[Gitlab-ci] use ccache

.gitlab-ci.yml

@@ -3,11 +3,21 @@ variables:
     GIT_SUBMODULE_STRATEGY: "recursive"
     GIT_DEPTH: "3"
 
+stages:
+  - minimal
+  - full
+
+cache:
+  paths:
+    - build/ccache
+
 .build_template: &build
     script:
-        - mkdir build
+        - mkdir -p build/ccache
         - cd build
-        - cmake ..
+        - export CCACHE_BASEDIR=${PWD}
+        - export CCACHE_DIR=${PWD}/ccache
+        - cmake .. -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache
         - make
         - make test
         - make install
@@ -15,23 +25,37 @@ variables:
 build_minimal_14:
     <<: *build
     image: eur0c.laas.fr:4567/stack-of-tasks/pinocchio/minimal:14.04
+    stage: minimal
 
 build_full_14:
     <<: *build
     image: eur0c.laas.fr:4567/stack-of-tasks/pinocchio/full:14.04
+    stage: full
+    dependencies:
+      - build_minimal_14
 
 build_minimal_16:
     <<: *build
     image: eur0c.laas.fr:4567/stack-of-tasks/pinocchio/minimal:16.04
+    stage: minimal
 
 build_full_16:
     <<: *build
     image: eur0c.laas.fr:4567/stack-of-tasks/pinocchio/full:16.04
+    stage: full
+    dependencies:
+      - build_minimal_16
 
 build_minimal_zesty:
     <<: *build
     image: eur0c.laas.fr:4567/stack-of-tasks/pinocchio/minimal:zesty
+    stage: minimal
+    allow_failure: true
 
 build_full_zesty:
     <<: *build
     image: eur0c.laas.fr:4567/stack-of-tasks/pinocchio/full:zesty
+    stage: full
+    dependencies:
+      - build_minimal_zesty
+    allow_failure: true

.gitlab-ci/Dockerfile.full.16.04

 FROM eur0c.laas.fr:4567/stack-of-tasks/pinocchio/minimal:16.04
 
-RUN apt install -qqy doxygen robotpkg-hpp-fcl liburdfdom-dev
+RUN apt-get update && apt-get install -qqy doxygen robotpkg-hpp-fcl liburdfdom-dev && rm -rf /var/lib/apt/lists/*

.gitlab-ci/Dockerfile.full.zesty

 FROM eur0c.laas.fr:4567/stack-of-tasks/pinocchio/minimal:zesty
 
-RUN apt install -qqy doxygen robotpkg-hpp-fcl liburdfdom-dev
+RUN apt-get update && apt-get install -qqy doxygen robotpkg-hpp-fcl liburdfdom-dev && rm -rf /var/lib/apt/lists/*

.gitlab-ci/Dockerfile.minimal.14.04

 FROM eur0c.laas.fr:4567/stack-of-tasks/pinocchio/robotpkg:14.04
 
-RUN apt update -qqy && apt install -qqy \
+RUN apt-get update -qqy && apt-get install -qqy \
+   ccache \
    cmake \
    g++ \
    pkg-config \
@@ -10,4 +11,5 @@ RUN apt update -qqy && apt install -qqy \
    libpython-dev \
    libboost-python-dev \
    python-numpy \
-   robotpkg-eigenpy
+   robotpkg-eigenpy \
+   && rm -rf /var/lib/apt/lists/*

.gitlab-ci/Dockerfile.minimal.16.04

 FROM eur0c.laas.fr:4567/stack-of-tasks/pinocchio/robotpkg:16.04
 
-RUN apt update -qqy && apt install -qqy \
+RUN apt-get update -qqy && apt-get install -qqy \
+   ccache \
    cmake \
    g++ \
    pkg-config \
@@ -10,4 +11,5 @@ RUN apt update -qqy && apt install -qqy \
    libpython-dev \
    libboost-python-dev \
    python-numpy \
-   robotpkg-eigenpy
+   robotpkg-eigenpy \
+   && rm -rf /var/lib/apt/lists/*

.gitlab-ci/Dockerfile.minimal.zesty

 FROM eur0c.laas.fr:4567/stack-of-tasks/pinocchio/robotpkg:zesty
 
-RUN apt update -qqy && apt install -qqy \
+RUN apt-get update -qqy && apt-get install -qqy \
+   ccache \
    cmake \
    g++ \
    pkg-config \
@@ -10,4 +11,6 @@ RUN apt update -qqy && apt install -qqy \
    libpython-dev \
    libboost-python-dev \
    python-numpy \
-   robotpkg-eigenpy
+   robotpkg-eigenpy \
+   && rm -rf /var/lib/apt/lists/*
+

.gitlab-ci/Dockerfile.robotpkg.zesty

 FROM ubuntu:zesty
 
+RUN apt-get update && apt-get install -qqy dirmngr && rm -rf /var/lib/apt/lists/*
+
 RUN echo "deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub zesty robotpkg" > /etc/apt/sources.list.d/robotpkg.list
 RUN apt-key adv --keyserver hkp://pgp.mit.edu --recv-key BC48D7C832FF7241