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build-and-test-differential.yaml
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name: build-and-test-differential
on:
pull_request:
types:
- opened
- synchronize
- reopened
- labeled
env:
CC: /usr/lib/ccache/gcc
CXX: /usr/lib/ccache/g++
jobs:
make-sure-label-is-present:
uses: autowarefoundation/autoware-github-actions/.github/workflows/make-sure-label-is-present.yaml@v1
with:
label: tag:run-build-and-test-differential
build-and-test-differential:
needs: make-sure-label-is-present
if: ${{ needs.make-sure-label-is-present.outputs.result == 'true' }}
runs-on: ${{ matrix.runner }}
container: ${{ matrix.container }}${{ matrix.container-suffix }}
strategy:
fail-fast: false
matrix:
rosdistro:
- humble
container-suffix:
- ""
- -cuda
include:
- rosdistro: humble
container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe
build-depends-repos: build_depends.repos
- container-suffix: -cuda
runner: [self-hosted, linux, X64, cpu]
- container-suffix: ""
runner: ubuntu-latest
steps:
- name: Set PR fetch depth
run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
- name: Checkout PR branch and all PR commits
uses: actions/checkout@v4
with:
ref: ${{ github.event.pull_request.head.sha }}
fetch-depth: ${{ env.PR_FETCH_DEPTH }}
- name: Show disk space before the tasks
run: df -h
- name: Remove exec_depend
uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
- name: Get modified packages
id: get-modified-packages
uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
- name: Create ccache directory
run: |
mkdir -p ${CCACHE_DIR}
du -sh ${CCACHE_DIR} && ccache -s
shell: bash
- name: Attempt to restore ccache
uses: actions/cache/restore@v4
with:
path: |
/root/.ccache
key: ccache-main-${{ runner.arch }}-${{ matrix.rosdistro }}-${{ github.event.pull_request.base.sha }}
restore-keys: |
ccache-main-${{ runner.arch }}-${{ matrix.rosdistro }}-
# Limit ccache size only for CUDA builds to avoid running out of disk space
- name: Limit ccache size
if: ${{ matrix.container-suffix == '-cuda' }}
run: |
rm -f "${CCACHE_DIR}/ccache.conf"
echo -e "# Set maximum cache size\nmax_size = 1MB" >> "${CCACHE_DIR}/ccache.conf"
shell: bash
- name: Show ccache stats before build
run: du -sh ${CCACHE_DIR} && ccache -s
shell: bash
- name: Export CUDA state as a variable for adding to cache key
run: |
build_type_cuda_state=nocuda
if [[ "${{ matrix.container-suffix }}" == "-cuda" ]]; then
build_type_cuda_state=cuda
fi
echo "BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" >> "${GITHUB_ENV}"
echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state"
shell: bash
- name: Build
if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
uses: autowarefoundation/autoware-github-actions/colcon-build@v1
with:
rosdistro: ${{ matrix.rosdistro }}
target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
build-depends-repos: ${{ matrix.build-depends-repos }}
cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
- name: Show ccache stats after build
run: du -sh ${CCACHE_DIR} && ccache -s
shell: bash
- name: Test
id: test
if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
uses: autowarefoundation/autoware-github-actions/colcon-test@v1
with:
rosdistro: ${{ matrix.rosdistro }}
target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
build-depends-repos: ${{ matrix.build-depends-repos }}
- name: Upload coverage to CodeCov
if: ${{ steps.test.outputs.coverage-report-files != '' }}
uses: codecov/codecov-action@v4
with:
files: ${{ steps.test.outputs.coverage-report-files }}
fail_ci_if_error: false
verbose: true
flags: differential
token: ${{ secrets.CODECOV_TOKEN }}
- name: Show disk space after the tasks
run: df -h
clang-tidy-differential:
needs: build-and-test-differential
runs-on: ubuntu-latest
container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe-cuda
steps:
- name: Set PR fetch depth
run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
- name: Checkout PR branch and all PR commits
uses: actions/checkout@v4
with:
ref: ${{ github.event.pull_request.head.sha }}
fetch-depth: ${{ env.PR_FETCH_DEPTH }}
- name: Show disk space before the tasks
run: df -h
- name: Remove exec_depend
uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
- name: Get modified packages
id: get-modified-packages
uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
- name: Get changed files (existing files only)
id: get-changed-files
run: |
echo "changed-files=$(git diff --name-only "origin/${{ github.base_ref }}"...HEAD | grep -E '\.(cpp|hpp)$' | while read -r file; do [ -e "$file" ] && echo -n "$file "; done)" >> $GITHUB_OUTPUT
shell: bash
- name: Run clang-tidy
if: ${{ steps.get-changed-files.outputs.changed-files != '' }}
uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
with:
rosdistro: humble
target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
target-files: ${{ steps.get-changed-files.outputs.changed-files }}
clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy-ci
build-depends-repos: build_depends.repos
cache-key-element: cuda
- name: Show disk space after the tasks
run: df -h