INSTALL-944: Improve CI pipeline to make it scalable

Jenkinsfile

@@ -10,15 +10,35 @@
  * to use the software.
  */
 
-def runBuildStage(String buildMode, String linkMode) {
-    def cmd = "python3 ${env.WORKSPACE}/resources/ci_cd/linux_build.py"
+// TODO: Remove when merged
+@Library("rticommunity-jenkins-pipelines@feature/enhance-examples-jenkinsfile") _
+
+/**
+ * Build the examples in the specified build and link modes.
+ *
+ * @param buildMode The build mode name.
+ * @param linkMode The link mode name.
+ */
+void runBuildStage(String buildMode, String linkMode) {
+    String cmd = "python3 ${env.WORKSPACE}/resources/ci_cd/linux_build.py"
     cmd += " --build-mode ${buildMode}"
     cmd += " --link-mode ${linkMode}"
-    cmd += " --build-dir ${get_build_directory(buildMode, linkMode)}"
-    sh(cmd)
+    cmd += " --build-dir ${getBuildDirectory(buildMode, linkMode)}"
+    if (runCommand(cmd)) {
+        error(
+            'There was an error building the examples for the build'
+            + " configuration ${buildMode}/${linkMode}"
+        )
+    }
 }
 
-def get_build_directory(String buildMode, String linkMode) {
+/**
+ * Craft the build directory name.
+ *
+ * @param buildMode The build mode name.
+ * @param linkMode The link mode name.
+ */
+String getBuildDirectory(String buildMode, String linkMode) {
     return "build_${buildMode}_${linkMode}"
 }
 
@@ -47,30 +67,64 @@ pipeline {
         timeout(time: 2, unit: 'HOURS')
     }
 
+    parameters {
+        string(
+            name: 'CMAKE_UTILS_REFERENCE',
+            description: '''
+                rticommunity/rticonnextdds-cmake-utils repository reference to use (Branch or PR).
+                 E.g.: PR-123, release/7.3.0, master
+            ''',
+            defaultValue: '',
+            trim: true,
+        )
+    }
+
     stages {
         stage('Build sequence') {
             agent {
-                dockerfile {
-                    filename 'resources/docker/Dockerfile.linux'
-                    label 'docker'
-                }
+                label "${nodeManager.labelFromJobName()}"
             }
 
             environment {
                 RTI_INSTALLATION_PATH = "${env.WORKSPACE}"
+                VIRTUAL_ENV = "${env.WORKSPACE}/.venv"
             }
 
             stages {
+                stage('Select CMake utils version') {
+                    steps {
+                        script {
+                            switchBranch(
+                                params.CMAKE_UTILS_REFERENCE,
+                                "${env.WORKSPACE}/resources/cmake/rticonnextdds-cmake-utils",
+                            )
+                        }
+                    }
+                }
+
                 stage('Download Packages') {
                     steps {
-                        sh 'pip3 install -r resources/ci_cd/requirements.txt'
-
-                        withAWSCredentials {
-                            withCredentials([
-                                string(credentialsId: 's3-bucket', variable: 'RTI_AWS_BUCKET'),
-                                string(credentialsId: 's3-path', variable: 'RTI_AWS_PATH'),
-                            ]) {
-                                sh 'python3 resources/ci_cd/linux_install.py -a $CONNEXTDDS_ARCH'
+                        script {
+                            nodeManager.runInsideExecutor() {
+                                if (runCommand(
+                                    'pip3 install -r resources/ci_cd/requirements.txt'
+                                )) {
+                                    error('An error ocurred installing Python dependencies')
+                                }
+
+                                withAWSCredentials {
+                                    withCredentials([
+                                        string(credentialsId: 's3-bucket', variable: 'RTI_AWS_BUCKET'),
+                                        string(credentialsId: 's3-path', variable: 'RTI_AWS_PATH'),
+                                    ]) {
+
+                                        if (runCommand(
+                                            'python3 resources/ci_cd/linux_install.py -a $CONNEXTDDS_ARCH'
+                                        )) {
+                                            error('An error ocurred installing the Connext framework')
+                                        }
+                                    }
+                                }
                             }
                         }
                     }
@@ -91,8 +145,12 @@ pipeline {
                         stages {
                             stage('Build single mode') {
                                 steps {
-                                    echo("Build ${buildMode}/${linkMode}")
-                                    runBuildStage(buildMode, linkMode)
+                                    script{
+                                        nodeManager.runInsideExecutor() {
+                                            echo("Build ${buildMode}/${linkMode}")
+                                            runBuildStage(buildMode, linkMode)
+                                        }
+                                    }
                                 }
                             }
                         }
@@ -101,7 +159,16 @@ pipeline {
 
                 stage('Static Analysis') {
                     steps {
-                        sh "python3 resources/ci_cd/linux_static_analysis.py --build-dir ${get_build_directory('release', 'dynamic')}"
+                        script {
+                            nodeManager.runInsideExecutor() {
+                                if (runCommand("""
+                                    python3 resources/ci_cd/linux_static_analysis.py \
+                                    --build-dir ${getBuildDirectory('release', 'dynamic')}
+                                """)) {
+                                    error('An error ocurred running the static analysis')
+                                }
+                            }
+                        }
                     }
                 }
             }