CI #212
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| name: CI | |
| on: | |
| workflow_dispatch: | |
| pull_request: | |
| push: | |
| branches: | |
| - noetic-devel | |
| - develop | |
| permissions: | |
| contents: read | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }} | |
| cancel-in-progress: true | |
| jobs: | |
| default: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| distro: [noetic, one] | |
| render_backend: [GLFW, OSMESA, EGL, DISABLE] | |
| mujoco: [3.2.0] | |
| include: | |
| - distro: noetic | |
| mujoco: 3.2.0 | |
| env: | |
| CATKIN_LINT: true | |
| CCOV: true | |
| - distro: one | |
| mujoco: 3.2.0 | |
| env: | |
| CLANG_TIDY: pedantic | |
| env: | |
| BUILDER: colcon | |
| MUJOCO_DIR: /vol/mujoco/mujoco-${{ matrix.mujoco }} # for self-hosted runners | |
| DOCKER_RUN_OPTS: -e MUJOCO_DIR=/root/mujoco/${{ matrix.mujoco }} -e DISPLAY=:99.0 | |
| DOCKER_IMAGE: ubiagni/mujoco_ros:${{ matrix.distro }}-ci | |
| # For now we have flags defined in the CMakeLists, using all flags makes the build break | |
| # I'll fix this once I find some time to do it | |
| # CXXFLAGS: -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls | |
| CXXFLAGS: -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls | |
| CLANG_TIDY_ARGS: --fix --fix-errors --format-style=file | |
| UPSTREAM_WORKSPACE: .github/workflows/upstream.rosinstall | |
| # Install and start xvfb for GLFW | |
| AFTER_INIT: ${{ matrix.render_backend == 'GLFW' && 'apt-get install -qy xvfb; Xvfb :99 &' || '' }} | |
| # Pull any updates to the upstream workspace | |
| AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src | |
| AFTER_SETUP_DOWNSTREAM_WORKSPACE: vcs pull $BASEDIR/downstream_ws/src | |
| # Clear ccache stats before and log the stats after the build | |
| AFTER_SETUP_CCACHE: ccache --zero-stats --max-size=10.0G | |
| AFTER_BUILD_TARGET_WORKSPACE: ccache --show-stats | |
| AFTER_BUILD_DOWNSTREAM_WORKSPACE: ccache --show-stats | |
| # Compile CCOV with Debug. Enable -Werror. | |
| TARGET_CMAKE_ARGS: > | |
| -DCMAKE_BUILD_TYPE=${{ matrix.env.CCOV && 'Debug' || 'Release'}} | |
| -DCMAKE_CXX_FLAGS="-Werror $CXXFLAGS${{ matrix.env.CCOV && ' --coverage -O2 -fno-omit-frame-pointer'}}" | |
| -DRENDER_BACKEND=${{ matrix.render_backend }} | |
| UPSTREAM_CMAKE_ARGS: -DCMAKE_CXX_FLAGS= -DCMAKE_CXX_STANDARD=17 | |
| CCACHE_DIR: ${{ github.workspace }}/.ccache | |
| BASEDIR: ${{ github.workspace }}/.work | |
| CLANG_TIDY_BASE_REF: ${{ github.event_name != 'workflow_dispatch' && (github.base_ref || github.ref) || '' }} | |
| BEFORE_CLANG_TIDY_CHECKS: | | |
| # Show list of applied checks | |
| (cd $TARGET_REPO_PATH; clang-tidy --list-checks) | |
| CC: ${{ matrix.env.CLANG_TIDY && 'clang' }} | |
| CXX: ${{ matrix.env.CLANG_TIDY && 'clang++' }} | |
| CLANG_TIDY: ${{ matrix.env.CLANG_TIDY || 'false' }} | |
| CATKIN_LINT: ${{ matrix.env.CATKIN_LINT || 'false' }} | |
| CCOV: ${{ matrix.env.CCOV || 'false' }} | |
| name: "${{ matrix.distro }} mj-${{ matrix.mujoco }} ${{ matrix.render_backend }} ${{ matrix.env.CATKIN_LINT && ' + catkin_lint' || ''}}${{ matrix.env.CCOV && ' + ccov' || ''}}${{ matrix.env.CLANG_TIDY && (github.event_name != 'workflow_dispatch' && ' + clang-tidy (delta)' || ' + clang-tidy (all)') || '' }}" | |
| runs-on: ${{ matrix.render_backend == 'EGL' && matrix.distro || 'ubuntu-20.04' }} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Cache upstream workspace | |
| uses: rhaschke/cache@main | |
| with: | |
| path: ${{ env.BASEDIR }}/upstream_ws | |
| key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }} | |
| restore-keys: ${{ env.CACHE_PREFIX }} | |
| env: | |
| GHA_CACHE_SAVE: always | |
| CACHE_PREFIX: upstream_ws-${{ matrix.distro }}-${{ hashFiles('.github/workflows/upstream.rosinstall', '.github/workflows/ci.yaml') }} | |
| # 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 != true | |
| 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.CCOV && '-ccov' || '' }}-${{ matrix.distro }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml', '.github/workflows/ci.yaml') }} | |
| - 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.distro }}${{ matrix.env.CCOV && '-ccov' || '' }} | |
| - id: ici | |
| name: Run industrial_ci | |
| uses: rhaschke/industrial_ci@ros-one | |
| - name: Upload test artifacts (on failure) | |
| uses: actions/upload-artifact@v4 | |
| if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results) | |
| with: | |
| name: test-results-${{ matrix.distro }}-${{ matrix.render_backend }} | |
| path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml | |
| - name: Generate codecov report | |
| uses: rhaschke/lcov-action@main | |
| if: always() && matrix.env.CCOV && steps.ici.outputs.target_test_results == '0' | |
| with: | |
| docker: $DOCKER_IMAGE | |
| workdir: ${{ env.BASEDIR }}/target_ws | |
| ignore: '"*/target_ws/build/*" "*/target_ws/install/*" "*/test/*"' | |
| output: ${{ env.BASEDIR }}/target_ws/coverage-${{ matrix.distro }}-${{ matrix.render_backend }}.info | |
| - name: Upload codecov report | |
| uses: codecov/codecov-action@v5 | |
| if: always() && matrix.env.CCOV && steps.ici.outputs.target_test_results == '0' | |
| with: | |
| files: ${{ env.BASEDIR }}/target_ws/coverage-${{ matrix.distro }}-${{ matrix.render_backend }}.info | |
| - name: Upload clang-tidy changes | |
| uses: rhaschke/upload-git-patch-action@main | |
| if: always() && matrix.env.CLANG_TIDY | |
| with: | |
| name: clang-tidy | |
| path: ${{ env.BASEDIR }}/target_ws/src/$(basename $(pwd)) | |
| - name: Prepare target_ws for cache | |
| if: always() && !matrix.env.CCOV | |
| 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 |