Improve Low-Level Controllers Topic #307
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# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git). | |
# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst) | |
name: CI | |
on: | |
workflow_dispatch: | |
pull_request: | |
push: | |
permissions: | |
contents: read # to fetch code (actions/checkout) | |
jobs: | |
default: | |
strategy: | |
matrix: | |
env: | |
- IMAGE: master-source # MoveIt master branch built on Melodic | |
- IMAGE: noetic-source # MoveIt master branch built on Noetic | |
CLANG_TIDY: pedantic | |
env: | |
DOCKER_IMAGE: moveit/moveit:${{ matrix.env.IMAGE }} | |
UNDERLAY: /root/ws_moveit/install | |
CATKIN_LINT: true | |
CCACHE_DIR: ${{ github.workspace }}/.ccache | |
BASEDIR: ${{ github.workspace }}/.work | |
CLANG_TIDY_BASE_REF: ${{ github.base_ref || github.ref }} | |
CXXFLAGS: -Werror -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls | |
CC: ${{ matrix.env.CLANG_TIDY && 'clang' }} | |
CXX: ${{ matrix.env.CLANG_TIDY && 'clang++' }} | |
name: ${{ matrix.env.IMAGE }}${{ matrix.env.CATKIN_LINT && ' + catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' + clang-tidy' || '' }} | |
runs-on: ubuntu-latest | |
steps: | |
- uses: actions/checkout@v3 | |
# The target directory cache doesn't include the source directory because | |
# that comes from the checkout. See "prepare target_ws for cache" task below | |
- name: Cache target workspace | |
if: "!matrix.env.CCOV" | |
uses: rhaschke/cache@main | |
with: | |
path: ${{ env.BASEDIR }}/target_ws | |
key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }} | |
restore-keys: ${{ env.CACHE_PREFIX }} | |
env: | |
GHA_CACHE_SAVE: always | |
CACHE_PREFIX: target_ws-${{ matrix.env.IMAGE }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }} | |
- name: Cache ccache | |
uses: rhaschke/cache@main | |
with: | |
path: ${{ env.CCACHE_DIR }} | |
key: ${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }} | |
restore-keys: | | |
${{ env.CACHE_PREFIX }}-${{ github.sha }} | |
${{ env.CACHE_PREFIX }} | |
env: | |
GHA_CACHE_SAVE: always | |
CACHE_PREFIX: ccache-${{ matrix.env.IMAGE }} | |
- name: Run industrial_ci | |
uses: ros-industrial/industrial_ci@master | |
env: ${{ matrix.env }} | |
- name: Upload test artifacts (on failure) | |
uses: actions/upload-artifact@v3 | |
if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results) | |
with: | |
name: test-results-${{ matrix.env.IMAGE }} | |
path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml | |
- name: Prepare target_ws for cache | |
if: ${{ always() }} | |
run: | | |
du -sh ${{ env.BASEDIR }}/target_ws | |
sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete | |
sudo rm -rf ${{ env.BASEDIR }}/target_ws/src ${{ env.BASEDIR }}/target_ws/logs | |
du -sh ${{ env.BASEDIR }}/target_ws |