CI: Add new ROS repo key #399
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| # 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:ros-planning/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@v3 | |
| - 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: ${{ matrix.env }} | |
| - name: Upload test artifacts (on failure) | |
| uses: actions/upload-artifact@v3 | |
| if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results) | |
| with: | |
| name: test-results-${{ matrix.env.IMAGE }} | |
| path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml | |
| - name: 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@v3 | |
| 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 ${{ env.BASEDIR }}/target_ws | |
| # Sync noetic-devel branch with master on successful build | |
| sync-noetic-devel: | |
| runs-on: ubuntu-latest | |
| needs: default # only trigger on success of default build job | |
| if: github.event_name == 'push' && github.repository_owner == 'ros-planning' && github.ref == 'refs/heads/master' | |
| permissions: | |
| contents: write # allow pushing | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - name: Fast-forward noetic-devel to sync with master | |
| run: | | |
| # Configure push user+url | |
| git config --global user.name 'GHA sync bot' | |
| git config --global user.email 'rhaschke@users.noreply.github.com' | |
| git remote set-url origin https://x-access-token:${{ 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 |