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| ang | ||
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| Original file line number | Diff line number | Diff line change |
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| max_size = 10.0G |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
|
|
@@ -18,29 +18,40 @@ jobs: | |
| env: | ||
| - IMAGE: rolling-ci | ||
| CCOV: true | ||
| ROS_DISTRO: rolling | ||
| - IMAGE: rolling-ci-testing | ||
| IKFAST_TEST: true | ||
| - IMAGE: galactic-ci | ||
| ROS_DISTRO: rolling | ||
| CLANG_TIDY: pedantic | ||
| - IMAGE: galactic-ci-testing | ||
| env: | ||
| CXXFLAGS: "-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wno-deprecated-copy" | ||
| CLANG_TIDY_ARGS: --fix --fix-errors --format-style=file | ||
| DOCKER_IMAGE: ghcr.io/ros-planning/moveit2:${{ matrix.env.IMAGE }} | ||
| UPSTREAM_WORKSPACE: moveit2.repos $(f="moveit2_$(sed 's/-.*$//' <<< "${{ matrix.env.IMAGE }}").repos"; test -r $f && echo $f) | ||
| # TODO(#885): Fix circular test dependency with moveit_resources and remove it from the target workspace | ||
| TARGET_WORKSPACE: $TARGET_REPO_PATH github:ros-planning/moveit_resources#ros2 | ||
| # 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 $BASEDIR/downstream_ws/src | ||
| # Clear the ccache stats before and log the stats after the build | ||
| BEFORE_BUILD_UPSTREAM_WORKSPACE: ccache -z | ||
| AFTER_BUILD_TARGET_WORKSPACE: ccache -s | ||
| # Changing linker to lld as ld has a behavior where it takes a long time to finish | ||
| TARGET_CMAKE_ARGS: > | ||
| -DCMAKE_EXE_LINKER_FLAGS=-fuse-ld=lld | ||
| -DCMAKE_SHARED_LINKER_FLAGS=-fuse-ld=lld | ||
| -DCMAKE_MODULE_LINKER_FLAGS=-fuse-ld=lld | ||
| -DCMAKE_BUILD_TYPE=${{ matrix.env.CCOV && 'Debug' || 'Release'}} | ||
| -DCMAKE_CXX_FLAGS="${{ matrix.env.CLANG_TIDY != 'pedantic' && '-Werror ' || '' }}${{ matrix.env.CCOV && ' --coverage -O2 -fno-omit-frame-pointer'}}" | ||
| 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: (cd $TARGET_REPO_PATH; clang-tidy --list-checks) | ||
| 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 {} \; | ||
| CC: ${{ matrix.env.CLANG_TIDY && 'clang' }} | ||
| CXX: ${{ matrix.env.CLANG_TIDY && 'clang++' }} | ||
| ADDITIONAL_DEBS: lld | ||
|
|
||
| name: ${{ matrix.env.IMAGE }}${{ 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-latest | ||
|
|
@@ -60,14 +71,27 @@ jobs: | |
| sudo rm -rf /usr/local | ||
| df -h | ||
| - uses: actions/checkout@v2 | ||
| - uses: testspace-com/setup-testspace@v1 | ||
| with: | ||
| domain: ros-planning | ||
| - name: Get latest release date for rosdistro | ||
| id: rosdistro_release_date | ||
| uses: JafarAbdi/latest-rosdistro-release-date-action@main | ||
| with: | ||
| rosdistro: ${{ matrix.env.ROS_DISTRO }} | ||
| - name: Get latest timestamp repos file has been edited | ||
| id: repos_edit_timestamp | ||
| uses: vatanaksoytezer/latest-file-edit-timestamp-action@main | ||
| with: | ||
| file: moveit2.repos | ||
| - name: Cache upstream workspace | ||
| uses: pat-s/[email protected] | ||
| with: | ||
| path: ${{ env.BASEDIR }}/upstream_ws | ||
| key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }} | ||
| restore-keys: ${{ env.CACHE_PREFIX }} | ||
| env: | ||
| CACHE_PREFIX: upstream_ws-${{ matrix.env.IMAGE }}-${{ hashFiles('moveit2*.repos', '.github/workflows/ci.yaml') }} | ||
| CACHE_PREFIX: ${{ steps.rosdistro_release_date.outputs.date }}-upstream_ws-${{ steps.repos_edit_timestamp.outputs.timestamp }}-${{ matrix.env.IMAGE }}-${{ hashFiles('moveit2*.repos', '.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 | ||
|
|
@@ -89,15 +113,21 @@ jobs: | |
| ${{ env.CACHE_PREFIX }} | ||
| env: | ||
| CACHE_PREFIX: ccache-${{ matrix.env.IMAGE }}${{ matrix.env.CCOV && '-ccov' || '' }} | ||
|
|
||
| - name: Configure ccache | ||
| run: | | ||
| mkdir -p ${{ env.CCACHE_DIR }} | ||
| cp .github/ccache.conf ${{ env.CCACHE_DIR }}/ccache.conf | ||
| - name: Generate ikfast packages | ||
| if: matrix.env.IKFAST_TEST | ||
| run: moveit_kinematics/test/test_ikfast_plugins.sh | ||
| - id: ici | ||
| name: Run industrial_ci | ||
| uses: ros-industrial/industrial_ci@master | ||
| env: ${{ matrix.env }} | ||
|
|
||
| - name: Push result to Testspace | ||
| if: always() | ||
| run: | | ||
| testspace "[ ${{ matrix.env.IMAGE }} ]${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml" | ||
| - name: Upload test artifacts (on failure) | ||
| uses: actions/upload-artifact@v2 | ||
| if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results) | ||
|
|
@@ -106,24 +136,24 @@ jobs: | |
| path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml | ||
| - name: Generate codecov report | ||
| uses: rhaschke/lcov-action@main | ||
| if: matrix.env.CCOV && steps.ici.outputs.target_test_results == '0' | ||
| 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@v2 | ||
| if: matrix.env.CCOV && steps.ici.outputs.target_test_results == '0' | ||
| 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: matrix.env.CLANG_TIDY | ||
| 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: "!matrix.env.CCOV" | ||
| if: always() && !matrix.env.CCOV | ||
| run: | | ||
| du -sh ${{ env.BASEDIR }}/target_ws | ||
| sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete | ||
|
|
||
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