Merge pull request #585 from ros-infrastructure/build_tool_option

add build tool option

.travis.yml

@@ -5,13 +5,64 @@ sudo: false
 env:
   global:
     - CONFIG_URL=https://raw.githubusercontent.com/ros-infrastructure/ros_buildfarm_config/production/index.yaml
+    - CONFIG2_URL=https://raw.githubusercontent.com/ros2/ros_buildfarm_config/ros2/index.yaml
     - ROS_DISTRO_NAME=kinetic
+    - ROS2_DISTRO_NAME=bouncy
     - OS_NAME=ubuntu
     - OS_CODE_NAME=xenial
+    - OS_CODE_NAME2=bionic
     - ARCH=amd64
     - ROS_BUILDFARM_PULL_REQUEST_BRANCH=$TRAVIS_PULL_REQUEST_BRANCH
 matrix:
   include:
+    - language: python
+      python: "3.6"
+      sudo: required
+      services:
+        - docker
+      env: JOB_TYPE=devel REPOSITORY_NAME=rcl ROSDISTRO_INDEX_URL=https://raw.githubusercontent.com/ros2/rosdistro/ros2/index-v4.yaml
+      before_script:
+        # install colcon for test results
+        - pip install colcon-core colcon-test-result
+        - python setup.py install
+        - mkdir job && cd job
+        - ln -s .. ros_buildfarm
+      script:
+        - generate_devel_script.py $CONFIG2_URL $ROS2_DISTRO_NAME default $REPOSITORY_NAME $OS_NAME $OS_CODE_NAME2 $ARCH > job.sh
+        - . job.sh -y
+        - (exit $test_result_RC)
+    - language: python
+      python: "3.6"
+      sudo: required
+      services:
+        - docker
+      env: JOB_TYPE=prerelease UNDERLAY_REPOSITORY_NAMES="ament_cmake_ros" OVERLAY_PACKAGE_NAMES=rcutils ROSDISTRO_INDEX_URL=https://raw.githubusercontent.com/ros2/rosdistro/ros2/index-v4.yaml
+      before_script:
+        # install colcon for test results
+        - pip install colcon-core colcon-test-result
+        - python setup.py install
+        - mkdir job && cd job
+        - ln -s .. ros_buildfarm
+      script:
+        - generate_prerelease_script.py $CONFIG2_URL $ROS2_DISTRO_NAME default $OS_NAME $OS_CODE_NAME2 $ARCH $UNDERLAY_REPOSITORY_NAMES --pkg $OVERLAY_PACKAGE_NAMES --output-dir .
+        - . prerelease.sh -y
+        - (exit $test_result_RC_underlay) && (exit $test_result_RC_overlay)
+    - language: python
+      python: "3.6"
+      sudo: required
+      services:
+        - docker
+      env: JOB_TYPE=devel BUILD_TOOL=colcon REPOSITORY_NAME=roscpp_core ROSDISTRO_INDEX_URL=https://raw.githubusercontent.com/ros2/rosdistro/ros2/index-v4.yaml
+      before_script:
+        # install colcon for test results
+        - pip install colcon-core colcon-test-result
+        - python setup.py install
+        - mkdir job && cd job
+        - ln -s .. ros_buildfarm
+      script:
+        - generate_devel_script.py $CONFIG_URL $ROS_DISTRO_NAME default $REPOSITORY_NAME $OS_NAME $OS_CODE_NAME $ARCH --build-tool $BUILD_TOOL > job.sh
+        - . job.sh -y
+        - (exit $test_result_RC)
     - language: python
       python: "3.6"
       sudo: required
@@ -32,7 +83,7 @@ matrix:
         - generate_devel_script.py $CONFIG_URL $ROS_DISTRO_NAME default $REPOSITORY_NAME $OS_NAME $OS_CODE_NAME $ARCH > job.sh
         - . /opt/ros/indigo/setup.sh
         - . job.sh -y
-        - (exit $catkin_test_results_RC)
+        - (exit $test_result_RC)
     - language: python
       python: "3.6"
       sudo: required
@@ -81,7 +132,7 @@ matrix:
         - generate_prerelease_script.py $CONFIG_URL $ROS_DISTRO_NAME default $OS_NAME $OS_CODE_NAME $ARCH $UNDERLAY_REPOSITORY_NAMES --pkg $OVERLAY_PACKAGE_NAMES --output-dir .
         - . /opt/ros/indigo/setup.sh
         - . prerelease.sh -y
-        - (exit $catkin_test_results_RC_underlay) && (exit $catkin_test_results_RC_overlay)
+        - (exit $test_result_RC_underlay) && (exit $test_result_RC_overlay)
     - language: python
       python: "3.6"
       sudo: required
@@ -93,7 +144,7 @@ matrix:
         - mkdir job && cd job
         - ln -s .. ros_buildfarm
       script:
-        - git clone -b dummy_package https://github.com/ros-infrastructure/ros_buildfarm catkin_workspace/src/ros_buildfarm
+        - git clone -b dummy_package https://github.com/ros-infrastructure/ros_buildfarm ws/src/ros_buildfarm
         - generate_prerelease_script.py $CONFIG_URL $ROS_DISTRO_NAME default $OS_NAME $OS_CODE_NAME $ARCH --output-dir .
         - ./prerelease.sh -y
     - language: python
@@ -131,7 +182,7 @@ matrix:
         - generate_devel_script.py $CONFIG_URL $ROS_DISTRO_NAME default $REPOSITORY_NAME $OS_NAME $OS_CODE_NAME $ARCH > job.sh
         - . /opt/ros/indigo/setup.sh
         - . job.sh -y
-        - (exit $catkin_test_results_RC)
+        - (exit $test_result_RC)
     - language: python
       python: "3.5"
       sudo: required
@@ -180,7 +231,7 @@ matrix:
         - generate_prerelease_script.py $CONFIG_URL $ROS_DISTRO_NAME default $OS_NAME $OS_CODE_NAME $ARCH $UNDERLAY_REPOSITORY_NAMES --pkg $OVERLAY_PACKAGE_NAMES --output-dir .
         - . /opt/ros/indigo/setup.sh
         - . prerelease.sh -y
-        - (exit $catkin_test_results_RC_underlay) && (exit $catkin_test_results_RC_overlay)
+        - (exit $test_result_RC_underlay) && (exit $test_result_RC_overlay)
     - language: python
       python: "3.5"
       sudo: required
@@ -192,7 +243,7 @@ matrix:
         - mkdir job && cd job
         - ln -s .. ros_buildfarm
       script:
-        - git clone -b dummy_package https://github.com/ros-infrastructure/ros_buildfarm catkin_workspace/src/ros_buildfarm
+        - git clone -b dummy_package https://github.com/ros-infrastructure/ros_buildfarm ws/src/ros_buildfarm
         - generate_prerelease_script.py $CONFIG_URL $ROS_DISTRO_NAME default $OS_NAME $OS_CODE_NAME $ARCH --output-dir .
         - ./prerelease.sh -y
     - language: python
@@ -230,7 +281,7 @@ matrix:
         - generate_devel_script.py $CONFIG_URL $ROS_DISTRO_NAME default $REPOSITORY_NAME $OS_NAME $OS_CODE_NAME $ARCH > job.sh
         - . /opt/ros/indigo/setup.sh
         - . job.sh -y
-        - (exit $catkin_test_results_RC)
+        - (exit $test_result_RC)
     - language: python
       python: "3.4"
       sudo: required
@@ -279,7 +330,7 @@ matrix:
         - generate_prerelease_script.py $CONFIG_URL $ROS_DISTRO_NAME default $OS_NAME $OS_CODE_NAME $ARCH $UNDERLAY_REPOSITORY_NAMES --pkg $OVERLAY_PACKAGE_NAMES --output-dir .
         - . /opt/ros/indigo/setup.sh
         - . prerelease.sh -y
-        - (exit $catkin_test_results_RC_underlay) && (exit $catkin_test_results_RC_overlay)
+        - (exit $test_result_RC_underlay) && (exit $test_result_RC_overlay)
     - language: python
       python: "3.4"
       sudo: required
@@ -291,7 +342,7 @@ matrix:
         - mkdir job && cd job
         - ln -s .. ros_buildfarm
       script:
-        - git clone -b dummy_package https://github.com/ros-infrastructure/ros_buildfarm catkin_workspace/src/ros_buildfarm
+        - git clone -b dummy_package https://github.com/ros-infrastructure/ros_buildfarm ws/src/ros_buildfarm
         - generate_prerelease_script.py $CONFIG_URL $ROS_DISTRO_NAME default $OS_NAME $OS_CODE_NAME $ARCH --output-dir .
         - ./prerelease.sh -y
     - language: python
@@ -329,7 +380,7 @@ matrix:
         - generate_devel_script.py $CONFIG_URL $ROS_DISTRO_NAME default $REPOSITORY_NAME $OS_NAME $OS_CODE_NAME $ARCH > job.sh
         - . /opt/ros/indigo/setup.sh
         - . job.sh -y
-        - (exit $catkin_test_results_RC)
+        - (exit $test_result_RC)
     - language: python
       python: "2.7"
       sudo: required
@@ -381,7 +432,7 @@ matrix:
         - generate_prerelease_script.py $CONFIG_URL $ROS_DISTRO_NAME default $OS_NAME $OS_CODE_NAME $ARCH $UNDERLAY_REPOSITORY_NAMES --pkg $OVERLAY_PACKAGE_NAMES --output-dir .
         - . /opt/ros/indigo/setup.sh
         - . prerelease.sh -y
-        - (exit $catkin_test_results_RC_underlay) && (exit $catkin_test_results_RC_overlay)
+        - (exit $test_result_RC_underlay) && (exit $test_result_RC_overlay)
     - language: python
       python: "2.7"
       sudo: required
@@ -396,7 +447,7 @@ matrix:
         - mkdir job && cd job
         - ln -s .. ros_buildfarm
       script:
-        - git clone -b dummy_package https://github.com/ros-infrastructure/ros_buildfarm catkin_workspace/src/ros_buildfarm
+        - git clone -b dummy_package https://github.com/ros-infrastructure/ros_buildfarm ws/src/ros_buildfarm
         - generate_prerelease_script.py $CONFIG_URL $ROS_DISTRO_NAME default $OS_NAME $OS_CODE_NAME $ARCH --output-dir .
         - ./prerelease.sh -y
     - language: python

doc/configuration_options.rst

@@ -232,6 +232,11 @@ The following options are valid in version ``2`` (beside the generic options):
 * ``jenkins_pull_request_job_priority``: the job priority of *pull request*
   jobs.
 
+* ``build_tool``: the build tool to use. The following are valid values:
+
+  * ``catkin_make_isolated`` (default)
+  * ``colcon``
+
 * ``notifications``: a dictionary with the following keys:
 
   * ``compiler_warnings``: boolean flag if compiler warnings should mark a job
@@ -318,6 +323,11 @@ The following options are valid in version ``2`` (beside the generic options):
   ``buildagent || <ROSDISTRO_NAME>_doc_<BUILD_FILE_NAME>``).
 * ``jenkins_job_timeout``: the job timeout for *doc* jobs.
 
+* ``build_tool``: the build tool to use. The following are valid values:
+
+  * ``catkin_make_isolated`` (default)
+  * ``colcon``
+
 * ``notifications``: a dictionary with the following keys:
 
   * ``committers``: a boolean flag if the committers should be notified (only

doc/jobs/devel_jobs.rst

@@ -63,47 +63,75 @@ one to perform the *build-and-test* task.
 Build and install
 ^^^^^^^^^^^^^^^^^
 
-This task is performed by the script *catkin_make_isolated_and_install.py*.
+This task is performed by the script *build_and_install.py*.
 The environment will only contain the *build* dependencies declared by the
 packages in the source repository.
 
 The task performs the following steps:
 
 * The content of the source repository is expected to be available in the
-  folder *catkin_workspace/src*.
+  folder *ws/src*.
 * Removes any *build*, *devel* and *install* folders left over from previous
   runs.
-* Invokes
-  ``catkin_make_isolated --install -DCATKIN_SKIP_TESTING=1 --catkin-make-args -j1``.
+* Depending on the chosen build tool it invokes either of the two:
+
+  * ``catkin_make_isolated --install ...``
+  * ``colcon build --executor sequential --event-handlers console_direct+ ...``
+
+    The direct output allows the output to be streamed while it is progressing.
+    The sequential execution avoids interleaved output between packages.
+
+  Both commands use the environment variable ``MAKEFLAGS=-j1``.
+
+  The build is performed single threaded to achieve deterministic build results
+  (a different target order could break the build if it lacks correct target
+  dependencies).
+
+  Additionally the following CMake flags are being passed:
+  ``--cmake-args -DBUILD_TESTING=0 -DCATKIN_SKIP_TESTING=1``.
+
+  Since the CMake option ``BUILD_TESTING`` is enabled by default it is
+  explicitly disabled.
 
   Since the CMake option ``CATKIN_ENABLE_TESTING`` is not enabled explicitly
   the packages must neither configure any tests nor use any test-only
   dependencies.
   The option ``CATKIN_SKIP_TESTING`` prevents CMake from failing if packages
   violate this restriction and only outputs a CMake warning instead.
 
-  The build is performed single threaded to achieve deterministic build results
-  (a different target order could break the build if it lacks correct target
-  dependencies) and make errors easier to read.
-
 
 Build and test
 ^^^^^^^^^^^^^^
 
-This task is performed by the script *catkin_make_isolated_and_test.py*.
+This task is performed by the script *build_and_test.py*.
 The environment will only contain the *build*, *run* and *test* dependencies
 declared by the packages in the source repository.
 
 The task performs the following steps:
 
 * The content of the source repository is expected to be available in the
-  folder *catkin_workspace/src*.
-* Invokes
+  folder *ws/src*.
+* Depending on the chosen build tool it invokes either of the two:
+
+  * ``catkin_make_isolated --catkin-make-args run_tests ...``
+  * ``colcon test --executor sequential --event-handlers console_direct+``
+
+    The direct output allows the output to be streamed while it is progressing.
+    The sequential execution avoids interleaved output between packages.
 
-  ``catkin_make_isolated --cmake-args -DCATKIN_ENABLE_TESTING=1 -DCATKIN_SKIP_TESTING=0 -DCATKIN_TEST_RESULTS_DIR=path/to/catkin_workspace/test_results --catkin-make-args -j1 run_tests``.
+  Both commands use the environment variable ``MAKEFLAGS=-j1``.
+
+  The tests are performed single threaded to achieve deterministic test results
+  (otherwise some tests might affect each other).
+
+  Additionally the following CMake flags are being passed to reenable tests and
+  determine the location of the test results:
+  ``--cmake-args -DCATKIN_ENABLE_TESTING=1 -DCATKIN_SKIP_TESTING=0 -DCATKIN_TEST_RESULTS_DIR=path/to/ws/test_results``.
+  For colcon the test result directory is additionally passed via
+  ``--test-result-base``
 
   The XUnit test results for each package will be created in the subfolder
-  *test_results* in the catkin workspace and be shown by Jenkins.
+  *test_results* in the workspace and be shown by Jenkins.
 
 
 Known limitations
@@ -128,8 +156,8 @@ packages ``catkin_pkg``, ``rosdistro``).
 
 When the generated script is being invoked in runs the *build-and-install* task
 as well as the *build-and-test* task in separate Docker containers.
-Additionally it invokes the tool ``catkin_test_results --all`` to output a
-summary of all tests.
+Additionally it invokes the tool ``catkin_test_results --all`` /
+``colcon test-result --all`` to output a summary of all tests.
 
 
 Example invocation
@@ -157,7 +185,9 @@ Instead of invoking the generated script it can also be *sourced*:
 
   . devel_job_indigo_roscpp_core.sh
 
-The return code of the invocation of `catkin_tests_results` is then available in the environment variable `catkin_test_results_RC`.
+The return code of the invocation of ``catkin_tests_results`` /
+``colcon test-result``is then available in the environment variable
+``test_result_RC``.
 
 Run the *devel* job on Travis
 -----------------------------
@@ -187,13 +217,18 @@ The following .travis.yml template is a good starting point and is ready to be u
     # or checkout a specific branch
     #- git clone -b master https://github.com/ros-infrastructure/ros_buildfarm /tmp/ros_buildfarm
     #- pip install /tmp/ros_buildfarm
+
+    # use either of the two following options depending on the chosen build tool
     # checkout catkin for catkin_test_results script
     - git clone https://github.com/ros/catkin /tmp/catkin
+    # install colcon for test results
+    - pip install colcon-core colcon-test-result
+
     # run devel job for a ROS repository with the same name as this repo
     - export REPOSITORY_NAME=`basename $TRAVIS_BUILD_DIR`
     # use the code already checked out by Travis
-    - mkdir -p $JOB_PATH/catkin_workspace/src
-    - cp -R $TRAVIS_BUILD_DIR $JOB_PATH/catkin_workspace/src/
+    - mkdir -p $JOB_PATH/ws/src
+    - cp -R $TRAVIS_BUILD_DIR $JOB_PATH/ws/src/
     # generate the script to run a devel job for that target and repo
     - generate_devel_script.py https://raw.githubusercontent.com/ros-infrastructure/ros_buildfarm_config/production/index.yaml $ROS_DISTRO_NAME default $REPOSITORY_NAME $OS_NAME $OS_CODE_NAME $ARCH > $JOB_PATH/devel_job.sh
     - cd $JOB_PATH
@@ -202,7 +237,9 @@ The following .travis.yml template is a good starting point and is ready to be u
     - sh devel_job.sh -y
   script:
     # get summary of test results
-    - /tmp/catkin/bin/catkin_test_results $JOB_PATH/catkin_workspace/test_results --all
+    # use either of the two following options depending on the chosen build tool
+    - /tmp/catkin/bin/catkin_test_results $JOB_PATH/ws/test_results --all
+    - colcon test-result --test-result-base $JOB_PATH/ws/test_results --all
   notifications:
     email: false
 

doc/jobs/prerelease_jobs.rst

@@ -106,12 +106,14 @@ scripts which can be invoked manually in the same order:
   workspace.
 * ``prerelease_build_underlay.py`` runs the *build-and-install* task as well as
   the *build-and-test* task on the underlay workspace.
-  It also invokes the tool ``catkin_test_results --all`` to output a
-  summary of all tests in the underlay workspace.
+  It also invokes the tool ``catkin_test_results --all`` /
+  ``colcon test-result --all`` to output a summary of all tests in the underlay
+  workspace.
 * ``prerelease_build_overlay.py`` runs the *build-and-test* task on the overlay
   workspace.
-  It also invokes the tool ``catkin_test_results --all`` to output a
-  summary of all tests in the overlay workspace.
+  It also invokes the tool ``catkin_test_results --all`` /
+  ``colcon test-result --all`` to output a summary of all tests in the overlay
+  workspace.
 
 Run the *prerelease* job on Travis
 ----------------------------------
@@ -148,7 +150,7 @@ The following commands are all it takes to run a prerelease job for a custom rep
 .. code:: sh
 
   mkdir /tmp/prerelease && cd /tmp/prerelease
-  git clone -b dummy_package https://github.com/ros-infrastructure/ros_buildfarm catkin_workspace/src/ros_buildfarm
+  git clone -b dummy_package https://github.com/ros-infrastructure/ros_buildfarm ws/src/ros_buildfarm
   generate_prerelease_script.py https://raw.githubusercontent.com/ros-infrastructure/ros_buildfarm_config/production/index.yaml kinetic default ubuntu xenial amd64 --output-dir .
   # the argument -y suppresses the question if you want to continue with content already present in the workspace
   ./prerelease.sh -y

ros_buildfarm/argument.py

@@ -281,3 +281,18 @@ def add_argument_repository_names(parser):
         '--repository-names',
         nargs='+',
         help='A space separated list of repository names')
+
+
+def add_argument_build_tool(parser, required=False):
+    default_help = '' if required else ' (default: as set in the build file)'
+    parser.add_argument(
+        '--build-tool',
+        choices=('catkin_make_isolated', 'colcon'),
+        required=required,
+        help='The build tool to use' + default_help)
+
+
+def add_argument_ros_version(parser):
+    parser.add_argument(
+        '--ros-version', type=int, required=True,
+        help='The major ROS version')

ros_buildfarm/config/doc_build_file.py

@@ -94,6 +94,9 @@ def __init__(self, name, data):
         if 'jenkins_job_timeout' in data:
             self.jenkins_job_timeout = int(data['jenkins_job_timeout'])
 
+        self.build_tool = data.get('build_tool', 'catkin_make_isolated')
+        assert self.build_tool in ('catkin_make_isolated', 'colcon')
+
         self.notify_committers = None
         if 'notifications' in data:
             if 'committers' in data['notifications']: