-up-to $CIRCLE_PROJECT_REPONAME && source install/setup.bash " 
- - run:
- name: Disconnect from OpenVPN
- command: |
- SESSION_PATH=$(sudo openvpn3 sessions-list | grep Path | awk -F': ' '{print $2}')
- echo $SESSION_PATH
- sudo openvpn3 session-manage --session-path $SESSION_PATH --disconnect
- when: always
-
+ - openvpn3/install
+ - openvpn3/connect:
+ config: VPN_CLIENT_CONFIG
+ - openvpn3/check
+ - colcon_build-orb/docker_run:
+ rosdistro_url: ROSDISTRO_INDEX_URL
+ github_token: GITHUB_TOKEN
+ circle_project_repo: CIRCLE_PROJECT_REPONAME
+ workspace_volume: /home/circleci/workspace:/root/workspace
+ - colcon_build-orb/colcon_build
+ - openvpn3/disconnect
  - persist_to_workspace:
  root: ../..
  paths: 
  - .
  create:
- executor: simple-docker
+ executor: simple-machine
  steps: 
  - attach_workspace:
  at: ~/workspace
- - run:
- name: Deploy the deb artifact
- command: |
- cd ~/workspace
- mkdir ~/.ssh/
- ssh-keyscan github.com >> ~/.ssh/known_hosts
- git clone git@github.com:cmrobotics/pipeline_scripts.git
- cd ~/workspace/pipeline_scripts
- ./binarization.sh
-
+ - openvpn3/install
+ - openvpn3/connect:
+ config: VPN_CLIENT_CONFIG
+ - openvpn3/check
+ - colcon_build-orb/docker_run:
+ rosdistro_url: ROSDISTRO_INDEX_URL
+ github_token: GITHUB_TOKEN
+ circle_project_repo: CIRCLE_PROJECT_REPONAME
+ workspace_volume: /home/circleci/workspace:/root/workspace
+ - colcon_build-orb/binarize
+ - openvpn3/disconnect
  - store_artifacts:
  path: ~/workspace/src/ros-galactic-cmr_tests_utils.deb 
-
  - persist_to_workspace:
  root: ~/workspace
  paths: 
  - src/ros-galactic-cmr_tests_utils.deb 
-
  deploy:
  executor: simple-docker
  steps:
@@ -146,6 +116,9 @@ jobs:
  - run:
  name: Renaming with tag name
  command: mv ~/workspace/src/ros-galactic-$CIRCLE_PROJECT_REPONAME.deb ~/workspace/src/ros-galactic-$CIRCLE_PROJECT_REPONAME-$CIRCLE_TAG.deb
+ - run:
+ name: Install unzip
+ command: apt update && apt install -y unzip
  - aws-s3/copy:
  arguments: |
  --acl private 
@@ -154,4 +127,3 @@ jobs:
  aws-secret-access-key: AWS_SECRET_ACCESS_KEY
  from: ~/workspace/src/ros-galactic-$CIRCLE_PROJECT_REPONAME-$CIRCLE_TAG.deb
  to: 's3://aptly-debian-files/ros-galactic-$CIRCLE_PROJECT_REPONAME.deb'
-