kinect/codes/Azure-Kinect-Sensor-SDK/azure-pipelines.yml

# Copyright (c) Microsoft Corporation. All rights reserved.
# Licensed under the MIT License.

name: K4A-SDK-$(SourceBranchName)-$(Date:yyyyMMdd)-$(Rev:rrr)

schedules:
# Every 60 minutes from 08:00 UTC (00:00 PST/01:00 PDT) to 10:00 UTC (02:00 PST/03:00 PDT)
- cron: "*/60 08-10 * * *"
  displayName: 'Nightly Builds - Develop'
  branches:
    include:
    - develop
  always: true
# Every 30 minutes from 11:00 UTC (03:00 PST/04:00 PDT) to 13:00 UTC (05:00 PST/06:00 PDT)
# - cron: "*/30 11-13 * * *"
#   displayName: 'Nightly Builds - Master'
#   branches:
#     include:
#     - master
#   always: true

    
variables:
- name: 'skipComponentGovernaceDetection'
  value: true
- name: 'linux_firmware_version'
  value: '1.6.110079014'
- name: 'windows_firmware_version'
  value: '1.6.110079014'
- name: 'NuGetPackageVersion'
  value: '1.4.1-alpha.0'
- name: 'OpenCVPath'
  value: 'C:\OpenCV\Build\x64\vc15\'

trigger:
  batch: false
  branches:
    include:
    - master
    - develop
    - release/*
    - hotfix/*
    - feature/*

jobs:
- job: WindowsK4ABuildTest
  displayName: Win
  strategy:
    maxParallel: 100
    matrix:
      VS2019_x64-msvc_debug_ninja:
        CMakeArch: 'amd64'
        BuildGenerator: 'Ninja'
        CMakeConfiguration: 'debug'
        MSBuildPlatform: 'x64'
        MSBuildConfiguration: 'Debug'
        vmImage: 'windows-2019'
        UsesOpenCV: 'TRUE'
      VS2019_x64-msvc_rel_ninja:
        CMakeArch: 'amd64'
        BuildGenerator: 'Ninja'
        CMakeConfiguration: 'relwithdebinfo'
        MSBuildPlatform: 'x64'
        MSBuildConfiguration: 'Release'
        vmImage: 'windows-2019'
        UsesOpenCV: 'TRUE'
      VS2019_x86-msvc_debug_ninja:
        CMakeArch: 'x86'
        BuildGenerator: 'Ninja'
        CMakeConfiguration: 'debug'
        MSBuildPlatform: 'x86'
        MSBuildConfiguration: 'Debug'
        vmImage: 'windows-2019'
        UsesOpenCV: 'FALSE'
      VS2019_x86-msvc_rel_ninja:
        CMakeArch: 'x86'
        BuildGenerator: 'Ninja'
        CMakeConfiguration: 'relwithdebinfo'
        MSBuildPlatform: 'x86'
        MSBuildConfiguration: 'Release'
        vmImage: 'windows-2019'
        UsesOpenCV: 'FALSE'
  pool:
    vmImage: $(vmImage)

  steps:
  - checkout: self
    clean: true
    lfs: false
    persistCredentials: true
    submodules: true

  # Use Python Version
  # Retrieves the specified version of Python from the tool cache. Optionally add it to PATH.
  - task: UsePythonVersion@0
    inputs:
      versionSpec: '3.x'
      addToPath: true
      architecture: 'x64'

  - powershell: '$(Build.SourcesDirectory)/scripts/verify-windows.ps1'
    displayName: 'Run verify-windows.ps1'

  - script: |
       git add --renormalize . && git diff-index --quiet HEAD --
       IF %ERRORLEVEL% NEQ 0 (
         echo "Please renormalize files before pushing using git add --renormalize ."
         git status
         exit /b 1
       )
       exit /b 0
    displayName: 'Check Line Endings'

  - task: BatchScript@1
    displayName: 'Setup VS Env'
    inputs:
      filename: 'C:\Program Files (x86)\Microsoft Visual Studio\2017\Enterprise\Common7\Tools\VsDevCmd.bat'
      arguments: '-arch=$(CMakeArch)'
      modifyEnvironment: true
    condition: and(succeeded(), eq(variables['vmImage'], 'vs2017-win2016'))

  - task: BatchScript@1
    displayName: 'Setup VS Env'
    inputs:
      filename: 'C:\Program Files (x86)\Microsoft Visual Studio\2019\Enterprise\Common7\Tools\VsDevCmd.bat'
      arguments: '-arch=$(CMakeArch)'
      modifyEnvironment: true
    condition: and(succeeded(), eq(variables['vmImage'], 'windows-2019'))

  - pwsh: '$(Build.SourcesDirectory)/scripts/install-opencv.ps1'
    displayName: 'Install OpenCV'
    condition: and(succeeded(), eq(variables['UsesOpenCV'], 'TRUE'))

  - powershell: |
      $ErrorActionPreference = "Stop"

      function Download-ToTemp
      {
          param
          (
              [Parameter(Mandatory)]
              [string] $url,
              [string] $filename
          )

          if (-not ($filename))
          {
              $filename = Split-Path -Path $url -Leaf
          }

          if (-not ($filename))
          {
              Write-Error "Unable to parse filename from $url"
              return $null
          }

          $tempDir = [System.IO.Path]::GetTempPath()
          $path = Join-Path -Path $tempDir -ChildPath $filename

          Write-Host -NoNewline "Downloading $url to $path..."
          Invoke-WebRequest -Uri $url -OutFile $path -UserAgent "NativeClient"
          Write-Host "Done"

          return $path
      }

      # Download NASM
      $url = "https://www.nasm.us/pub/nasm/releasebuilds/2.14.02/win64/nasm-2.14.02-win64.zip"
      $nasmzip = Download-ToTemp -url $url

      Expand-Archive $nasmzip .\nasmexe
      Write-Host "NASM Downloaded"

    workingDirectory: '$(Build.BinariesDirectory)'
    displayName: 'Download NASM'

  - script: |
      set PATH=%PATH%;$(Build.BinariesDirectory)\nasmexe\nasm-2.14.02
      cmake -G "$(BuildGenerator)" "-DCMAKE_VERBOSE_MAKEFILE=ON" "-DOpenCV_REQUIRED=$(UsesOpenCV)" "$(Build.SourcesDirectory)" "-DCMAKE_BUILD_TYPE=$(CMakeConfiguration)" "-DK4A_SOURCE_LINK=ON"
    workingDirectory: '$(Build.BinariesDirectory)'
    displayName: 'CMake Configure'
    env:
      CC: cl
      CXX: cl

  - task: CMake@1
    displayName: 'CMake Build'
    inputs:
      workingDirectory: '$(Build.BinariesDirectory)'
      cmakeArgs: '--build . --config "$(CMakeConfiguration)"'

  - task: CMake@1
    displayName: 'CMake Build Package'
    inputs:
      workingDirectory: '$(Build.BinariesDirectory)'
      cmakeArgs: '--build . --config "$(CMakeConfiguration)" --target package'

  - script: 'ctest -V -C "$(CMakeConfiguration)" -L unit'
    workingDirectory: '$(Build.BinariesDirectory)'
    displayName: 'Run Native Unit Tests'

  - task: PublishTestResults@2
    displayName: 'Publish Test Results'
    inputs:
      testResultsFiles: '**\TEST-*.xml'
      searchFolder: '$(Build.BinariesDirectory)'
      mergeTestResults: true
      testRunTitle: 'Unit Tests'
    condition: succeededOrFailed()

  # Create a placeholder version of the depth engine to satisfy MSBuild copy rules.
  # This version is not needed for actual execution.
  # In the future we should fetch the real version from a valid source.
  - powershell: |
      if ("$(BuildGenerator)" -eq "Ninja")
      {
        IF(-Not (Test-Path "$(Build.BinariesDirectory)\bin\depthengine_2_0.dll")) { Add-Content "$(Build.BinariesDirectory)\bin\depthengine_2_0.dll" "Placeholder file, please download real depth engine." }
      }
      elseif ("$(BuildGenerator)" -like "Visual Studio *")
      {
        IF(-Not (Test-Path "$(Build.BinariesDirectory)\bin\$(CMakeConfiguration)\depthengine_2_0.dll")) { Add-Content "$(Build.BinariesDirectory)\bin\$(CMakeConfiguration)\depthengine_2_0.dll" "Placeholder file, please download real depth engine." }
      }
      else
      {
        Write-Error "Unknown Generator <<$(BuildGenerator)>>"
      }
    displayName: 'Create placeholder depth engine'

  - task: NuGetToolInstaller@0
    inputs:
      versionSpec: '>=4.3.1' 

  - task: 333b11bd-d341-40d9-afcf-b32d5ce6f23b@2 # NuGetCommand@2
    inputs:
      command: 'restore'
      solution: '$(Build.SourcesDirectory)\src\csharp\K4a.sln'

  - task: VSBuild@1
    displayName: 'Build C# Wrappers'
    inputs:
      solution: '$(Build.SourcesDirectory)\src\csharp\K4a.sln'
      msbuildArgs: '/p:BaseOutputPath="$(Build.BinariesDirectory)\bin\$(MSBuildConfiguration)\\"'
      platform: '$(MSBuildPlatform)'
      configuration: '$(MSBuildConfiguration)'

  - task: VSTest@2
    displayName: 'Run C# Unit Tests'
    inputs:
      testSelector: 'testAssemblies'
      searchFolder: '$(Build.BinariesDirectory)\bin'
      platform: '$(MSBuildPlatform)'
      configuration: '$(MSBuildConfiguration)'
      testAssemblyVer2: |
        **/*UnitTests.dll
        !**/obj/**
  
  # Clean up any placeholder version of the depth engine that were created.
  - powershell:  Get-ChildItem -Path "$(Build.BinariesDirectory)\bin\\" -Filter "DepthEngine_*.dll" -Recurse | Remove-Item
    displayName: 'Clean up temp depth engine'

  - task: CopyFiles@2
    displayName: 'Copy build folder to Staging'
    inputs:
      SourceFolder: '$(Build.BinariesDirectory)'
      Contents: |
        *
        bin/**/*
        docs/**/*
        CMakeFiles/**/*
      TargetFolder: '$(Build.ArtifactStagingDirectory)'

  - task: PublishBuildArtifacts@1
    displayName: 'Publish Artifact: Build folder'
    inputs:
      PathtoPublish: '$(Build.ArtifactStagingDirectory)'
      ArtifactName: '$(CMakeArch)-windows-msvc-$(CMakeConfiguration)'
      parallel: true
      parallelCount: 8
    condition: and(succeeded(), and(eq(variables['vmImage'], 'vs2017-win2016'), eq(variables['BuildGenerator'], 'Ninja')))

  # This will publish symbols created from this build to the Azure DevOps symbol
  # server. This symbol server will be private to Microsoft internal.
  - task: PublishSymbols@2
    displayName: 'Publish K4A Symbols'
    inputs:
      symbolsFolder: '$(Build.BinariesDirectory)'
      searchPattern: 'bin/**/*.pdb'
      indexSources: true
      publishSymbols: true
      symbolServerType: 'teamServices'
    condition: and(succeeded(), and(eq(variables['vmImage'], 'vs2017-win2016'), eq(variables['BuildGenerator'], 'Ninja')))

- job: LinuxK4ABuildTest
  displayName: Linux
  strategy:
    maxParallel: 100
    matrix:
      x64-clang_debug_ninja:
        CMakeLinuxTargetTriple: 'x86_64-linux-clang'
        CMakeConfiguration: 'debug'
        UsesOpenCV: 'TRUE'
        container: 'mcr.microsoft.com/akbuilder-linux:v5-amd64'
      x64-gnu_debug_ninja:
        CMakeLinuxTargetTriple: 'x86_64-linux-gnu'
        CMakeConfiguration: 'debug'
        UsesOpenCV: 'TRUE'
        container: 'mcr.microsoft.com/akbuilder-linux:v5-amd64'
      x64-clang_rel_ninja:
        CMakeLinuxTargetTriple: 'x86_64-linux-clang'
        CMakeConfiguration: 'relwithdebinfo'
        UsesOpenCV: 'TRUE'
        container: 'mcr.microsoft.com/akbuilder-linux:v5-amd64'
      x64-gnu_rel_ninja:
        CMakeLinuxTargetTriple: 'x86_64-linux-gnu'
        CMakeConfiguration: 'relwithdebinfo'
        UsesOpenCV: 'TRUE'
        container: 'mcr.microsoft.com/akbuilder-linux:v5-amd64'
      # arm64-clang_debug_ninja:
      #   CMakeLinuxTargetTriple: 'arm64-linux-clang'
      #   CMakeConfiguration: 'debug'
      #   UsesOpenCV: 'FALSE'
      arm64-gnu_debug_ninja:
        CMakeLinuxTargetTriple: 'arm64-linux-gnu'
        CMakeConfiguration: 'debug'
        UsesOpenCV: 'FALSE'
        container: 'mcr.microsoft.com/akbuilder-linux:v5-arm64'
      # arm64-clang_rel_ninja:
      #   CMakeLinuxTargetTriple: 'arm64-linux-clang'
      #   CMakeConfiguration: 'relwithdebinfo'
      #   UsesOpenCV: 'FALSE'
      arm64-gnu_rel_ninja:
        CMakeLinuxTargetTriple: 'arm64-linux-gnu'
        CMakeConfiguration: 'relwithdebinfo'
        UsesOpenCV: 'FALSE'
        container: 'mcr.microsoft.com/akbuilder-linux:v5-arm64'

      # 32-bit builds are currently broken
      # i386-unknown-linux-clang_debug_ninja:
      #   CMakeLinuxTargetTriple: 'i386-linux-clang'
      #   CMakeConfiguration: 'debug'
      # i386-unknown-linux-gnu_debug_ninja:
      #   CMakeLinuxTargetTriple: 'i386-linux-gnu'
      #   CMakeConfiguration: 'debug'
      # i386-unknown-linux-clang_relwithdebinfo_ninja:
      #   CMakeLinuxTargetTriple: 'i386-linux-clang'
      #   CMakeConfiguration: 'relwithdebinfo'
      # i386-unknown-linux-gnu_relwithdebinfo_ninja:
      #   CMakeLinuxTargetTriple: 'i386-linux-gnu'
      #   CMakeConfiguration: 'relwithdebinfo'
  pool:
    vmImage: 'ubuntu-18.04'
  container: $[ variables['container'] ]

  steps:
  - checkout: self
    clean: true
    lfs: false
    persistCredentials: true
    submodules: true

  - script: |
       git add --renormalize . && git diff-index --quiet HEAD --
       if [ $? -ne 0 ]
       then
         echo "Please normalize files before pushing using git add --renormalize ."
         git status
         exit 1
       fi
    displayName: 'Check Line Endings'

    # OpenCV always required on Linux
  - script: 'cmake -GNinja -DCMAKE_VERBOSE_MAKEFILE=ON -DOpenCV_REQUIRED=$(UsesOpenCV) "$(Build.SourcesDirectory)" "-DCMAKE_BUILD_TYPE=$(CMakeConfiguration)" "-DCMAKE_TOOLCHAIN_FILE=$(Build.SourcesDirectory)/cmake/toolchains/$(CMakeLinuxTargetTriple).cmake"'
    workingDirectory: '$(Build.BinariesDirectory)'
    displayName: 'CMake Configure'

  - task: CMake@1
    displayName: 'CMake Build'
    inputs:
      workingDirectory: '$(Build.BinariesDirectory)'
      cmakeArgs: '--build .'

  - task: CMake@1
    displayName: 'CMake Build Package'
    inputs:
      workingDirectory: '$(Build.BinariesDirectory)'
      cmakeArgs: '--build . --target package'

  - script: 'ctest -V -L unit'
    workingDirectory: '$(Build.BinariesDirectory)'
    displayName: 'Unit Tests'

  - task: PublishTestResults@2
    displayName: 'Publish Test Results'
    inputs:
      searchFolder: '$(Build.BinariesDirectory)'
      mergeTestResults: true
      testRunTitle: 'Unit Tests'
    condition: succeededOrFailed()

  - task: CopyFiles@2
    displayName: 'Copy build folder to Staging'
    inputs:
      SourceFolder: '$(Build.BinariesDirectory)'
      Contents: |
        *
        bin/*
        docs/**/*
        CMakeFiles/**/*
      TargetFolder: '$(Build.ArtifactStagingDirectory)'

  - task: PublishBuildArtifacts@1
    displayName: 'Publish Artifact: Build folder'
    inputs:
      PathtoPublish: '$(Build.ArtifactStagingDirectory)'
      ArtifactName: '$(CMakeLinuxTargetTriple)-$(CMakeConfiguration)'
      parallel: true
      parallelCount: 8
    condition: and(succeeded(), contains(variables['CMakeLinuxTargetTriple'], 'gnu'))

- job: DocumentationBuild
  displayName: Documentation Build
  pool:
    vmImage: 'windows-2019'
    demands:
      - Cmd

  steps:
  - checkout: self
    clean: true
    lfs: false
    persistCredentials: true
    submodules: true

  - task: BatchScript@1
    displayName: 'Setup VS2019 Env'
    inputs:
      filename: 'C:\Program Files (x86)\Microsoft Visual Studio\2019\Enterprise\Common7\Tools\VsDevCmd.bat'
      modifyEnvironment: true

  - powershell: |
      $ErrorActionPreference = "Stop"

      function Download-ToTemp
      {
          param
          (
              [Parameter(Mandatory)]
              [string] $url,
              [string] $filename
          )

          if (-not ($filename))
          {
              $filename = Split-Path -Path $url -Leaf
          }

          if (-not ($filename))
          {
              Write-Error "Unable to parse filename from $url"
              return $null
          }

          $tempDir = [System.IO.Path]::GetTempPath()
          $path = Join-Path -Path $tempDir -ChildPath $filename

          Write-Host -NoNewline "Downloading $url to $path..."
          Invoke-WebRequest -Uri $url -OutFile $path -UserAgent "NativeClient"
          Write-Host "Done"

          return $path
      }

      # Download Doxygen
      $url = "https://sourceforge.net/projects/doxygen/files/rel-1.8.14/doxygen-1.8.14.windows.bin.zip/download"
      $filename = "doxygen-1.8.14.windows.bin.zip"
      $doxygenzip = Download-ToTemp -url $url -filename $filename

      Expand-Archive $doxygenzip .\doxygenexe
      Write-Host "Doxygen installed. Please use Visual Studio Developer Command prompt to build."

    workingDirectory: '$(Build.BinariesDirectory)'
    displayName: 'Download doxygen'

  - script: |
      set PATH=%PATH%;$(Build.BinariesDirectory)\doxygenexe
      cmake -G Ninja "-DK4A_BUILD_DOCS:BOOL=ON" "-DCMAKE_VERBOSE_MAKEFILE=ON" "-DSOURCE_BRANCH=$(Build.SourceBranch)" "$(Build.SourcesDirectory)"

    workingDirectory: '$(Build.BinariesDirectory)'
    displayName: 'CMake Configure'
    env:
      CC: cl
      CXX: cl

  - task: CMake@1
    displayName: 'CMake Build'
    inputs:
      workingDirectory: '$(Build.BinariesDirectory)'
      cmakeArgs: '--build . --target k4adocs'

  - task: PublishBuildArtifacts@1
    displayName: 'Publish Artifact: Documentation'
    inputs:
      PathtoPublish: '$(Build.BinariesDirectory)\docs'
      ArtifactName: docs
      parallel: true
      parallelCount: 8

  - task: PowerShell@2
    displayName: 'Publish Documentation HTML'
    inputs:
      targetType: 'filePath'
      filePath: '$(Build.SourcesDirectory)\doxygen\PublishDocs.ps1'
    condition: and(eq(variables['System.CollectionId'], 'cb55739e-4afe-46a3-970f-1b49d8ee7564'), and(succeeded(), ne(variables['Build.Reason'], 'PullRequest')))

- ${{ if eq(variables['System.CollectionId'], 'cb55739e-4afe-46a3-970f-1b49d8ee7564') }}:
  - job: WindowsFunctionalTests
    displayName: Windows Functional Test
    dependsOn: WindowsK4ABuildTest
    variables:
      firmware_version: "$(windows_firmware_version)"
    pool:
      name: Analog-FwConnected
      demands:
      - Eden
      - Agent.OS -equals Windows_NT

    steps:
    - task: VisualStudioTestPlatformInstaller@1
      displayName: 'Install Visual Studio Test Platform tools'

    - checkout: self
      clean: true
      lfs: false
      persistCredentials: true
      submodules: false

    - task: DownloadBuildArtifacts@0
      displayName: 'Download Build Artifacts'
      inputs:
        artifactName: 'amd64-windows-msvc-RelWithDebInfo'
        parallelizationLimit: 8

    - task: NuGetToolInstaller@0
      inputs:
        versionSpec: '>=5.1.0' 

    - task: 333b11bd-d341-40d9-afcf-b32d5ce6f23b@2  #NugetCommand@2
      displayName: "Get Azure Kinect NuGet Package"
      inputs: 
        command: custom 
        arguments: install Microsoft.Azure.Kinect.Sensor -prerelease -Version $(NuGetPackageVersion) -OutputDirectory $(System.ArtifactsDirectory)/NugetOutputDir

    - task: CopyFiles@2
      displayName: "Copy DepthEngine into amd64/debug artifacts folder"
      inputs:
        sourceFolder: "$(System.ArtifactsDirectory)/NugetOutputDir/Microsoft.Azure.Kinect.Sensor.$(NuGetPackageVersion)/lib/native/amd64/release/"
        contents: "depthengine*.dll"
        targetFolder: "$(System.ArtifactsDirectory)/depthengineplugin/windows/amd64/debug"
        flattenFolders: true

    - task: CopyFiles@2
      displayName: "Copy DepthEngine into amd64/release artifacts folder"
      inputs:
        sourceFolder: "$(System.ArtifactsDirectory)/NugetOutputDir/Microsoft.Azure.Kinect.Sensor.$(NuGetPackageVersion)/lib/native/amd64/release/"
        contents: "depthengine*.dll"
        targetFolder: "$(System.ArtifactsDirectory)/depthengineplugin/windows/amd64/release"
        flattenFolders: true

    - task: CopyFiles@2
      displayName: "Copy DepthEngine into x86/debug artifacts folder"
      inputs:
        sourceFolder: "$(System.ArtifactsDirectory)/NugetOutputDir/Microsoft.Azure.Kinect.Sensor.$(NuGetPackageVersion)/lib/native/x86/release/"
        contents: "depthengine*.dll"
        targetFolder: "$(System.ArtifactsDirectory)/depthengineplugin/windows/x86/debug"
        flattenFolders: true

    - task: CopyFiles@2
      displayName: "Copy DepthEngine into x86/release artifacts folder"
      inputs:
        sourceFolder: "$(System.ArtifactsDirectory)/NugetOutputDir/Microsoft.Azure.Kinect.Sensor.$(NuGetPackageVersion)/lib/native/x86/release/"
        contents: "depthengine*.dll"
        targetFolder: "$(System.ArtifactsDirectory)/depthengineplugin/windows/x86/release"
        flattenFolders: true

    - task: CopyFiles@2
      displayName: "Copy AzureKinectDK_Fw_$(firmware_version).bin artifacts folder"
      inputs:
        sourceFolder: "$(System.ArtifactsDirectory)/NugetOutputDir/Microsoft.Azure.Kinect.Sensor.$(NuGetPackageVersion)/firmware/"
        contents: "AzureKinectDK_Fw_$(firmware_version).bin"
        targetFolder: "$(System.ArtifactsDirectory)/firmware"
        flattenFolders: true

    # we don't want to test other binaries in the NuGet package, so delete it.
    - task: DeleteFiles@1
      displayName: "Delete Microsoft.Azure.Kinect.Sensor NuGet Package"
      inputs:
        sourceFolder: "$(System.ArtifactsDirectory)/NugetOutputDir"
        contents: '\*'

    - task: CopyFiles@2
      displayName: "Copy DepthEngine into bin folder"
      inputs:
        sourceFolder: "$(System.ArtifactsDirectory)/depthengineplugin/windows/amd64/release/"
        contents: "depthengine*.dll"
        targetFolder: "$(System.ArtifactsDirectory)/amd64-windows-msvc-relwithdebinfo/bin"
        flattenFolders: true

    - task: CopyFiles@2
      displayName: "Copy DepthEngine into C# functional tests folder"
      inputs:
        sourceFolder: "$(System.ArtifactsDirectory)/depthengineplugin/windows/amd64/release/"
        contents: "depthengine*.dll"
        targetFolder: "$(System.ArtifactsDirectory)/amd64-windows-msvc-relwithdebinfo/bin/Release/Microsoft.AzureKinect.FunctionalTests/netcoreapp2.1/"
        flattenFolders: true

    - script: '.\amd64-windows-msvc-relwithdebinfo\bin\AzureKinectFirmwareTool.exe -r'
      workingDirectory: '$(System.ArtifactsDirectory)'
      displayName: 'Reset K4A Device'

    - script: '.\amd64-windows-msvc-relwithdebinfo\bin\AzureKinectFirmwareTool.exe -u firmware/AzureKinectDK_Fw_$(firmware_version).bin'
      workingDirectory: '$(System.ArtifactsDirectory)'
      displayName: 'Update Device'

    - script: '.\amd64-windows-msvc-relwithdebinfo\bin\enumerate_devices.exe'
      workingDirectory: '$(System.ArtifactsDirectory)'
      displayName: 'Check Device Health'

    - script: 'python $(Build.SourcesDirectory)/scripts/RunTestList.py --list bin/functional_test_list.txt --bin bin/ --output=xml --gtest_filter=-*ONBOARDING*'
      workingDirectory: '$(System.ArtifactsDirectory)/amd64-windows-msvc-relwithdebinfo'
      displayName: 'Run Functional Tests'
      timeoutInMinutes: 15

    - script: 'python $(Build.SourcesDirectory)/scripts/RunTestList.py --list bin/functional_custom_test_list.txt --bin bin/ --output=xml --gtest_filter=-*ONBOARDING*'
      workingDirectory: '$(System.ArtifactsDirectory)/amd64-windows-msvc-relwithdebinfo'
      displayName: 'Run Custom Functional Tests'
      timeoutInMinutes: 15

    - script: 'python $(Build.SourcesDirectory)/scripts/RunTestList.py --list bin/functional_test_list.txt --bin bin/ --output=xml --gtest_filter=*ONBOARDING*'
      workingDirectory: '$(System.ArtifactsDirectory)/amd64-windows-msvc-relwithdebinfo'
      displayName: 'Run Functional Tests - Onboarding'
      timeoutInMinutes: 15
      continueOnError: true

    - task: VSTest@2
      displayName: 'Run C# Functional Tests'
      inputs:
        testSelector: 'testAssemblies'
        searchFolder: '$(Build.BinariesDirectory)'
        platform: '$(MSBuildPlatform)'
        configuration: '$(MSBuildConfiguration)'
        vsTestVersion: 'toolsInstaller'
        testAssemblyVer2: |
          **/*FunctionalTests.dll
          !**/obj/**

- ${{ if eq(variables['System.CollectionId'], 'cb55739e-4afe-46a3-970f-1b49d8ee7564') }}:
  - job: LinuxFunctionalTests
    displayName: Linux Functional Test
    dependsOn: LinuxK4ABuildTest
    variables:
      firmware_version: "$(linux_firmware_version)"
    strategy:
      maxParallel: 100
      matrix:
        x86_64:
          CMakeLinuxTargetTriple: 'x86_64-linux-gnu'
          EdenArch: 'x64'
        arm64:
          CMakeLinuxTargetTriple: 'arm64-linux-gnu'
          EdenArch: 'arm64'
    pool:
      name: Analog-FwConnected
      demands:
      - EdenArch -equals $(EdenArch)
      - Agent.OS -equals Linux

    steps:
    - checkout: self
      clean: true
      lfs: false
      persistCredentials: true
      submodules: true

    - task: DownloadBuildArtifacts@0
      displayName: 'Download Build Artifacts'
      inputs:
        artifactName: '$(CMakeLinuxTargetTriple)-relwithdebinfo'
        parallelizationLimit: 8
        
    - task: NuGetToolInstaller@0
      inputs:
        versionSpec: '>=5.1.0' 

    # The account on the NUC does not currently give this user permission to install, so we have done so manually.
    # Mono has a bug, so we need a newer version. Version 6.8 is working well for both AMD64 and ARM64.
    #- script: 'apt-get install mono-complete python git-lfs openssh-server ufw libopencv-dev'
    #  workingDirectory: '$(System.ArtifactsDirectory)'
    #  displayName: "Ensure Mono is installed"

    - task: 333b11bd-d341-40d9-afcf-b32d5ce6f23b@2  #NugetCommand@2
      displayName: "Get Azure Kinect NuGet Package"
      inputs: 
        command: custom 
        arguments: install Microsoft.Azure.Kinect.Sensor -prerelease -Version $(NuGetPackageVersion) -OutputDirectory $(System.ArtifactsDirectory)/NugetOutputDir

    - script: 'ls -alR'
      workingDirectory: '$(System.ArtifactsDirectory)/NugetOutputDir'
      displayName: "Temp List files"

    - task: CopyFiles@2
      displayName: "Copy DepthEngine into $(EdenArch)/debug artifacts folder"
      inputs:
        sourceFolder: "$(System.ArtifactsDirectory)/NugetOutputDir/Microsoft.Azure.Kinect.Sensor.$(NuGetPackageVersion)/linux/lib/native/$(EdenArch)/release/"
        contents: "libdepthengine*"
        targetFolder: "$(System.ArtifactsDirectory)/depthengineplugin/linux/$(EdenArch)/debug"
        flattenFolders: true

    - task: CopyFiles@2
      displayName: "Copy DepthEngine into $(EdenArch)/release artifacts folder"
      inputs:
        sourceFolder: "$(System.ArtifactsDirectory)/NugetOutputDir/Microsoft.Azure.Kinect.Sensor.$(NuGetPackageVersion)/linux/lib/native/$(EdenArch)/release/"
        contents: "libdepthengine*"
        targetFolder: "$(System.ArtifactsDirectory)/depthengineplugin/linux/$(EdenArch)/release"
        flattenFolders: true

    - task: CopyFiles@2
      displayName: "Copy AzureKinectDK_Fw_$(firmware_version).bin artifacts folder"
      inputs:
        sourceFolder: "$(System.ArtifactsDirectory)/NugetOutputDir/Microsoft.Azure.Kinect.Sensor.$(NuGetPackageVersion)/firmware/"
        contents: "AzureKinectDK_Fw_$(firmware_version).bin"
        targetFolder: "$(System.ArtifactsDirectory)/firmware"
        flattenFolders: true

    # we don't want to test other binaries in the NuGet package, so delete it.
    - task: DeleteFiles@1
      displayName: "Delete Microsoft.Azure.Kinect.Sensor NuGet Package"
      inputs:
        sourceFolder: "$(System.ArtifactsDirectory)/NugetOutputDir"
        contents: '\*'

    - task: CopyFiles@2
      displayName: "Copy DepthEnginePlugin into Build Artifacts"
      inputs:
        sourceFolder: "$(System.ArtifactsDirectory)/depthengineplugin/linux/$(EdenArch)/release/"
        contents: "libdepthengine.so*"
        targetFolder: "$(System.ArtifactsDirectory)/$(CMakeLinuxTargetTriple)-relwithdebinfo/bin/"
        flattenFolders: true

    - script: 'chmod +x ./$(CMakeLinuxTargetTriple)-relwithdebinfo/bin/*'
      workingDirectory: '$(System.ArtifactsDirectory)'
      displayName: 'Add execution property to binary files'

    # Set and verify the DISPLAY variable since DepthEngine needs to open a display window (even there is no visual display).
    - script: |
        echo
        echo Checking OpenGL version on DISPLAY=:0
        echo "##vso[task.setvariable variable=DISPLAY]:0"
        export DISPLAY=:0
        env | grep DISPLAY
        which xauth
        glxinfo | grep "OpenGL"
        if [ $? -ne 0 ] ; then 
          echo
          echo Checking OpenGL version on DISPLAY=:1
          echo "##vso[task.setvariable variable=DISPLAY]:1"
          export DISPLAY=:1
          env | grep DISPLAY
          which xauth
          glxinfo | grep "OpenGL"
        fi
      workingDirectory: '$(System.ArtifactsDirectory)'
      displayName: 'Check openGL version'
      timeoutInMinutes: 5

    - script: './$(CMakeLinuxTargetTriple)-relwithdebinfo/bin/AzureKinectFirmwareTool -r'
      workingDirectory: '$(System.ArtifactsDirectory)'
      displayName: 'Reset K4A Device'
      env:
        K4A_LOG_LEVEL: 'I'

    - script: './$(CMakeLinuxTargetTriple)-relwithdebinfo/bin/AzureKinectFirmwareTool -u firmware/AzureKinectDK_Fw_$(firmware_version).bin'
      workingDirectory: '$(System.ArtifactsDirectory)'
      displayName: 'Update Device'
      env:
        K4A_LOG_LEVEL: 'I'

    - script: './$(CMakeLinuxTargetTriple)-relwithdebinfo/bin/enumerate_devices'
      workingDirectory: '$(System.ArtifactsDirectory)'
      displayName: 'Check Device Health'

    - script: 'python $(Build.SourcesDirectory)/scripts/RunTestList.py --list bin/functional_test_list.txt --bin bin/ --output=xml --gtest_filter=-*ONBOARDING*'
      workingDirectory: '$(System.ArtifactsDirectory)/$(CMakeLinuxTargetTriple)-relwithdebinfo'
      displayName: 'Run Functional Tests'
      timeoutInMinutes: 15

    - script: 'python $(Build.SourcesDirectory)/scripts/RunTestList.py --list bin/functional_custom_test_list.txt --bin bin/ --output=xml --gtest_filter=-*ONBOARDING*'
      workingDirectory: '$(System.ArtifactsDirectory)/$(CMakeLinuxTargetTriple)-relwithdebinfo'
      displayName: 'Run Custom Functional Tests'
      timeoutInMinutes: 15

    - script: 'python $(Build.SourcesDirectory)/scripts/RunTestList.py --list bin/functional_test_list.txt --bin bin/ --output=xml --gtest_filter=*ONBOARDING*'
      workingDirectory: '$(System.ArtifactsDirectory)/$(CMakeLinuxTargetTriple)-relwithdebinfo'
      displayName: 'Run Functional Tests - Onboarding'
      timeoutInMinutes: 15
      continueOnError: true