Add CI using GitHub Actions (#256)

.clang-tidy

@@ -1,5 +1,38 @@
 # clang tidy file installed by mrt_tools. Do not modify: This file will be overwritten.
-Checks:          '-*,mrt*,bugprone-*,-bugprone-exception-escape,clang-analyzer-apiModeling*,clang-analyzer-core*,-clang-analyzer-core.UndefinedBinaryOperatorResult,clang-analyzer-deadcode*,clang-analyzer-unix*,clang-analyzer-cplusplus*,-clang-analyzer-cplusplus.NewDelete,cppcoreguidelines-*,-cppcoreguidelines-pro-bounds-array-to-pointer-decay,-cppcoreguidelines-owning-memory,-cppcoreguidelines-pro-type-vararg,-cppcoreguidelines-avoid-magic-numbers,-cppcoreguidelines-avoid-c-arrays,google-explicit-constructor,google-global-names-in-headers,google-readability-casting,google-readability-namespace-comments,google-global-names-in-headers,google-build-namespaces,performance-*,readability-*,-readability-uppercase-literal-suffix,-readability-magic-numbers,modernize-*,-modernize-use-trailing-return-type,-modernize-use-nodiscard,-modernize-concat-nested-namespaces,-modernize-avoid-c-arrays,misc-*,-misc-non-private-member-variables-in-classes'
+Checks: >
+  -*,
+  mrt*,
+  bugprone-*,
+  -bugprone-exception-escape,
+  clang-analyzer-apiModeling*,
+  clang-analyzer-core*,
+  -clang-analyzer-core.UndefinedBinaryOperatorResult,
+  clang-analyzer-deadcode*,
+  clang-analyzer-unix*,
+  clang-analyzer-cplusplus*,
+  -clang-analyzer-cplusplus.NewDelete,
+  cppcoreguidelines-*,
+  -cppcoreguidelines-pro-bounds-array-to-pointer-decay,
+  -cppcoreguidelines-owning-memory,
+  -cppcoreguidelines-pro-type-vararg,
+  -cppcoreguidelines-avoid-magic-numbers,
+  -cppcoreguidelines-avoid-c-arrays,
+  google-explicit-constructor,
+  google-global-names-in-headers,
+  google-readability-namespace-comments,
+  google-build-namespaces,
+  performance-*,
+  readability-*,
+  -readability-uppercase-literal-suffix,
+  -readability-magic-numbers,
+  -readability-identifier-length,
+  modernize-*,
+  -modernize-use-trailing-return-type,
+  -modernize-use-nodiscard,
+  -modernize-concat-nested-namespaces,
+  -modernize-avoid-c-arrays,
+  misc-*,
+  -misc-non-private-member-variables-in-classes
 HeaderFilterRegex: '^(?!\/usr)(?!\/opt).*\/src\/.*'
 AnalyzeTemporaryDtors: false
 CheckOptions:

.github/lcov_merge.bash

@@ -0,0 +1,34 @@
+#!/bin/bash
+set -ex
+SCRIPT_DIR="$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
+LANELET2_ROOT=$(dirname $SCRIPT_DIR)
+WORKSPACE_ROOT=$(dirname $(dirname $LANELET2_ROOT))
+
+src_dirs=""
+for d in ${LANELET2_ROOT}/*/ ; do
+    [ "$(basename $d)" = ".github" ] && continue
+    [ "$(basename $d)" = "lanelet2" ] && continue
+    src_dirs="${src_dirs} ${d}*"
+done
+
+lcov_filtered_files=""
+for d in ${LANELET2_ROOT}/*/ ; do
+    [ "$(basename $d)" = ".github" ] && continue
+    [ "$(basename $d)" = "lanelet2" ] && continue
+    pkg="$(basename $d)"
+    build_dir="${WORKSPACE_ROOT}/build/${pkg}"
+
+    file="${build_dir}/mrt_coverage/full_coverage.lcov"
+    if [ -f "$file" ]; then
+        filtered_path="${build_dir}/mrt_coverage/full_coverage_filtered.lcov"
+
+        set -f
+        lcov -o ${filtered_path} -e ${file}${src_dirs}
+        set +f
+
+        lcov_filtered_files="${lcov_filtered_files} -a ${filtered_path}"
+    fi;
+done
+
+mkdir -p "${WORKSPACE_ROOT}/lcov"
+lcov -o "${WORKSPACE_ROOT}/lcov/full_coverage.lcov" ${lcov_filtered_files}

.github/lint.bash

@@ -0,0 +1,38 @@
+#!/bin/bash
+set -ex
+SCRIPT_DIR="$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
+LANELET2_ROOT=$(dirname $SCRIPT_DIR)
+
+export BUILD_DIR=/tmp/lanelet2_build_lint_$(id -u)
+
+# setup mrt_cmake_modules, otherwise assume it's installed
+set +x
+source /opt/ros/*/setup.bash
+set -x
+if [[ -e $LANELET2_ROOT/../mrt_cmake_modules ]]; then
+    mkdir -p $BUILD_DIR/mrt_cmake_modules
+    pushd $BUILD_DIR/mrt_cmake_modules
+    cmake $LANELET2_ROOT/../mrt_cmake_modules -DCMAKE_INSTALL_PREFIX=$BUILD_DIR/mrt_cmake_modules
+    make install
+    popd
+fi
+
+# make sure cmake finds everything
+export CMAKE_PREFIX_PATH=$BUILD_DIR/mrt_cmake_modules:${CMAKE_PREFIX_PATH}
+export AMENT_PREFIX_PATH=${LANELET2_ROOT}
+
+# generate a compile_commands.json by configuring all lanelet2 packages in a big project
+CMAKE_ROOT=${LANELET2_ROOT}/CMakeLists.txt
+echo "cmake_minimum_required(VERSION 3.12)" > ${CMAKE_ROOT}
+echo "project(lanelet2)" >> ${CMAKE_ROOT}
+export LANELET2_PACKAGES_TOPOLOGICAL="lanelet2_core lanelet2_io lanelet2_projection lanelet2_traffic_rules lanelet2_routing lanelet2_maps lanelet2_validation lanelet2_matching lanelet2_python lanelet2_examples"
+for pkg in $LANELET2_PACKAGES_TOPOLOGICAL; do
+  echo "add_subdirectory($pkg)" >> ${CMAKE_ROOT};
+  echo "set(${pkg}_LIBRARIES $pkg)" >> ${CMAKE_ROOT};
+done
+pushd $BUILD_DIR
+cmake $LANELET2_ROOT -DCMAKE_EXPORT_COMPILE_COMMANDS=1 -DCATKIN_ENABLE_TESTING=1
+popd
+
+# run clang-tidy
+find . -name "*.cpp" -print0 | xargs -0 -I{} -P$(nproc --all) clang-tidy-11 -p $BUILD_DIR {}

.github/workflows/ci.yaml

@@ -0,0 +1,178 @@
+name: Lanelet2 CI
+
+on:
+  push:
+    branches:
+      - "**"
+    tags:
+      - "**"
+  # Run tests for any PRs.
+  pull_request:
+
+jobs:
+  formatting:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Setup docker buildx
+        id: buildx
+        uses: docker/setup-buildx-action@v2
+
+      - name: Setup docker cache
+        uses: actions/cache@v3
+        with:
+          path: /tmp/.docker-cache
+          key: ${{runner.os}}-docker-humble
+
+      - name: Build dependencies
+        uses: docker/build-push-action@v3
+        with:
+          builder: ${{ steps.buildx.outputs.name }}
+          tags: lanelet2_src
+          cache-from: type=local,src=/tmp/.docker-cache
+          cache-to: type=local,dest=/tmp/.docker-cache
+          load: true
+          build-args: |
+            DEV=1
+            DISTRIBUTION=22.04
+            ROS_DISTRO=humble
+            ROS=ros2
+          target: lanelet2_src
+
+      - name: Run clang formatting check
+        run: |
+          set -ex
+          docker run -i --rm lanelet2_src find . -name "*.cpp" -o -name "*.h" -execdir clang-format-11 -n -Werror --style=file {} +
+  
+  lint:
+    needs: formatting
+    runs-on: ubuntu-latest
+    steps:
+      - name: Setup docker buildx
+        id: buildx
+        uses: docker/setup-buildx-action@v2
+
+      - name: Setup docker cache
+        uses: actions/cache@v3
+        with:
+          path: /tmp/.docker-cache
+          key: ${{runner.os}}-docker-humble
+
+      - name: Build dependencies
+        uses: docker/build-push-action@v3
+        with:
+          builder: ${{ steps.buildx.outputs.name }}
+          tags: lanelet2_src
+          cache-from: type=local,src=/tmp/.docker-cache
+          cache-to: type=local,dest=/tmp/.docker-cache
+          load: true
+          build-args: |
+            DEV=1
+            DISTRIBUTION=22.04
+            ROS_DISTRO=humble
+            ROS=ros2
+          target: lanelet2_src
+      - name: Run clang-tidy
+        run: docker run -i --rm lanelet2_src /home/developer/workspace/src/lanelet2/.github/lint.bash
+
+  test:
+    needs: formatting
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: true
+      matrix:
+        rosdistro: [noetic, galactic, humble]
+        include:
+          - rosdistro: noetic
+            os: 20.04
+            ros: ros
+          - rosdistro: galactic
+            os: 20.04
+            ros: ros2
+          - rosdistro: humble
+            os: 22.04
+            ros: ros2
+    steps:
+      - name: Setup docker buildx
+        id: buildx
+        uses: docker/setup-buildx-action@v2
+
+      - name: Setup docker cache
+        uses: actions/cache@v3
+        with:
+          path: /tmp/.docker-cache
+          key: ${{runner.os}}-docker-${{ matrix.rosdistro }}
+
+      - name: Build dependencies
+        uses: docker/build-push-action@v3
+        with:
+          builder: ${{ steps.buildx.outputs.name }}
+          tags: lanelet2_base:${{ matrix.rosdistro }}
+          cache-from: type=local,src=/tmp/.docker-cache
+          cache-to: type=local,dest=/tmp/.docker-cache
+          build-args: |
+            DEV=1
+            DISTRIBUTION=${{ matrix.os }}
+            ROS_DISTRO=${{ matrix.rosdistro }}
+            ROS=${{ matrix.ros }}
+          target: lanelet2_deps
+
+      - name: Build Lanelet2
+        uses: docker/build-push-action@v3
+        if: ${{ matrix.rosdistro == 'noetic' }}
+        with:
+          builder: ${{ steps.buildx.outputs.name }}
+          tags: lanelet2:${{ matrix.rosdistro }}
+          cache-from: type=local,src=/tmp/.docker-cache
+          load: true
+          build-args: |
+            DEV=1
+            DISTRIBUTION=${{ matrix.os }}
+            ROS_DISTRO=${{ matrix.rosdistro }}
+            ROS=${{ matrix.ros }}
+          target: lanelet2
+
+      - name: Build Lanelet2 (skip lcov)
+        uses: docker/build-push-action@v3
+        if: ${{ matrix.rosdistro == 'humble' || matrix.rosdistro == 'galactic' }}
+        with:
+          builder: ${{ steps.buildx.outputs.name }}
+          tags: lanelet2:${{ matrix.rosdistro }}
+          cache-from: type=local,src=/tmp/.docker-cache
+          load: true
+          build-args: |
+            DEV=0
+            DISTRIBUTION=${{ matrix.os }}
+            ROS_DISTRO=${{ matrix.rosdistro }}
+            ROS=${{ matrix.ros }}
+          target: lanelet2
+
+      - name: Run Lanelet2 Tests
+        run: |
+          set -ex;
+          if [ "${{matrix.ros}}" = "ros" ]; then
+            export TEST_CMD="catkin build --no-status --catkin-make-args run_tests && source /opt/ros/${{matrix.rosdistro}}/setup.bash && catkin_test_results --verbose";
+          else
+            export TEST_CMD="colcon test --return-code-on-test-failure";
+          fi;
+          docker run -i --name lanelet2_test_${{ matrix.rosdistro }} lanelet2:${{ matrix.rosdistro }} /bin/bash -c "$TEST_CMD";
+
+      - name: Extract and Merge lcov Files
+        if: ${{ matrix.rosdistro == 'noetic' }}
+        run: |
+          docker commit lanelet2_test_${{ matrix.rosdistro }} lanelet2_${{ matrix.rosdistro }}_post_run;
+          docker run -i --name lanelet2_test_${{ matrix.rosdistro }}_lcov lanelet2_${{ matrix.rosdistro }}_post_run /home/developer/workspace/src/lanelet2/.github/lcov_merge.bash;
+          mkdir -p ./lcov;
+          docker cp lanelet2_test_${{ matrix.rosdistro }}_lcov:$(docker inspect --format='{{.Config.WorkingDir}}' lanelet2_test_${{ matrix.rosdistro }}_lcov)/lcov/full_coverage.lcov ./lcov/full_coverage.lcov;
+
+      - name: Cleanup Docker Container
+        run: |
+          docker rm -f lanelet2_test_${{ matrix.rosdistro }};
+          docker rm -f lanelet2_test_${{ matrix.rosdistro }}_lcov;
+
+      - name: Report code coverage
+        uses: immel-f/github-actions-report-lcov@v0.1.9
+        if: ${{ matrix.rosdistro == 'noetic' }}
+        with:
+          coverage-files: ./lcov/full_coverage.lcov
+          artifact-name: code-coverage-report
+          github-token: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/stale.yaml

@@ -0,0 +1,24 @@
+name: 'Close stale issues and PRs'
+on:
+  schedule:
+    - cron: '30 1 * * *'
+
+jobs:
+  stale:
+    runs-on: ubuntu-latest
+    permissions:
+      issues: write
+      pull-requests: write
+
+    steps:
+      - uses: actions/stale@v6
+        with:
+          repo-token: ${{ secrets.GITHUB_TOKEN }}
+          stale-issue-message: 'This issue is stale because it has been open for 90 days with no activity. Is this issue still work in progress? If yes, mark it as "WIP" or comment, otherwise it will be closed in 30 days.'
+          stale-pr-message: 'This PR is stale because it has been open for 90 days with no activity. Is this PR still work in progress? If yes, mark it as "WIP" or comment, otherwise it will be closed in 30 days.'
+          close-issue-message: 'This issue was closed because it has been stalled for 30 days with no activity.'
+          close-pr-message: 'This PR was closed because it has been stalled for 30 days with no activity.'
+          days-before-stale: 90
+          days-before-close: 30
+          exempt-pr-labels: 'WIP'
+          exempt-issue-labels: 'WIP'

CODEOWNERS

@@ -1,2 +1,2 @@
-* fabian.poggenhans@kit.edu frank.bieder@kit.edu
+* fabian.poggenhans@kit.edu fabian.immel@kit.edu 
 lanelet2_projection/* jan-hendrik.pauls@kit.edu