fix(webauto-ci): custom build spec (#5087)

Signed-off-by: rxnew <[email protected]>

.webauto-ci.yaml

@@ -1,9 +1,77 @@
+# The configuration file for Web.Auto CI/CD tool.
+# https://docs.web.auto/user-manuals/evaluator/configuration/reference/introduction
+
 version: 2
 
 artifacts:
   - name: main
+    metadata:
+      play-ondemand.ci.web.auto/buildspec: Autoware-Humble_v0.29.0
     build:
-      type: tier4/universe/main/amd64/v1
+      type: custom
+      runtime:
+        type: standard1/amd64/large
+      source:
+        vcstool:
+          repositories_files:
+            - autoware.repos
+            - simulator.repos
+          import_path: src
+      environment_variables:
+        AUTOWARE_PATH: /opt/autoware
+        DEBIAN_FRONTEND: noninteractive
+        LANG: C.UTF-8
+      phases:
+        - name: environment-setup
+          user: root
+          exec: ./.webauto-ci/main/environment-setup/run.sh
+          caches:
+            - name: apt-lists
+              mountpoint: /var/lib/apt/lists
+            - name: apt-archives
+              mountpoint: /var/cache/apt/archives
+          build_result_reuse:
+            key_files:
+              - .webauto-ci/main/environment-setup/**/*
+        - name: autoware-setup
+          user: autoware
+          exec: ./.webauto-ci/main/autoware-setup/run.sh
+          caches:
+            - name: apt-lists
+              mountpoint: /var/lib/apt/lists
+            - name: apt-archives
+              mountpoint: /var/cache/apt/archives
+          build_result_reuse:
+            key_files:
+              - .webauto-ci/main/autoware-setup/**/*
+              - ansible/**/*
+              - ansible-galaxy-requirements.yaml
+              - amd64.env
+          incremental_build:
+            enabled: true
+        - name: autoware-build
+          user: autoware
+          exec: ./.webauto-ci/main/autoware-build/run.sh
+          environment_variables:
+            PARALLEL_WORKERS: "32"
+            CCACHE_DIR: /tmp/build/cache/ccache
+          caches:
+            - name: apt-lists
+              mountpoint: /var/lib/apt/lists
+            - name: apt-archives
+              mountpoint: /var/cache/apt/archives
+            - name: ccache
+              mountpoint: /tmp/build/cache/ccache
+          build_result_reuse:
+            key_files:
+              - .webauto-ci/main/autoware-build/**/*
+              - src/**/*
+      base_container_image:
+        from: ubuntu:22.04
+      output_container_image:
+        from: autoware-build
+        workdir: /opt/autoware
+        user: autoware
 
 simulations:
   - name: lexus_planning_sim
@@ -13,9 +81,7 @@ simulations:
         type: container
         artifact: main
       runtime:
-        type: simulator/standard1/amd64/medium
-        cpu: 8
-        memory: 16384
+        type: standard1/amd64/medium
       parameters:
         launch_autoware: "true"
         autoware_launch_package: autoware_launch

.webauto-ci/main/autoware-build/run.sh

@@ -0,0 +1,44 @@
+#!/bin/bash -e
+
+: "${WEBAUTO_CI_SOURCE_PATH:?is not set}"
+: "${WEBAUTO_CI_DEBUG_BUILD:?is not set}"
+
+: "${AUTOWARE_PATH:?is not set}"
+: "${CCACHE_DIR:=}"
+: "${CCACHE_SIZE:=1G}"
+: "${PARALLEL_WORKERS:=4}"
+
+sudo mkdir "$AUTOWARE_PATH"
+sudo chown "$(whoami)": "$AUTOWARE_PATH"
+cd "$WEBAUTO_CI_SOURCE_PATH"
+cp -r src .webauto-ci.* "$AUTOWARE_PATH"
+cd "$AUTOWARE_PATH"
+
+if [ -n "$CCACHE_DIR" ]; then
+    mkdir -p "$CCACHE_DIR"
+    export USE_CCACHE=1
+    export CCACHE_DIR="$CCACHE_DIR"
+    export CC="/usr/lib/ccache/gcc"
+    export CXX="/usr/lib/ccache/g++"
+    ccache -M "$CCACHE_SIZE"
+fi
+
+sudo -E apt-get -y update
+
+# shellcheck disable=SC2012
+ROS_DISTRO=$(ls -1 /opt/ros | head -1)
+# shellcheck disable=SC1090
+source "/opt/ros/$ROS_DISTRO/setup.bash"
+rosdep update
+rosdep install -y --from-paths src --ignore-src --rosdistro "$ROS_DISTRO"
+
+[[ $WEBAUTO_CI_DEBUG_BUILD == "true" ]] && build_type="RelWithDebInfo" || build_type="Release"
+
+colcon build \
+    --cmake-args -DCMAKE_BUILD_TYPE="$build_type" -DBUILD_TESTING=off -Wno-dev --no-warn-unused-cli \
+    --symlink-install \
+    --catkin-skip-building-tests \
+    --executor parallel \
+    --parallel-workers "$PARALLEL_WORKERS"
+
+sudo -E apt-get -y autoremove

.webauto-ci/main/autoware-setup/run.sh

@@ -0,0 +1,20 @@
+#!/bin/bash -e
+
+ansible_args=()
+ansible_args+=("--extra-vars" "prompt_install_nvidia=y")
+ansible_args+=("--extra-vars" "prompt_download_artifacts=y")
+ansible_args+=("--extra-vars" "data_dir=$HOME/autoware_data")
+ansible_args+=("--extra-vars" "ros2_installation_type=ros-base")
+ansible_args+=("--extra-vars" "install_devel=false")
+
+# read amd64 env file and expand ansible arguments
+source 'amd64.env'
+while read -r env_name; do
+    ansible_args+=("--extra-vars" "${env_name}=${!env_name}")
+done < <(sed "s/=.*//" <amd64.env)
+
+ansible-galaxy collection install -f -r "ansible-galaxy-requirements.yaml"
+ansible-playbook "ansible/playbooks/universe.yaml" \
+    "${ansible_args[@]}" \
+    -e WORKSPACE_ROOT="$(pwd)" \
+    --skip-tags vcs

.webauto-ci/main/environment-setup/run.sh

@@ -0,0 +1,14 @@
+#!/bin/bash -e
+
+apt-get update
+
+apt-get -y install sudo curl wget unzip gnupg lsb-release ccache python3-apt python3-pip apt-utils software-properties-common jq
+add-apt-repository universe
+
+pip install --no-cache-dir 'ansible==6.*'
+
+user=autoware
+useradd -m "$user" -s /bin/bash
+echo "$user:$user" | chpasswd
+echo "$user ALL=(ALL) NOPASSWD:ALL" >>/etc/sudoers
+gpasswd -a "$user" sudo