premerge-ci-buildspec.yml

version: 0.2

phases:
  pre_build:
    commands:
      - echo "Launching EC2 instance to run tests"
      - |
        INSTANCE_ID=$(aws ec2 run-instances \
          --image-id ami-0b3a9d48380433e49 \
          --count 1 \
          --instance-type g5.2xlarge \
          --key-name production/ssh/isaaclab \
          --security-group-ids sg-02617e4b8916794c4 \
          --subnet-id subnet-0907ceaeb40fd9eac \
          --block-device-mappings '[{"DeviceName":"/dev/sda1","Ebs":{"VolumeSize":500}}]' \
          --output text \
          --query 'Instances[0].InstanceId')
      - aws ec2 wait instance-running --instance-ids $INSTANCE_ID
      - |
        EC2_INSTANCE_IP=$(aws ec2 describe-instances \
          --filters "Name=instance-state-name,Values=running" "Name=instance-id,Values=$INSTANCE_ID" \
          --query 'Reservations[*].Instances[*].[PrivateIpAddress]' \
          --output text)
      - mkdir -p ~/.ssh
      - |
        aws ec2 describe-key-pairs --include-public-key --key-name production/ssh/isaaclab \
          --query 'KeyPairs[0].PublicKey' --output text > ~/.ssh/id_rsa.pub
      - |
        aws secretsmanager get-secret-value --secret-id production/ssh/isaaclab \
          --query SecretString --output text > ~/.ssh/id_rsa
      - chmod 400 ~/.ssh/id_*
      - echo "Host $EC2_INSTANCE_IP\n\tStrictHostKeyChecking no\n" >> ~/.ssh/config
      - |
        aws ec2-instance-connect send-ssh-public-key \
          --instance-id $INSTANCE_ID \
          --availability-zone us-west-2a \
          --ssh-public-key file://~/.ssh/id_rsa.pub \
          --instance-os-user ubuntu

  build:
    commands:
      - echo "Running tests on EC2 instance"
      - SRC_DIR=$(basename $CODEBUILD_SRC_DIR)
      - cd ..
      - |
        bash -c '
        function retry_scp() {
          local retries=5
          local wait_time=30
          local count=0
          while [ $count -lt $retries ]; do
            sleep $wait_time
            scp -r $SRC_DIR ubuntu@$EC2_INSTANCE_IP:~
            if [ $? -eq 0 ]; then
              echo "SCP command succeeded"
              return 0
            fi
            count=$((count + 1))
            echo "SCP command failed. Retrying in $wait_time seconds..."
          done
          echo "SCP command failed after $retries attempts."
          return 1
        }
        retry_scp
        '
      - ssh ubuntu@$EC2_INSTANCE_IP "docker login -u \\\$oauthtoken -p $NGC_TOKEN nvcr.io"
      - |
        ssh ubuntu@$EC2_INSTANCE_IP "
          cd $SRC_DIR
          DOCKER_BUILDKIT=1 docker build -t isaac-lab-dev \
            --build-arg ISAACSIM_BASE_IMAGE_ARG=$ISAACSIM_BASE_IMAGE \
            --build-arg ISAACSIM_VERSION_ARG=4.2.0 \
            --build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim \
            --build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab \
            --build-arg DOCKER_USER_HOME_ARG=/root \
            -f docker/Dockerfile.base .
          docker run --rm --entrypoint bash --gpus all --network=host \
            --name isaac-lab-test isaac-lab-dev ./isaaclab.sh -t && exit \$?
        "

  post_build:
    commands:
      - echo "Terminating EC2 instance"
      - aws ec2 terminate-instances --instance-ids $INSTANCE_ID