template.yml

AWSTemplateFormatVersion: '2010-09-09'
Transform: AWS::Serverless-2016-10-31
Description: "ROS CICD Pipeline"
Globals:
  Function:
    Timeout: 3
Parameters:
    VpcCIDR: 
        Description: Please enter the IP range (CIDR notation) for this VPC
        Type: String
        Default: 10.168.0.0/16
    PublicSubnet1CIDR:
        Description: Please enter the IP range (CIDR notation) for the public subnet in the first Availability Zone
        Type: String
        Default: 10.168.10.0/24
    PublicSubnet2CIDR:
        Description: Please enter the IP range (CIDR notation) for the public subnet in the second Availability Zone
        Type: String
        Default: 10.168.11.0/24
    ScenarioDefinitionDocument:
        Description: Please enter the filename for the scenario definition document used to define scenarios to launch.
        Type: String
        Default: "scenarios.json"
Resources:
  RobotApplication:
    Type: "AWS::RoboMaker::RobotApplication"
    Properties:
      Sources:
        - S3Bucket: !Ref S3Bucket
          S3Key: "bundles/x86/robotApp.tar"
          Architecture: "X86_64"
      RobotSoftwareSuite:
        Name: "ROS"
        Version: "Kinetic"
      Tags:
        "Name" : "RobotApplication"
        "Type" : "CICD_Auto_Generate"
  SimulationApplication:
    Type: "AWS::RoboMaker::SimulationApplication"
    Properties:
      Sources:
        - S3Bucket: !Ref S3Bucket
          S3Key: "bundles/x86/simulationApp.tar"
          Architecture: "X86_64"
      RobotSoftwareSuite:
        Name: "ROS"
        Version: "Kinetic"
      SimulationSoftwareSuite:
        Name: "Gazebo"
        Version: "7"
      RenderingEngine:
        Name: "OGRE"
        Version: "1.x"
      Tags:
        "Name" : "SimulationApplication"
        "Type" : "CICD_Auto_Generate"
  VPC: 
    Type: AWS::EC2::VPC
    Properties:
      CidrBlock: !Ref VpcCIDR
      Tags: 
        - Key: Name 
          Value: !Ref AWS::StackName
  InternetGateway:
    Type: AWS::EC2::InternetGateway
    Properties:
      Tags:
        - Key: Name
          Value: !Ref AWS::StackName
  InternetGatewayAttachment:
    Type: AWS::EC2::VPCGatewayAttachment
    Properties:
      InternetGatewayId: !Ref InternetGateway
      VpcId: !Ref VPC
  PublicSubnet1: 
    Type: AWS::EC2::Subnet
    Properties:
      VpcId: !Ref VPC
      AvailabilityZone: !Select [ 0, !GetAZs '' ]
      CidrBlock: !Ref PublicSubnet1CIDR
      MapPublicIpOnLaunch: true
      Tags: 
        - Key: Name 
          Value: !Sub ${AWS::StackName} ${AWS::Region} Public Subnet (AZ1)
  PublicSubnet2: 
    Type: AWS::EC2::Subnet
    Properties:
      VpcId: !Ref VPC
      AvailabilityZone: !Select [ 1, !GetAZs '' ]
      CidrBlock: !Ref PublicSubnet2CIDR
      MapPublicIpOnLaunch: true
      Tags: 
        - Key: Name 
          Value: !Sub ${AWS::StackName} ${AWS::Region} Public Subnet (AZ2)
  PublicRouteTable:
    Type: AWS::EC2::RouteTable
    Properties: 
      VpcId: !Ref VPC
      Tags: 
        - Key: Name 
          Value: !Sub ${AWS::StackName} ${AWS::Region} Public Routes
  RoboMakerSimulationRole:
    Type: 'AWS::IAM::Role'
    Properties:
      RoleName: !Sub robomaker-simulation-role-batch-${AWS::Region}
      AssumeRolePolicyDocument:
        Version: 2012-10-17
        Statement:
          -
            Effect: Allow
            Principal:
              Service:
              - robomaker.amazonaws.com
            Action:
            - sts:AssumeRole
      ManagedPolicyArns:
        - 'arn:aws:iam::aws:policy/CloudWatchFullAccess'
        - 'arn:aws:iam::aws:policy/AWSRoboMakerFullAccess'
        - 'arn:aws:iam::aws:policy/AmazonS3FullAccess'
        - 'arn:aws:iam::aws:policy/AmazonKinesisVideoStreamsFullAccess'
        - 'arn:aws:iam::aws:policy/AmazonRekognitionFullAccess'
  StepFunctionsLambda:
    Type: 'AWS::IAM::Role'
    Properties:
      AssumeRolePolicyDocument:
        Version: '2012-10-17'
        Statement:
        - Effect: Allow
          Principal:
            Service:
            - lambda.amazonaws.com
            - states.amazonaws.com
          Action:
          - sts:AssumeRole
      RoleName: !Sub step-functions-batch-role-${AWS::Region}
      ManagedPolicyArns:
        - 'arn:aws:iam::aws:policy/CloudWatchFullAccess'
        - 'arn:aws:iam::aws:policy/AWSRoboMakerFullAccess'
        - 'arn:aws:iam::aws:policy/AmazonS3FullAccess'
        - 'arn:aws:iam::aws:policy/AWSLambdaFullAccess'
        - 'arn:aws:iam::aws:policy/AWSStepFunctionsFullAccess'
        - 'arn:aws:iam::aws:policy/AWSCodePipelineFullAccess'
  RoboMakerDeploymentRole:
    Type: 'AWS::IAM::Role'
    Properties:
      RoleName: !Sub robomaker-deployment-role-batch-${AWS::Region}
      AssumeRolePolicyDocument:
        Version: 2012-10-17
        Statement:
          -
            Effect: Allow
            Principal:
              Service:
                - lambda.amazonaws.com
                - iot.amazonaws.com
                - greengrass.amazonaws.com
            Action:
            - 'sts:AssumeRole'
      ManagedPolicyArns:
        - 'arn:aws:iam::aws:policy/service-role/AWSGreengrassResourceAccessRolePolicy'
        - 'arn:aws:iam::aws:policy/AmazonS3FullAccess'
        - 'arn:aws:iam::aws:policy/AmazonKinesisVideoStreamsFullAccess'
        - 'arn:aws:iam::aws:policy/AmazonRekognitionFullAccess'
        - 'arn:aws:iam::aws:policy/CloudWatchFullAccess'
        - 'arn:aws:iam::aws:policy/AWSRoboMakerFullAccess'
  DefaultPublicRoute: 
    Type: AWS::EC2::Route
    DependsOn: InternetGatewayAttachment
    Properties: 
      RouteTableId: !Ref PublicRouteTable
      DestinationCidrBlock: 0.0.0.0/0
      GatewayId: !Ref InternetGateway
  PublicSubnet1RouteTableAssociation:
    Type: AWS::EC2::SubnetRouteTableAssociation
    Properties:
      RouteTableId: !Ref PublicRouteTable
      SubnetId: !Ref PublicSubnet1
  PublicSubnet2RouteTableAssociation:
    Type: AWS::EC2::SubnetRouteTableAssociation
    Properties:
      RouteTableId: !Ref PublicRouteTable
      SubnetId: !Ref PublicSubnet2
  S3Bucket:
    Type: AWS::S3::Bucket
  ProcessAndLaunchBatchSimulationsFunction:
    Type: AWS::Serverless::Function 
    Properties:
      CodeUri: processAndLaunchBatchSimulations/
      Handler: app.lambda_handler
      Runtime: python3.8
      Role: !GetAtt StepFunctionsLambda.Arn
      Tracing: Active
      Environment:
        Variables:
          S3_BUCKET: !Ref S3Bucket
          ROBOT_APP_ARN: !Ref RobotApplication
          SIMULATION_APP_ARN: !Ref SimulationApplication
          IAM_ROLE: !GetAtt RoboMakerSimulationRole.Arn
          SUBNET_1: !Ref PublicSubnet1
          SUBNET_2: !Ref PublicSubnet2
          SECURITY_GROUP: !GetAtt VPC.DefaultSecurityGroup
  CheckStatusFunction:
    Type: AWS::Serverless::Function 
    Properties:
      CodeUri: checkStatus/
      Handler: app.lambda_handler
      Runtime: python3.8
      Tracing: Active
      Role: !GetAtt StepFunctionsLambda.Arn
  SendSimSummaryFunction:
    Type: AWS::Serverless::Function 
    Properties:
      CodeUri: sendSimSummary/
      Handler: app.lambda_handler
      Runtime: python3.8
      Tracing: Active
      Role: !GetAtt StepFunctionsLambda.Arn
  ErrorLaunchingSimulationsFunction:
    Type: AWS::Serverless::Function 
    Properties:
      CodeUri: errorLaunchingSimulations/
      Handler: app.lambda_handler
      Runtime: python3.8
      Tracing: Active
      Role: !GetAtt StepFunctionsLambda.Arn
  TriggerStepFunctions:
    Type: AWS::Serverless::Function 
    Properties:
      CodeUri: triggerStepFunctions/
      Handler: app.lambda_handler
      Runtime: python3.8
      Role: !GetAtt StepFunctionsLambda.Arn
      Tracing: Active
      Environment:
        Variables:
          STATE_MACHINE_ARN: !Ref SimulationRunnerStepFunction
          SCENARIO_DEFINITIONS_FILENAME: !Ref ScenarioDefinitionDocument 
  SimulationRunnerStepFunction:
    Type: AWS::StepFunctions::StateMachine
    DependsOn:
      - SendSimSummaryFunction
      - CheckStatusFunction
      - ProcessAndLaunchBatchSimulationsFunction
    Properties:
      DefinitionString: 
        !Sub |-        
         {
            "StartAt": "ProcessAndLaunchBatchSimulations",
                "States": {
                  "ProcessAndLaunchBatchSimulations": {
                    "Type": "Task",
                    "Resource": "${ProcessAndLaunchBatchSimulationsFunction.Arn}",
                    "Next": "IsBatchSimRunning",
                    "Catch": [ {
                      "ErrorEquals": ["States.ALL"],
                      "Next": "ErrorLaunchingSimulations",
                      "ResultPath": "$.error"
                     } ]
                  },
                  "IsBatchSimRunning": {
                    "Type": "Choice",
                    "Choices": [
                      {
                          "Variable": "$.isDone",
                          "BooleanEquals": true,
                          "Next": "SendSimSummary"
                      }
                    ],
                    "Default": "Wait"
                    },
                    "Wait": {
                        "Type": "Wait",
                        "Seconds": 30,
                        "Next": "CheckStatus"
                    },
                    "CheckStatus": {
                      "Type": "Task",
                      "Resource": "${CheckStatusFunction.Arn}",
                      "InputPath": "$",
                      "Next": "IsBatchSimRunning",
                      "Catch": [ {
                        "ErrorEquals": ["States.ALL"],
                        "Next": "ErrorLaunchingSimulations",
                        "ResultPath": "$.error"
                       } ]
                    },
                    "SendSimSummary": {
                      "Type": "Task",
                      "InputPath": "$",
                      "Resource": "${SendSimSummaryFunction.Arn}",
                      "Catch": [ {
                        "ErrorEquals": ["States.ALL"],
                        "Next": "ErrorLaunchingSimulations",
                        "ResultPath": "$.error"
                       } ],
                      "End": true
                    },
                    "ErrorLaunchingSimulations": {
                       "Type": "Task",
                       "InputPath": "$",
                       "Resource": "${ErrorLaunchingSimulationsFunction.Arn}",
                       "ResultPath": "$.error",
                       "End": true
                    }
              }
          }
      RoleArn: !GetAtt StepFunctionsLambda.Arn
      StateMachineName:
        Fn::Sub: SimulationRunnerStateMachine-${AWS::StackName}
Outputs:
  ProcessAndLaunchBatchSimulationsFunction:
    Description: "Process And Launch Sim Input Function ARN"
    Value: !GetAtt ProcessAndLaunchBatchSimulationsFunction.Arn
  CheckStatusFunction:
    Description: "CheckStatus Function ARN"
    Value: !GetAtt CheckStatusFunction.Arn
  SendSimSummaryFunction:
    Description: "SendSimSummary Function ARN"
    Value: !GetAtt SendSimSummaryFunction.Arn