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ci.yaml
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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:
branches:
- master
permissions:
contents: read # to fetch code (actions/checkout)
concurrency: # cancel any previous workflow(s) from the same PR or branch/tag
group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
cancel-in-progress: true
jobs:
default:
strategy:
fail-fast: false
matrix:
env:
- IMAGE: noetic-ci
CCOV: true
BUILDER: catkin_tools_devel
- IMAGE: noetic-ci-testing
IKFAST_TEST: true
CATKIN_LINT: true
CLANG_TIDY: pedantic
- IMAGE: master-ci # ROS Melodic with all dependencies required for master
CATKIN_LINT: true
env:
CXXFLAGS: -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls
CLANG_TIDY_ARGS: --fix --fix-errors --format-style=file
DOCKER_IMAGE: moveit/moveit:${{ matrix.env.IMAGE }}
UPSTREAM_WORKSPACE: .github/workflows/upstream.rosinstall
TARGET_WORKSPACE: $TARGET_REPO_PATH github:moveit/moveit_resources#master
DOWNSTREAM_WORKSPACE: .github/workflows/downstream.rosinstall
# Pull any updates to the upstream workspace (after restoring it from cache)
AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src
AFTER_SETUP_DOWNSTREAM_WORKSPACE: vcs pull $BASEDIR/downstream_ws/src
# Clear the ccache stats before and log the stats after the build
AFTER_SETUP_CCACHE: ccache --zero-stats --max-size=10.0G
AFTER_BUILD_TARGET_WORKSPACE: ccache --show-stats
AFTER_BUILD_DOWNSTREAM_WORKSPACE: ccache --show-stats
# Compile CCOV with Debug. Enable -Werror.
TARGET_CMAKE_ARGS: >
-DCMAKE_BUILD_TYPE=${{ matrix.env.CCOV && 'Debug' || 'Release'}}
-DCMAKE_CXX_FLAGS="-Werror $CXXFLAGS${{ matrix.env.CCOV && ' --coverage -O2 -fno-omit-frame-pointer'}}"
UPSTREAM_CMAKE_ARGS: "-DCMAKE_CXX_FLAGS=''"
DOWNSTREAM_CMAKE_ARGS: -DCMAKE_CXX_FLAGS="-Wall -Wextra"
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)
# Disable clang-tidy for ikfast plugins as we cannot fix the generated code
find $BASEDIR/target_ws/build -iwholename "*_ikfast_plugin/compile_commands.json" -exec rm {} \;
BUILDER: ${{ matrix.env.BUILDER || 'catkin_tools' }}
CC: ${{ matrix.env.CLANG_TIDY && 'clang' }}
CXX: ${{ matrix.env.CLANG_TIDY && 'clang++' }}
name: "${{ matrix.env.IMAGE }}${{ matrix.env.CATKIN_LINT && ' + catkin_lint' || ''}}${{ matrix.env.CCOV && ' + ccov' || ''}}${{ matrix.env.IKFAST_TEST && ' + ikfast' || ''}}${{ matrix.env.CLANG_TIDY && (github.event_name != 'workflow_dispatch' && ' + clang-tidy (delta)' || ' + clang-tidy (all)') || '' }}"
runs-on: ubuntu-20.04
steps:
- name: "Free up disk space"
if: matrix.env.CCOV
run: |
sudo apt-get -qq purge build-essential "ghc*"
sudo apt-get clean
# cleanup docker images not used by us
docker system prune -af
# shift ccache folder to /mnt on a separate disk
sudo mkdir /mnt/ccache
mkdir ${{ env.CCACHE_DIR }}
sudo mount --bind ${{ env.CCACHE_DIR }} /mnt/ccache
# free up a lot of stuff from /usr/local
sudo rm -rf /usr/local
df -h
- 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.env.IMAGE }}-${{ hashFiles('.github/workflows/upstream.rosinstall', '.github/workflows/ci.yaml') }}
- name: Cache downstream workspace
uses: rhaschke/cache@main
with:
path: ${{ env.BASEDIR }}/downstream_ws
key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
restore-keys: ${{ env.CACHE_PREFIX }}
env:
GHA_CACHE_SAVE: always
CACHE_PREFIX: downstream_ws-${{ matrix.env.IMAGE }}-${{ hashFiles('.github/workflows/downstream.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"
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' || '' }}-${{ matrix.env.IMAGE }}-${{ 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.env.IMAGE }}${{ matrix.env.CCOV && '-ccov' || '' }}
- name: Generate ikfast packages
if: matrix.env.IKFAST_TEST
run: moveit_kinematics/test/test_ikfast_plugins.sh
env:
ROS_DISTRO: noetic
- id: ici
name: Run industrial_ci
uses: ros-industrial/industrial_ci@master
env: ${{ matrix.env }}
- name: Upload test artifacts (on failure)
uses: actions/upload-artifact@v4
if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results)
with:
name: test-results-${{ matrix.env.IMAGE }}
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/*"'
- name: Upload codecov report
uses: codecov/codecov-action@v4
if: always() && matrix.env.CCOV && steps.ici.outputs.target_test_results == '0'
with:
files: ${{ env.BASEDIR }}/target_ws/coverage.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 ${{ env.BASEDIR }}/target_ws
# Sync noetic-devel branch with master on successful build
sync-noetic-devel:
runs-on: ubuntu-latest
needs: default # only trigger on success of default build job
if: github.event_name == 'push' && github.repository_owner == 'moveit' && github.ref == 'refs/heads/master'
permissions:
contents: write # allow pushing
steps:
- uses: actions/checkout@v4
- name: Fast-forward noetic-devel to sync with master
run: |
# Configure push user+url
git config --global user.name 'GHA sync bot'
git config --global user.email '[email protected]'
git remote set-url origin https://x-access-token:${{ secrets.GH_PAGES_TOKEN }}@github.com/${{ github.repository }}
# Extend shallow copy from actions/checkout to connect noetic-devel..master
git fetch --depth=1 origin noetic-devel
git fetch --depth=200 origin master
git push origin master:noetic-devel