Change gazebo_libs code to support new format

Signed-off-by: Jose Luis Rivero <[email protected]>

jenkins-scripts/dsl/gazebo_libs.dsl

@@ -7,22 +7,35 @@ import org.yaml.snakeyaml.Yaml
 GLOBAL_SHELL_CMD=''
 
 // GZ COLLECTIONS
-arch = 'amd64'
 ENABLE_CPPCHECK = true
 
 // Jenkins needs the relative path to work and locally the simulation is done
 // using a symlink
 file = readFileFromWorkspace("scripts/jenkins-scripts/dsl/gz-collections.yaml")
 gz_collections_yaml = new Yaml().load(file)
 
-boolean include_gpu_label_if_needed(job, lib, ci_info)
+void generate_label_by_requirements(job, lib_name, ci_config)
 {
+  def nvidia_requirement = ci_config.tests.requirements.nvidia_gpu
+  def large_memory_requirement = ci_config.build.requirements.large_memory
+
+  if (nvidia_requirement.contains(lib_name) &&
+      large_memory_requirement.contains(lib_name)) {
+     println ("ERROR: more than one label is generated by requirements")
+     exit(1)
+  }
+
+  label = nvidia_requirement.contains(lib_name) ? "gpu-nvidia" : null
+  if (! label)
+    label = large_memory_requirement.contains(lib_name) ? "large-memory" : null
+    if (! label)
+      return
+
   job.with
   {
-    if (ci_info.requirements.nvidia_gpu.contains(lib.name))
-    {
-      label Globals.nontest_label("gpu-reliable")
+    label Globals.nontest_label(label)
 
+    if (nvidia_requirement.contains(lib_name)) {
       // unstable build if missing valid gpu display
       publishers {
         consoleParsing {
@@ -35,44 +48,89 @@ boolean include_gpu_label_if_needed(job, lib, ci_info)
   }
 }
 
-[ 'harmonic' ].each { collection_name ->
-  collection = gz_collections_yaml.collections. find { it.name == collection_name }
-  collection.ci.linux.reference_distro.each { distro ->
-    collection.libs.findAll { ! collection.ci.exclude.contains(it.name) }.each { lib ->
-      assert(lib.name)
-      assert(lib.repo.current_branch)
-      // 1.2.1 Main PR jobs (-ci-pr_any-) (pulling check every 5 minutes)
-      // --------------------------------------------------------------
-      def gz_job_name_prefix = lib.name.replaceAll('-','_')
-      def gz_ci_job_name = "${gz_job_name_prefix}-ci-pr_any-${distro}-${arch}"
-      def gz_ci_any_job = job(gz_ci_job_name)
-      def enable_testing = (collection.ci.tests_disabled?.contains(lib.name)) ? false : true
-      OSRFLinuxCompilationAnyGitHub.create(gz_ci_any_job,
-                                           "gazebosim/${lib.name}",
-                                           enable_testing,
-                                           ENABLE_CPPCHECK,
-                                           [ lib.repo.current_branch ])
-      include_gpu_label_if_needed(gz_ci_any_job, lib, collection.ci)
-      gz_ci_any_job.with
+boolean is_testing_enabled(lib_name, ci_config)
+{
+  return ! ci_config.tests_disabled?.contains(lib_name)
+}
+
+
+/*
+ * Generate the indexes that facilitates the operations with the yaml values
+ * avoiding to parse them several times.
+ *
+ * Index 1:
+ *         lib_name : [ ci_config_name : [ branches ] ]
+ *
+ *   Map main entries keys are the lib names (i.e: gz-cmake) associated them
+ *   another map of CI configuration name entries as keys (i.e: jammy) with
+ *   list of associated branches for that configuration  (i.e [gz-cmake3, gz-cmake4])
+ *   Groovy spec
+ */
+void generate_ciconfigs_by_lib(config, configs_per_lib_index)
+{
+  config.collections.each { collection ->
+    // TODO(jriveor): limit to harmonic for testing proposes
+    if (collection.name != 'harmonic')
+      return
+
+    collection.libs.each { lib ->
+      def libName = lib.name
+      def branch = lib.repo.current_branch
+      collection.ci.configs.each { config_name ->
+        configs_per_lib_index["$libName"]["${config_name}"] = configs_per_lib_index["$libName"]["${config_name}"]?: []
+        configs_per_lib_index["$libName"]["${config_name}"].contains(branch) ?: configs_per_lib_index["$libName"]["${config_name}"] << branch
+      }
+    }
+  }
+}
+
+def configs_per_lib_index = [:].withDefault { [:] }
+generate_ciconfigs_by_lib(gz_collections_yaml, configs_per_lib_index)
+
+// Generate PR jobs: 1 per ci configuration on each lib
+configs_per_lib_index.each { lib_name, lib_configs ->
+  lib_configs.each { ci_configs ->
+    def config_name = ci_configs.getKey()
+    def ci_config = gz_collections_yaml.ci_configs.find{ it.name == config_name }
+    def branch_names = ci_configs.getValue()
+    if (ci_config.exclude.contains(lib_name))
+      return
+    assert(lib_name)
+    assert(branch_names)
+    assert(ci_config)
+
+    if (ci_config.exclude.contains(lib_name))
+      return
+
+    // 1.2.1 Main PR jobs (-ci-pr_any-) (pulling check every 5 minutes)
+    // --------------------------------------------------------------
+    def distro = ci_config.system.version
+    def arch = ci_config.system.arch
+    def gz_job_name_prefix = lib_name.replaceAll('-','_')
+    def gz_ci_job_name = "${gz_job_name_prefix}-ci-pr_any-${distro}-${arch}"
+    def gz_ci_any_job = job(gz_ci_job_name)
+    OSRFLinuxCompilationAnyGitHub.create(gz_ci_any_job,
+                                         "gazebosim/${lib_name}",
+                                         is_testing_enabled(lib_name, ci_config),
+                                         ENABLE_CPPCHECK,
+                                         branch_names)
+    generate_label_by_requirements(gz_ci_any_job, lib_name, ci_config)
+    gz_ci_any_job.with
+    {
+      steps
       {
-        if (collection.ci.requirements.large_memory?.contains(lib.name))
-          label Globals.nontest_label("large-memory")
-
-        steps
-        {
-           shell("""\
-                #!/bin/bash -xe
-
-                export DISTRO=${distro}
-
-                ${GLOBAL_SHELL_CMD}
-
-                export BUILDING_SOFTWARE_DIRECTORY=${lib.name}
-                export ARCH=${arch}
-                /bin/bash -xe ./scripts/jenkins-scripts/docker/${gz_job_name_prefix}-compilation.bash
-                """.stripIndent())
-        } // end of steps
-      } // end of ci_any_job
-    } //en of lib
-  } // end of distro
-} // end of collection
+         shell("""\
+              #!/bin/bash -xe
+
+              export DISTRO=${distro}
+
+              ${GLOBAL_SHELL_CMD}
+
+              export BUILDING_SOFTWARE_DIRECTORY=${lib_name}
+              export ARCH=${arch}
+              /bin/bash -xe ./scripts/jenkins-scripts/docker/${gz_job_name_prefix}-compilation.bash
+              """.stripIndent())
+      } // end of steps
+    } // end of ci_any_job
+  } //en of lib_configs
+} // end of lib