azure-pipelines.yml

trigger:
- main

pr: 
- main

variables:
- name: BRANCH_NAME
  value: $(Build.SourceBranchName)

resources:
  containers:
  - container: ubuntu_20_04_ros2_foxy
    image: ros:foxy-ros-base
    options: '-u root:sudo'
  - container: ubuntu_22_04_ros2_humble
    image: ros:humble-ros-base
    options: '-u root:sudo'
  - container: ubuntu_22_04_ros2_rolling
    image: ros:rolling-ros-base
    options: '-u root:sudo'


strategy:
  matrix:
    ubuntu_20_04_foxy:
      buildContainer: ubuntu_20_04_ros2_foxy
    ubuntu_22_04_humble:
      buildContainer: ubuntu_22_04_ros2_humble
    ubuntu_22_04_rolling:
      buildContainer: ubuntu_22_04_ros2_rolling

container: $[ variables ['buildContainer'] ]

steps:
  - script: ./CI/dependencies_setup.sh
    displayName: 'Dependencies Setup'

  - script: |
      #!/bin/bash
      rm -rf ToF 
      git clone https://github.com/analogdevicesinc/ToF 
      cd ToF 
      mkdir build 
      cd build 
      sudo cmake -DCMAKE_C_COMPILER=gcc-9 -DCMAKE_CXX_COMPILER=g++-9 -DWITH_EXAMPLES=off -DCMAKE_PREFIX_PATH="/opt/glog;/opt/protobuf;/opt/websockets" ..
      sudo make install .

    displayName: 'ToF Build'

  - script: |
      #!/bin/bash
      rm -rf ros2_ws 
      mkdir -p ros2_ws/src 
      cd ros2_ws/src 
      git clone -b ${{ variables.BRANCH_NAME }} https://github.com/analogdevicesinc/tof-ros2 
      cd ../ 
      source /opt/ros/foxy/setup.sh 
      colcon build
    condition: eq( variables['buildContainer'], 'ubuntu_20_04_ros2_foxy' )
    displayName: 'ros2_foxy'

  - script: |
      #!/bin/bash
      rm -rf ros2_ws 
      mkdir -p ros2_ws/src 
      cd ros2_ws/src 
      git clone -b ${{ variables.BRANCH_NAME }} https://github.com/analogdevicesinc/tof-ros2 
      cd ../ 
      source /opt/ros/humble/setup.sh 
      colcon build
    condition: eq( variables['buildContainer'], 'ubuntu_22_04_ros2_humble' )
    displayName: 'ros2_humble'

  - script: |
      #!/bin/bash
      rm -rf ros2_ws 
      mkdir -p ros2_ws/src 
      cd ros2_ws/src 
      git clone -b ${{ variables.BRANCH_NAME }} https://github.com/analogdevicesinc/tof-ros2 
      cd ../ 
      source /opt/ros/rolling/setup.sh 
      colcon build --cmake-args -DCMAKE_C_COMPILER=gcc-9 -DCMAKE_CXX_COMPILER=g++-9
    condition: eq( variables['buildContainer'], 'ubuntu_22_04_ros2_rolling' )
    displayName: 'ros2_rolling'