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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 copy
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/rolling/ros2.repos'
DEFAULT_MAIL_RECIPIENTS = '[email protected]'
PERIODIC_JOB_SPEC = '0 4 * * *'
template_prefix_path[:] = \
[os.path.join(os.path.abspath(os.path.dirname(__file__)), 'job_templates')]
def retention_data_by_job_type(job_name):
build_discard = None
if job_name.startswith('test_'):
build_discard = {'days_to_keep': 300, 'num_to_keep': 10}
elif job_name.startswith('ci_packaging'):
build_discard = {'days_to_keep': 300, 'num_to_keep': 30}
elif job_name.startswith('ci_'):
build_discard = {'days_to_keep': 732, 'num_to_keep': 500}
elif job_name.startswith('packaging_'):
build_discard = {'days_to_keep': 732, 'num_to_keep': 200}
elif job_name.startswith('nightly_'):
build_discard = {'days_to_keep': 732, 'num_to_keep': 732}
else:
raise f'Please set a retention level for {job_name}'
return {'build_discard': build_discard}
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 = {
'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_fastrtps_dynamic_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 -DAPPEND_PROJECT_NAME_TO_INCLUDEDIR=ON',
'test_args_default': '--event-handlers console_cohesion+ --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': 'noble',
'el_release': '9',
'ros_distro': 'rolling',
}
jenkins = connect(args.jenkins_url)
os_configs = {
'linux': {
'label_expression': 'linux',
'shell_type': 'Shell',
},
'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_connextdds'},
'test_args_default': re.sub(r'(--ctest-args +-LE +)"?([^ "]+)"?', r'\1"(mimick|\2)"', data['test_args_default']),
},
'linux-rhel': {
'label_expression': 'linux',
'shell_type': 'Shell',
'build_args_default': re.sub(r'(--cmake-args)', r'\1 -DPython3_EXECUTABLE=/usr/bin/python3', data['build_args_default']),
},
}
os_config_overrides = {
'linux-rhel': {
'use_connext_debs_default': 'false',
},
}
jenkins_kwargs = {}
jenkins_kwargs['context_lines'] = args.context_lines
if not args.commit:
jenkins_kwargs['dry_run'] = True
pattern_select_jobs_regexp = ''
if args.select_jobs_regexp:
pattern_select_jobs_regexp = re.compile(args.select_jobs_regexp)
def create_job(os_name, job_name, template_file, additional_dict):
if pattern_select_jobs_regexp and not 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_data.update(retention_data_by_job_type(job_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',
'test_args_default': os_configs.get(os_name, {}).get('test_args_default', data['test_args_default']) + ' --executor sequential',
})
# 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',
})
packaging_label_expression = os_configs[os_name]['label_expression']
# configure a manual version of the packaging job
ignore_rmw_default_packaging = set()
if os_name in ['linux-aarch64']:
ignore_rmw_default_packaging |= {'rmw_connextdds'}
create_job(os_name, 'ci_packaging_' + os_name, 'packaging_job.xml.em', {
'cmake_build_type': 'RelWithDebInfo',
'label_expression': packaging_label_expression,
'ignore_rmw_default': ignore_rmw_default_packaging,
'use_connext_debs_default': 'true',
})
# configure manual test packaging job
create_job(os_name, 'test_packaging_' + os_name, 'packaging_job.xml.em', {
'cmake_build_type': 'RelWithDebInfo',
'label_expression': packaging_label_expression,
'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', {
'cmake_build_type': 'RelWithDebInfo',
'disabled': False,
'label_expression': packaging_label_expression,
'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 != 'windows':
job_name = 'nightly_' + job_os_name + '_debug'
debug_build_args = data['build_args_default']
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,
'build_args_default': debug_build_args,
})
# 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 jobs for compiling with clang+libcxx on linux
if os_name == 'linux':
# Make sure to force building vendor packages, since we need these to have been built by
# clang as well to link successfully.
clang_libcxx_build_args = data['build_args_default'].replace('--cmake-args',
'--cmake-args -DFORCE_BUILD_VENDOR_PKG=ON') + \
' --mixin clang-libcxx --packages-skip intra_process_demo qt_gui_cpp rqt_gui_cpp qt_gui_core rqt'
# Only running tests 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 the jobs is to make sure the code compiles
# without emitting thread-safety related warnings.
clang_libcxx_test_args = data['test_args_default'].replace(' --retest-until-pass 2', '') + ' --packages-select rcutils'
# nightly job
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,
'test_args_default': clang_libcxx_test_args,
})
# manually triggered job
create_job(os_name, 'ci_' + os_name + '_clang_libcxx', 'ci_job.xml.em', {
'cmake_build_type': 'None',
'compile_with_clang_default': 'true',
'build_args_default': clang_libcxx_build_args,
'test_args_default': clang_libcxx_test_args + ' --executor sequential',
})
# 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 quality level packages during
# tests.
# out of the list since ignored by colcon: shape_msgs, stereo_msgs,
# rmw_connextdds, rmw_cyclonedds.
quality_level_pkgs = [
'action_msgs',
'ament_index_cpp',
'builtin_interfaces',
'class_loader',
'composition_interfaces',
'console_bridge_vendor',
'diagnostic_msgs',
'fastcdr',
'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',
'rosidl_typesupport_introspection_c',
'rosidl_typesupport_introspection_cpp',
'spdlog_vendor',
'statistics_msgs',
'std_msgs',
'std_srvs',
'tracetools',
'trajectory_msgs',
'unique_identifier_msgs',
'visualization_msgs',
]
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_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_introspection_tests',
'test_cli',
'test_cli_remapping',
'test_communication',
'test_launch_ros',
'test_msgs',
'test_quality_of_service',
'test_rclcpp',
'test_security',
'test_tf2',
'test_tracetools',
'tf2',
'tf2_bullet',
'tf2_eigen',
'tf2_geometry_msgs',
'tf2_kdl',
'tf2_msgs',
'tf2_py',
'tf2_ros',
'tf2_sensor_msgs',
]
humble_testing_pkgs_for_quality_level = copy.copy(testing_pkgs_for_quality_level)
iron_testing_pkgs_for_quality_level = copy.copy(testing_pkgs_for_quality_level)
jazzy_testing_pkgs_for_quality_level = copy.copy(testing_pkgs_for_quality_level)
if os_name == 'linux':
create_job(os_name, 'ci_' + os_name + '_coverage', 'ci_job.xml.em', {
'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) + ' --executor sequential',
})
create_job(os_name, 'test_' + os_name + '_coverage', 'ci_job.xml.em', {
'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', {
'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 Humble.
create_job(os_name, 'nightly_' + os_name + '_humble_coverage', 'ci_job.xml.em', {
'cmake_build_type': 'Debug',
'default_repos_url': 'https://raw.githubusercontent.com/ros2/ros2/humble/ros2.repos',
'enable_coverage_default': 'true',
'time_trigger_spec': PERIODIC_JOB_SPEC,
'mailer_recipients': DEFAULT_MAIL_RECIPIENTS,
'ros_distro': 'humble',
'ubuntu_distro': 'jammy',
'build_args_default': data['build_args_default'] +
' --packages-up-to ' + ' '.join(quality_level_pkgs + humble_testing_pkgs_for_quality_level),
'test_args_default': data['test_args_default'] +
' --packages-up-to ' + ' '.join(quality_level_pkgs + humble_testing_pkgs_for_quality_level),
})
# Add a coverage job targeting Iron.
create_job(os_name, 'nightly_' + os_name + '_iron_coverage', 'ci_job.xml.em', {
'cmake_build_type': 'Debug',
'default_repos_url': 'https://raw.githubusercontent.com/ros2/ros2/iron/ros2.repos',
'enable_coverage_default': 'true',
'time_trigger_spec': PERIODIC_JOB_SPEC,
'mailer_recipients': DEFAULT_MAIL_RECIPIENTS,
'ros_distro': 'iron',
'ubuntu_distro': 'jammy',
'build_args_default': data['build_args_default'] +
' --packages-up-to ' + ' '.join(quality_level_pkgs + iron_testing_pkgs_for_quality_level),
'test_args_default': data['test_args_default'] +
' --packages-up-to ' + ' '.join(quality_level_pkgs + iron_testing_pkgs_for_quality_level),
})
# Add a coverage job targeting Jazzy.
create_job(os_name, 'nightly_' + os_name + '_jazzy_coverage', 'ci_job.xml.em', {
'cmake_build_type': 'Debug',
'default_repos_url': 'https://raw.githubusercontent.com/ros2/ros2/jazzy/ros2.repos',
'enable_coverage_default': 'true',
'time_trigger_spec': PERIODIC_JOB_SPEC,
'mailer_recipients': DEFAULT_MAIL_RECIPIENTS,
'ros_distro': 'jazzy',
'ubuntu_distro': 'noble',
'build_args_default': data['build_args_default'] +
' --packages-up-to ' + ' '.join(quality_level_pkgs + jazzy_testing_pkgs_for_quality_level),
'test_args_default': data['test_args_default'] +
' --packages-up-to ' + ' '.join(quality_level_pkgs + jazzy_testing_pkgs_for_quality_level),
})
# configure nightly triggered job
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
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 = re.sub(r'(--ctest-args +-LE +)"?([^ "]+)"?', r'\1"(linter|\2)"', test_args_default)
test_args_default = test_args_default.replace('--pytest-args -m "not xfail"', '--pytest-args -m "not linter and not xfail"')
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
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 = re.sub(r'--ctest-args +-LE +"?[^ "]+"?', r'--ctest-args -L xfail', test_args_default)
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
for launch_prefix in ('', 'test_'):
launcher_job_name = launch_prefix + 'ci_launcher'
if not pattern_select_jobs_regexp or pattern_select_jobs_regexp.match(launcher_job_name):
os_specific_data = collections.OrderedDict()
for os_name in sorted(os_configs.keys()):
os_specific_data[os_name] = dict(data)
os_specific_data[os_name].update(os_configs[os_name])
os_specific_data[os_name]['job_name'] = launch_prefix + 'ci_' + os_name
job_data = dict(data)
job_data['ci_scripts_default_branch'] = args.ci_scripts_default_branch
job_data['label_expression'] = 'built-in || master'
job_data['os_specific_data'] = os_specific_data
job_data['cmake_build_type'] = 'None'
job_data['test_args_default'] += ' --executor sequential'
job_data.update(retention_data_by_job_type(launcher_job_name))
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()