pipeline {
    environment {
        BUILDDIR_HOST = 'cmake-build-tests-host'
        BUILDDIR_LINUX = 'cmake-build-tests-linux'
        BUILDDIR_FREERTOS = 'cmake-build-tests-freertos'
        BUILDDIR_RTEMS = 'cmake-build-tests-rtems'
        BUILDDIR_WIN = 'cmake-build-tests-windows'
        DOCDDIR = 'cmake-build-documentation'
    }
    agent {
        docker { 
            image 'fsfw-ci:d9'
            args '--network host --sysctl fs.mqueue.msg_max=100'
        }
    }
    stages {
        stage('x64-linux-clang-host') {
            steps {
                sh 'rm -rf $BUILDDIR_HOST'

                dir(BUILDDIR_HOST) {
                    sh 'CC=clang CXX=clang++ cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
                    sh 'cmake --build . -j4'
                    sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
                }
            }
        }
        stage('x64-linux-gcc') {
            steps {
                sh 'rm -rf $BUILDDIR_LINUX'

                dir(BUILDDIR_LINUX) {
                    sh 'cmake -DFSFW_OSAL=linux -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
                    sh 'cmake --build . -j4'
                    sh 'cmake --build . -- fsfw-tests_coverage -j4'
                    sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
                }
            }
        }
        stage('x64-FreeRTOS-gcc') {
            steps {
                sh 'rm -rf $BUILDDIR_FREERTOS'

                dir(BUILDDIR_FREERTOS) {
                    sh 'cmake -DFSFW_OSAL=freertos -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
                    sh 'cmake --build . -j4'
                    sh './fsfw-tests'
                    //sh 'valgrind --leak-check=full --error-exitcode=1 ./fsfw-tests'
                }
            }
        }
        stage('aarch64-rtems6-gcc') {
            steps {
                sh 'rm -rf $BUILDDIR_RTEMS'

                dir(BUILDDIR_RTEMS) {
                    sh 'cmake -DFSFW_OSAL=rtems -DFSFW_BUILD_TESTS=ON -DFSFW_TESTS_GEN_COV=OFF -DFSFW_CICD_BUILD=ON -DCMAKE_TOOLCHAIN_FILE=../cmake/aarch64-rtems6-gcc.cmake ..'
                    sh 'cmake --build . -j4'
                    sh 'qemu-system-aarch64 -no-reboot -nographic -serial mon:stdio -semihosting -machine virt,gic-version=3 -cpu cortex-a72 -m 4000  -kernel fsfw-tests'
                }
            }
        }
        stage('x64-windows-msvc-host') {
            steps {
                sh 'rm -rf $BUILDDIR_WIN'

                dir(BUILDDIR_WIN) {
                    sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_TESTS_GEN_COV=OFF -DFSFW_CICD_BUILD=ON -DCMAKE_BUILD_TYPE=Release -DCMAKE_TOOLCHAIN_FILE=../cmake/x64-windows-msvc.cmake -GNinja ..'
                    sh 'cmake --build . -j4'
                    sh 'wine64 fsfw-tests.exe'
                }
            }
        }
        stage('Documentation') {
            when {
                branch 'development'
            }
            steps {
                dir(DOCDDIR) {
                    sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
                    sh 'make Sphinx'
                    sshagent(credentials: ['documentation-buildfix']) {
                        sh 'rsync -r --delete docs/sphinx/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/development'
                    }
                }
                dir(BUILDDIR_LINUX) {
                    sshagent(credentials: ['documentation-buildfix']) {
                        sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/coverage/development'
                    }
                }
            }
        }
        stage('Master Documentation') {
            when {
                branch 'master'
            }
            steps {
                dir(DOCDDIR) {
                    sh 'cmake -DFSFW_BUILD_DOCS=ON -DFSFW_OSAL=host ..'
                    sh 'make Sphinx'
                    sshagent(credentials: ['documentation-buildfix']) {
                        sh 'rsync -r --delete docs/sphinx/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/master'
                    }
                }
                dir(BUILDDIR_LINUX) {
                    sshagent(credentials: ['documentation-buildfix']) {
                        sh 'rsync -r --delete fsfw-tests_coverage/* buildfix@documentation.irs.uni-stuttgart.de:/fsfw/coverage/master'
                    }
                }
            }
        }
    }
}