circle ci config update

.circleci/config.yml

@@ -1,20 +1,20 @@
 version: 2
 #  Copyright (C) 2018-2022 LEIDOS.
-# 
+#
 #  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.
-# 
+#
 
-# Configuration file for Circle CI 
+# Configuration file for Circle CI
 # CI will report failure if any executed command returns and error status
 # Operations performed are as follows
 # Build source code
@@ -34,6 +34,7 @@ jobs:
           TERM: xterm # use xterm to get full display output from build
           INIT_ENV: /home/carma/.base-image/init-env.sh
           ROS_2_ENV: /opt/ros/foxy/setup.bash
+          COVERAGE_FLAGS: -g --coverage -fprofile-arcs -ftest-coverage -Wall
     working_directory: "/opt/carma/"
     resource_class: large
     # Execution steps
@@ -47,7 +48,7 @@ jobs:
             mkdir AutowareAuto
       - checkout:
           path: src/AutowareAuto
-      - run: 
+      - run:
           name: Pull Deps
           command: |
             source ${INIT_ENV}
@@ -63,11 +64,13 @@ jobs:
           command: |
             source ${INIT_ENV}
             source ${ROS_2_ENV}
-            make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov
+            export AUTOWARE_COMPILE_WITH_CUDA=1
+            colcon build --install-base ./ros/install --executor sequential --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCMAKE_BUILD_TYPE=Debug -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs -DCMAKE_CXX_FLAGS="${COVERAGE_FLAGS}" -DCMAKE_C_FLAGS="${COVERAGE_FLAGS}"
+      # make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov
       # Run SonarCloud analysis
       # PR Branchs and number extracted from Circle variables and github api
       # Circle CI seems to make a change to the base branch, so we must fetch --force to ensure correct git file change stats
-      # SONAR_SCANNER_TOKEN MUST be secured as an environment variable in Circle CI NOT in this file. 
+      # SONAR_SCANNER_TOKEN MUST be secured as an environment variable in Circle CI NOT in this file.
       # The following sonar settings MUST be set in SonarCloud UI NOT in this file
       # sonar.pullrequest.provider
       # sonar.pullrequest.github.endpoint
@@ -81,7 +84,7 @@ jobs:
             if [ -z "${CIRCLE_PULL_REQUEST}" ]; then
               echo "Non-PR Build Detected. Running analysis on ${CIRCLE_BRANCH}"
               cd src/AutowareAuto
-              sonar-scanner -Dproject.settings=.sonarqube/sonar-scanner.properties -Dsonar.login=${SONAR_SCANNER_TOKEN} 
+              sonar-scanner -Dproject.settings=.sonarqube/sonar-scanner.properties -Dsonar.login=${SONAR_SCANNER_TOKEN}
               exit 0;
             fi
             echo "PR branch ${CIRCLE_BRANCH}"
@@ -90,7 +93,7 @@ jobs:
             export PR_NUM=`echo ${CIRCLE_PULL_REQUEST} | cut -d'/' -f7`
             echo "PR number ${PR_NUM}"
             export BASE_BRANCH_URL="https://api.github.com/repos/${CIRCLE_PROJECT_USERNAME}/${CIRCLE_PROJECT_REPONAME}/pulls/${PR_NUM}"
-            export TARGET_BRANCH=$(curl "$BASE_BRANCH_URL" | jq '.base.ref' | tr -d '"') 
+            export TARGET_BRANCH=$(curl "$BASE_BRANCH_URL" | jq '.base.ref' | tr -d '"')
             echo "Target Branch = ${TARGET_BRANCH}"
             cd src/AutowareAuto
             git fetch --force origin ${TARGET_BRANCH}:${TARGET_BRANCH}