#!/usr/bin/env groovy

pipeline {
  agent none
  stages {

    stage('Build') {
      steps {
        script {
          def build_nodes = [:]
          def docker_images = [
            armhf: "px4io/px4-dev-armhf:2019-07-29",
            base: "px4io/px4-dev-base-bionic:2019-07-29",
            nuttx: "px4io/px4-dev-nuttx:2019-07-29",
            rpi: "px4io/px4-dev-raspi:2019-07-29",
            snapdragon: "lorenzmeier/px4-dev-snapdragon:2018-09-12"
          ]

          def armhf_builds = [
            target: ["aerotenna_ocpoc_ubuntu"],
            image: docker_images.armhf,
            archive: false
          ]

          def base_builds = [
            target: ["px4_sitl_rtps"],
            image: docker_images.base,
            archive: false
          ]

          def nuttx_builds_archive = [
            target: [
                     "px4_fmu-v2_default", "px4_fmu-v2_fixedwing", "px4_fmu-v2_lpe", "px4_fmu-v2_multicopter", "px4_fmu-v2_rover", "px4_fmu-v2_test",
                     "px4_fmu-v3_default",
                     "px4_fmu-v4_default",
                     "px4_fmu-v4pro_default",
                     "px4_fmu-v5_default", "px4_fmu-v5_fixedwing", "px4_fmu-v5_multicopter", "px4_fmu-v5_rover", "px4_fmu-v5_rtps", "px4_fmu-v5_stackcheck",
                     "px4_fmu-v5x_default", "px4_fmu-v5x_fixedwing", "px4_fmu-v5x_multicopter", "px4_fmu-v5x_rover", "px4_fmu-v5x_rtps", "px4_fmu-v5x_stackcheck",
                     "intel_aerofc-v1_default", "auav_x21_default", "av_x-v1_default", "bitcraze_crazyflie_default", "airmind_mindpx-v2_default",
                     "holybro_kakutef7", "mro_ctrl-zero-f7_default", "nxp_fmuk66-v3_default", "omnibus_f4sd_default"],
            image: docker_images.nuttx,
            archive: true
          ]

          def nuttx_builds_other = [
            target: ["px4_esc-v1_default", "thiemar_s2740vc-v1_default"],
            image: docker_images.nuttx,
            archive: false
          ]

          def rpi_builds = [
            target: ["emlid_navio2_cross", "parrot_bebop_default"],
            image: docker_images.rpi,
            archive: false
          ]

          def snapdragon_builds = [
            target: ["atlflight_eagle_qurt-default", "atlflight_eagle_default"],
            image: docker_images.snapdragon,
            archive: false
          ]

          def docker_builds = [
            armhf_builds, base_builds, nuttx_builds_archive, nuttx_builds_other, rpi_builds, snapdragon_builds
          ]

          for (def build_type = 0; build_type < docker_builds.size(); build_type++) {
            for (def build_target = 0; build_target < docker_builds[build_type].target.size(); build_target++) {
              build_nodes.put(docker_builds[build_type].target[build_target],
                createBuildNode(docker_builds[build_type].archive, docker_builds[build_type].image, docker_builds[build_type].target[build_target])
                )
            }
          }

        parallel build_nodes

        } // script
      } // steps
    } // stage Build

    // TODO: actually upload artifacts to S3
    // stage('S3 Upload') {
    //   agent {
    //     docker { image 'px4io/px4-dev-base-bionic:2019-07-29' }
    //   }
    //   options {
    //         skipDefaultCheckout()
    //   }
    //   when {
    //     anyOf {
    //       branch 'master'
    //       branch 'beta'
    //       branch 'stable'
    //       branch 'pr-jenkins' // for testing
    //     }
    //   }
    //   steps {
    //     sh 'echo "uploading to S3"'
    //   }
    // }

  } // stages
  environment {
    CCACHE_DIR = '/tmp/ccache'
    CI = true
  }
  options {
    buildDiscarder(logRotator(numToKeepStr: '2', artifactDaysToKeepStr: '14'))
    timeout(time: 60, unit: 'MINUTES')
  }
}

def createBuildNode(Boolean archive, String docker_image, String target) {
  return {

    // TODO: fix the snapdragon image
    bypass_entrypoint = ''
    if (docker_image == 'lorenzmeier/px4-dev-snapdragon:2018-09-12') {
      bypass_entrypoint = ' --entrypoint=""'
    }

    node {
      docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
        docker.image(docker_image).inside('-e CCACHE_BASEDIR=${WORKSPACE} -v ${CCACHE_DIR}:${CCACHE_DIR}:rw' + bypass_entrypoint) {
          stage(target) {
            try {
              sh('export')
              checkout(scm)
              sh('make distclean')
              sh('git fetch --tags')
              sh('ccache -z')
              sh('make ' + target)
              sh('ccache -s')
              sh('make sizes')
              if (archive) {
                archiveArtifacts(allowEmptyArchive: false, artifacts: 'build/*/*.px4, build/*/*.elf, build/*/*.bin', fingerprint: true, onlyIfSuccessful: true)
              }
              sh('make ' + target + ' package')
              archiveArtifacts(allowEmptyArchive: true, artifacts: 'build/*/*.tar.bz2', fingerprint: true, onlyIfSuccessful: true)
              archiveArtifacts(allowEmptyArchive: true, artifacts: 'build/*/*.deb', fingerprint: true, onlyIfSuccessful: true)
            }
            catch (exc) {
              throw (exc)
            }
            finally {
              sh('make distclean')
            }
          }
        }
      }
    }
  }
}
