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create_jenkins_job.py
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#!/usr/bin/env python3
# Copyright 2015 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import argparse
import collections
import os
import re
import sys
try:
import ros_buildfarm # noqa
except ImportError:
sys.exit("Could not import ros_buildfarm, please add it to the PYTHONPATH.")
try:
import jenkinsapi # noqa
except ImportError:
sys.exit("Could not import jenkinsapi, please install it with pip or apt-get.")
from ros_buildfarm.jenkins import configure_job
from ros_buildfarm.jenkins import connect
from ros_buildfarm.templates import expand_template
try:
from ros_buildfarm.templates import template_prefix_path
except ImportError:
sys.exit("Could not import symbol from ros_buildfarm, please update ros_buildfarm.")
DEFAULT_REPOS_URL = 'https://raw.githubusercontent.com/ros2/ros2/master/ros2.repos'
DEFAULT_MAIL_RECIPIENTS = '[email protected]'
PERIODIC_JOB_SPEC = '30 7 * * *'
template_prefix_path[:] = \
[os.path.join(os.path.abspath(os.path.dirname(__file__)), 'job_templates')]
def nonnegative_int(inval):
try:
ret = int(inval)
except ValueError:
ret = -1
if ret < 0:
raise argparse.ArgumentTypeError('Value must be nonnegative integer')
return ret
def main(argv=None):
if argv is None:
argv = sys.argv[1:]
parser = argparse.ArgumentParser(description="Creates the ros2 jobs on Jenkins")
parser.add_argument(
'--jenkins-url', '-u', default='https://ci.ros2.org',
help="Url of the jenkins server to which the job should be added")
parser.add_argument(
'--ci-scripts-repository', default='[email protected]:ros2/ci.git',
help="repository from which ci scripts should be cloned"
)
parser.add_argument(
'--ci-scripts-default-branch', default='master',
help="default branch of the ci repository to get ci scripts from (this is a job parameter)"
)
parser.add_argument(
'--commit', action='store_true',
help='Actually modify the Jenkins jobs instead of only doing a dry run',
)
parser.add_argument(
'--select-jobs-regexp', default='',
help='Limit the job creation to those that match the given regular expression'
)
parser.add_argument(
'--context-lines', type=nonnegative_int, default=0,
help='Set the number of diff context lines when showing differences between old and new jobs'
)
args = parser.parse_args(argv)
data = {
'build_discard': {
'days_to_keep': 1000,
'num_to_keep': 3000},
'ci_scripts_repository': args.ci_scripts_repository,
'ci_scripts_default_branch': args.ci_scripts_default_branch,
'default_repos_url': DEFAULT_REPOS_URL,
'supplemental_repos_url': '',
'time_trigger_spec': '',
'mailer_recipients': '',
'ignore_rmw_default': {
'rmw_connext_dynamic_cpp',
'rmw_fastrtps_dynamic_cpp',
'rmw_opensplice_cpp'},
'use_connext_debs_default': 'false',
'use_isolated_default': 'true',
'colcon_mixin_url': 'https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml',
'build_args_default': '--event-handlers console_cohesion+ console_package_list+ --cmake-args -DINSTALL_EXAMPLES=OFF -DSECURITY=ON',
'test_args_default': '--event-handlers console_direct+ --executor sequential --retest-until-pass 2 --ctest-args -LE xfail --pytest-args -m "not xfail"',
'compile_with_clang_default': 'false',
'enable_coverage_default': 'false',
'dont_notify_every_unstable_build': 'false',
'build_timeout_mins': 0,
'ubuntu_distro': 'focal',
'ros_distro': 'rolling',
}
jenkins = connect(args.jenkins_url)
os_configs = {
'linux': {
'label_expression': 'linux',
'shell_type': 'Shell',
},
'osx': {
'label_expression': 'macos',
'shell_type': 'Shell',
# the current OS X agent can't handle git@github urls
'ci_scripts_repository': args.ci_scripts_repository.replace(
'[email protected]:', 'https://github.com/'),
},
'windows-metal': {
'label_expression': 'windows',
'shell_type': 'BatchFile',
'use_isolated_default': 'false',
},
'windows': {
'label_expression': 'windows-container',
'shell_type': 'BatchFile',
'use_isolated_default': 'false',
},
'linux-aarch64': {
'label_expression': 'linux_aarch64',
'shell_type': 'Shell',
'ignore_rmw_default': data['ignore_rmw_default'] | {'rmw_connext_cpp', 'rmw_connext_dynamic_cpp'},
},
'linux-armhf': {
'label_expression': 'linux_armhf',
'shell_type': 'Shell',
'ignore_rmw_default': data['ignore_rmw_default'] | {'rmw_connext_cpp', 'rmw_connext_dynamic_cpp'},
'build_args_default': data['build_args_default'].replace(
'--cmake-args', '--cmake-args -DCMAKE_CXX_FLAGS=-Wno-psabi -DCMAKE_C_FLAGS=-Wno-psabi -DDISABLE_SANITIZERS=ON'),
},
'linux-centos': {
'label_expression': 'linux',
'shell_type': 'Shell',
'build_args_default': '--packages-skip-by-dep image_tools ros1_bridge --packages-skip image_tools ros1_bridge ' + data['build_args_default'].replace(
'--cmake-args', '--cmake-args -DCMAKE_POLICY_DEFAULT_CMP0072=NEW -DPYTHON_VERSION=3.6 -DDISABLE_SANITIZERS=ON'),
'test_args_default': '--packages-skip-by-dep image_tools ros1_bridge --packages-skip image_tools ros1_bridge ' + data['test_args_default'],
},
}
os_config_overrides = {
'linux-centos': {
'mixed_overlay_pkgs': '',
'ignore_rmw_default': {'rmw_connext_cpp', 'rmw_connext_dynamic_cpp', 'rmw_opensplice_cpp'},
'use_connext_debs_default': 'false',
},
}
launcher_exclude = {
'linux-armhf',
'linux-centos',
'windows-metal',
}
jenkins_kwargs = {}
jenkins_kwargs['context_lines'] = args.context_lines
if not args.commit:
jenkins_kwargs['dry_run'] = True
if args.select_jobs_regexp:
args.pattern_select_jobs_regexp = re.compile(args.select_jobs_regexp)
def create_job(os_name, job_name, template_file, additional_dict):
if args.select_jobs_regexp and not args.pattern_select_jobs_regexp.match(job_name):
return
job_data = dict(data)
job_data['os_name'] = os_name
job_data.update(os_configs[os_name])
job_data.update(additional_dict)
job_data.update(os_config_overrides.get(os_name, {}))
job_config = expand_template(template_file, job_data)
configure_job(jenkins, job_name, job_config, **jenkins_kwargs)
# configure os specific jobs
for os_name in sorted(os_configs.keys()):
# This short name is preserved for historic reasons, but long-paths have been enabled on
# windows containers and their hosts
job_os_name = os_name
if os_name == 'windows':
job_os_name = 'win'
# configure manual triggered job
create_job(os_name, 'ci_' + os_name, 'ci_job.xml.em', {
'cmake_build_type': 'None',
})
# configure test jobs for experimenting with job config changes
# Keep parameters the same as the manual triggered job above.
create_job(os_name, 'test_ci_' + os_name, 'ci_job.xml.em', {
'cmake_build_type': 'None',
})
if os_name == 'windows-metal':
# Don't create nightlies or packaging jobs for bare-metal Windows
continue
packaging_label_expression = os_configs[os_name]['label_expression']
if os_name == 'osx':
packaging_label_expression = 'macos && mojave'
# configure a manual version of the packaging job
ignore_rmw_default_packaging = {'rmw_opensplice_cpp'}
if os_name in ['linux-aarch64', 'linux-armhf']:
ignore_rmw_default_packaging |= {'rmw_connext_cpp', 'rmw_connext_dynamic_cpp'}
create_job(os_name, 'ci_packaging_' + os_name, 'packaging_job.xml.em', {
'build_discard': {
'days_to_keep': 180,
'num_to_keep': 100,
},
'cmake_build_type': 'RelWithDebInfo',
'label_expression': packaging_label_expression,
'mixed_overlay_pkgs': 'ros1_bridge',
'ignore_rmw_default': ignore_rmw_default_packaging,
'use_connext_debs_default': 'true',
})
# configure packaging job
create_job(os_name, 'packaging_' + os_name, 'packaging_job.xml.em', {
'build_discard': {
'days_to_keep': 370,
'num_to_keep': 370,
},
'cmake_build_type': 'RelWithDebInfo',
'disabled': os_name == 'linux-armhf',
'label_expression': packaging_label_expression,
'mixed_overlay_pkgs': 'ros1_bridge',
'time_trigger_spec': PERIODIC_JOB_SPEC,
'mailer_recipients': DEFAULT_MAIL_RECIPIENTS,
'ignore_rmw_default': ignore_rmw_default_packaging,
'use_connext_debs_default': 'true',
})
# create a nightly Debug packaging job on Windows
if os_name == 'windows':
create_job(os_name, 'packaging_' + os_name + '_debug', 'packaging_job.xml.em', {
'build_discard': {
'days_to_keep': 370,
'num_to_keep': 370,
},
'cmake_build_type': 'Debug',
'mixed_overlay_pkgs': 'ros1_bridge',
'time_trigger_spec': PERIODIC_JOB_SPEC,
'mailer_recipients': DEFAULT_MAIL_RECIPIENTS,
'ignore_rmw_default': ignore_rmw_default_packaging,
'use_connext_debs_default': 'true',
})
# configure nightly triggered job
if os_name != 'linux-armhf':
job_name = 'nightly_' + job_os_name + '_debug'
if os_name == 'windows':
job_name = job_name[:15]
create_job(os_name, job_name, 'ci_job.xml.em', {
'cmake_build_type': 'Debug',
'time_trigger_spec': PERIODIC_JOB_SPEC,
'mailer_recipients': DEFAULT_MAIL_RECIPIENTS,
})
# configure nightly job for testing with address sanitizer on linux
if os_name == 'linux':
asan_build_args = data['build_args_default'].replace('--cmake-args',
'--cmake-args -DOSRF_TESTING_TOOLS_CPP_DISABLE_MEMORY_TOOLS=ON') + \
' --mixin asan-gcc --packages-up-to rcpputils'
create_job(os_name, 'nightly_{}_address_sanitizer'.format(os_name), 'ci_job.xml.em', {
'cmake_build_type': 'Debug',
'time_trigger_spec': PERIODIC_JOB_SPEC,
'mailer_recipients': DEFAULT_MAIL_RECIPIENTS + ' [email protected]',
'build_args_default': asan_build_args,
'test_args_default': data['test_args_default'] + ' --packages-up-to rcpputils',
})
# configure nightly job for compiling with clang+libcxx on linux
if os_name == 'linux':
# Set the logging implementation to noop because log4cxx will not link properly when using libcxx.
clang_libcxx_build_args = data['build_args_default'].replace('--cmake-args',
'--cmake-args -DRCL_LOGGING_IMPLEMENTATION=rcl_logging_noop') + \
' --mixin clang-libcxx --packages-skip intra_process_demo'
create_job(os_name, 'nightly_' + os_name + '_clang_libcxx', 'ci_job.xml.em', {
'cmake_build_type': 'Debug',
'compile_with_clang_default': 'true',
'time_trigger_spec': PERIODIC_JOB_SPEC,
'mailer_recipients': DEFAULT_MAIL_RECIPIENTS + ' [email protected]',
'build_args_default': clang_libcxx_build_args,
# Only running test from the lowest-level C package to ensure "working" binaries are generated.
# We do not want to test more than this as we observe issues with the clang libcxx standard library
# we don't plan to tackle for now. The important part of this nightly is to make sure the code compiles
# without emitting thread-safety related warnings.
'test_args_default': data['test_args_default'].replace(' --retest-until-pass 2', '') + ' --packages-select rcutils'
})
# configure nightly job for testing rmw/rcl based packages with thread sanitizer on linux
if os_name == 'linux':
tsan_build_args = data['build_args_default'].replace('--cmake-args',
'--cmake-args -DOSRF_TESTING_TOOLS_CPP_DISABLE_MEMORY_TOOLS=ON') + \
' --mixin tsan --packages-up-to rcpputils rcutils'
create_job(os_name, 'nightly_' + os_name + '_thread_sanitizer', 'ci_job.xml.em', {
'cmake_build_type': 'Debug',
'time_trigger_spec': PERIODIC_JOB_SPEC,
'mailer_recipients': DEFAULT_MAIL_RECIPIENTS + ' [email protected]',
'build_args_default': tsan_build_args,
'test_args_default': data['test_args_default'] + ' --packages-select rcpputils rcutils',
})
# configure a manually triggered version of the coverage job
# Proposed list of packages to maximize coverage while testing quality level
# packages. The list is composed by the list of qualitly level packages plus
# packages of ros2.repos that are used by the qualitly level packages during
# tests.
# out of the list since ignored by colcon: shape_msgs, stereo_msgs, rmw_connext, rmw_cyclonedds
quality_level_pkgs = [
'action_msgs',
'ament_index_cpp',
'builtin_interfaces',
'class_loader',
'composition_interfaces',
'console_bridge_vendor',
'diagnostic_msgs',
'fastcdr',
'fastrtps',
'foonathan_memory_vendor',
'geometry_msgs',
'libstatistics_collector',
'libyaml_vendor',
'lifecycle_msgs',
'nav_msgs',
'rcl',
'rcl_action',
'rcl_interfaces',
'rcl_lifecycle',
'rcl_logging_spdlog',
'rcl_yaml_param_parser',
'rclcpp',
'rclcpp_action',
'rclcpp_components',
'rclcpp_lifecycle',
'rcpputils',
'rcutils',
'rmw',
'rmw_dds_common',
'rmw_fastrtps_cpp',
'rmw_fastrtps_shared_cpp',
'rmw_implementation',
'rosgraph_msgs',
'rosidl_default_runtime',
'rosidl_runtime_c',
'rosidl_runtime_cpp',
'rosidl_typesupport_c',
'rosidl_typesupport_cpp',
'rosidl_typesupport_fastrtps_c',
'rosidl_typesupport_fastrtps_cpp',
'rosidl_typesupport_interface',
'spdlog_vendor',
'statistics_msgs',
'std_msgs',
'std_srvs',
'tracetools',
'trajectory_msgs',
'unique_identifier_msgs',
'visualization_msgs',
]
# out of the list since ignored by colcon: ros1_bridge
testing_pkgs_for_quality_level = [
'interactive_markers',
'launch_testing_ros',
'message_filters',
'ros2action',
'ros2component',
'ros2doctor',
'ros2interface',
'ros2lifecycle',
'ros2lifecycle_test_fixtures',
'ros2param',
'ros2topic',
'rosbag2_compression',
'rosbag2_converter_default_plugins',
'rosbag2_cpp',
'rosbag2_storage',
'rosbag2_storage_default_plugins',
'rosbag2_test_common',
'rosbag2_tests',
'rosbag2_transport',
'rosidl_generator_c',
'rosidl_generator_cpp',
'rosidl_generator_py',
'rosidl_runtime_py',
'rosidl_typesupport_connext_c',
'rosidl_typesupport_connext_cpp',
'rosidl_typesupport_introspection_c',
'rosidl_typesupport_introspection_cpp',
'test_cli',
'test_cli_remapping',
'test_communication',
'test_launch_ros',
'test_msgs',
'test_quality_of_service',
'test_rclcpp',
'test_security',
'test_tf2',
'tf2',
'tf2_bullet',
'tf2_eigen',
'tf2_geometry_msgs',
'tf2_kdl',
'tf2_msgs',
'tf2_py',
'tf2_ros',
'tf2_sensor_msgs',
'tracetools_test',
]
if os_name == 'linux':
create_job(os_name, 'ci_' + os_name + '_coverage', 'ci_job.xml.em', {
'build_discard': {
'days_to_keep': 100,
'num_to_keep': 100,
},
'cmake_build_type': 'Debug',
'enable_coverage_default': 'true',
'build_args_default': data['build_args_default'] + ' --packages-skip qt_gui_cpp --packages-skip-by-dep qt_gui_cpp ' +
'--packages-up-to ' + ' '.join(quality_level_pkgs + testing_pkgs_for_quality_level),
'test_args_default': data['test_args_default'] + ' --packages-skip qt_gui_cpp --packages-skip-by-dep qt_gui_cpp ' +
'--packages-up-to ' + ' '.join(quality_level_pkgs + testing_pkgs_for_quality_level),
})
create_job(os_name, 'test_' + os_name + '_coverage', 'ci_job.xml.em', {
'build_discard': {
'days_to_keep': 100,
'num_to_keep': 100,
},
'cmake_build_type': 'Debug',
'enable_coverage_default': 'true',
'build_args_default': data['build_args_default'] + ' --packages-skip qt_gui_cpp --packages-skip-by-dep qt_gui_cpp ' +
'--packages-up-to ' + ' '.join(quality_level_pkgs + testing_pkgs_for_quality_level),
'test_args_default': data['test_args_default'] + ' --packages-skip qt_gui_cpp --packages-skip-by-dep qt_gui_cpp ' +
'--packages-up-to ' + ' '.join(quality_level_pkgs + testing_pkgs_for_quality_level),
})
# configure nightly coverage job on x86 Linux only
if os_name == 'linux':
create_job(os_name, 'nightly_' + os_name + '_coverage', 'ci_job.xml.em', {
'build_discard': {
'days_to_keep': 100,
'num_to_keep': 100,
},
'cmake_build_type': 'Debug',
'enable_coverage_default': 'true',
'time_trigger_spec': PERIODIC_JOB_SPEC,
'mailer_recipients': DEFAULT_MAIL_RECIPIENTS,
'build_args_default': data['build_args_default'] +
' --packages-up-to ' + ' '.join(quality_level_pkgs + testing_pkgs_for_quality_level),
'test_args_default': data['test_args_default'] +
' --packages-up-to ' + ' '.join(quality_level_pkgs + testing_pkgs_for_quality_level),
})
# Add a coverage job targeting Foxy.
create_job(os_name, 'nightly_' + os_name + '_foxy_coverage', 'ci_job.xml.em', {
'build_discard': {
'days_to_keep': 100,
'num_to_keep': 100,
},
'cmake_build_type': 'Debug',
'default_repos_url': 'https://raw.githubusercontent.com/ros2/ros2/foxy/ros2.repos',
'enable_coverage_default': 'true',
'time_trigger_spec': PERIODIC_JOB_SPEC,
'mailer_recipients': DEFAULT_MAIL_RECIPIENTS,
'ros_distro': 'foxy',
'ubuntu_distro': 'focal',
'build_args_default': data['build_args_default'] +
' --packages-up-to ' + ' '.join(quality_level_pkgs + testing_pkgs_for_quality_level),
'test_args_default': data['test_args_default'] +
' --packages-up-to ' + ' '.join(quality_level_pkgs + testing_pkgs_for_quality_level),
})
# configure nightly triggered job using FastRTPS dynamic
if os_name != 'linux-armhf':
job_name = 'nightly_' + job_os_name + '_extra_rmw' + '_release'
if os_name == 'windows':
job_name = job_name[:25]
create_job(os_name, job_name, 'ci_job.xml.em', {
'cmake_build_type': 'Release',
'time_trigger_spec': PERIODIC_JOB_SPEC,
'mailer_recipients': DEFAULT_MAIL_RECIPIENTS,
'ignore_rmw_default': {
'rmw_connext_cpp',
'rmw_connext_dynamic_cpp',
'rmw_opensplice_cpp'},
})
# configure nightly triggered job
if os_name != 'linux-armhf':
job_name = 'nightly_' + job_os_name + '_release'
if os_name == 'windows':
job_name = job_name[:15]
create_job(os_name, job_name, 'ci_job.xml.em', {
'cmake_build_type': 'Release',
'time_trigger_spec': PERIODIC_JOB_SPEC,
'mailer_recipients': DEFAULT_MAIL_RECIPIENTS,
})
# configure nightly triggered job with repeated testing
if os_name != 'linux-armhf':
job_name = 'nightly_' + job_os_name + '_repeated'
if os_name == 'windows':
job_name = job_name[:15]
test_args_default = os_configs.get(os_name, data).get('test_args_default', data['test_args_default'])
test_args_default = test_args_default.replace('--retest-until-pass', '--retest-until-fail')
test_args_default = test_args_default.replace('--ctest-args -LE xfail', '--ctest-args -LE "(linter|xfail)"')
test_args_default = test_args_default.replace('--pytest-args -m "not xfail"', '--pytest-args -m "not linter and not xfail"')
if job_os_name == 'linux-aarch64':
# skipping known to be flaky tests https://github.com/ros2/rviz/issues/368
test_args_default += ' --packages-skip rviz_common rviz_default_plugins rviz_rendering rviz_rendering_tests'
create_job(os_name, job_name, 'ci_job.xml.em', {
'cmake_build_type': 'None',
'time_trigger_spec': PERIODIC_JOB_SPEC,
'mailer_recipients': DEFAULT_MAIL_RECIPIENTS,
'test_args_default': test_args_default,
})
# configure nightly triggered job for excluded test
if os_name != 'linux-armhf':
job_name = 'nightly_' + job_os_name + '_xfail'
test_args_default = os_configs.get(os_name, data).get('test_args_default', data['test_args_default'])
test_args_default = test_args_default.replace('--ctest-args -LE xfail', '--ctest-args -L xfail')
test_args_default = test_args_default.replace('--pytest-args -m "not xfail"', '--pytest-args -m xfail --runxfail')
create_job(os_name, job_name, 'ci_job.xml.em', {
'cmake_build_type': 'None',
'time_trigger_spec': PERIODIC_JOB_SPEC,
'mailer_recipients': DEFAULT_MAIL_RECIPIENTS,
'test_args_default': test_args_default,
})
# configure the launch job
launcher_job_name = 'ci_launcher'
if args.select_jobs_regexp and args.pattern_select_jobs_regexp.match(launcher_job_name):
os_specific_data = collections.OrderedDict()
for os_name in sorted(os_configs.keys() - launcher_exclude):
os_specific_data[os_name] = dict(data)
os_specific_data[os_name].update(os_configs[os_name])
os_specific_data[os_name]['job_name'] = 'ci_' + os_name
job_data = dict(data)
job_data['ci_scripts_default_branch'] = args.ci_scripts_default_branch
job_data['label_expression'] = 'master'
job_data['os_specific_data'] = os_specific_data
job_data['cmake_build_type'] = 'None'
job_config = expand_template('ci_launcher_job.xml.em', job_data)
configure_job(jenkins, launcher_job_name, job_config, **jenkins_kwargs)
if __name__ == '__main__':
main()