ci.yml

name: Continuous Integration

on:
  pull_request:
    branches: [ main ]

# NOTE: We do not store the work files under $HOME ("/github/home/") since that
#       dir persists between jobs when using self-hosted GitHub Actions runners
#       (/github/home is a docker volume mapped to the container's host).
env:
  REPOSITORY_NAME: wavemap
  DOCKER_FROM_IMAGE: ros:noetic-ros-base-focal
  DOCKER_TARGET_ROS_PKG: wavemap_all
  DOCKER_CI_REGISTRY: hub.wavemap.vwire.ch
  DOCKER_CI_TARGET: workspace-built-deps
  ROS_HOME: /home/ci/.ros
  CATKIN_WS_PATH: /home/ci/catkin_ws
  CCACHE_DIR: /home/ci/ccache
  PRE_COMMIT_DIR: /home/ci/pre-commit

jobs:
  common-variables:
    name: Define common variables
    # NOTE: This job is used to pass complex common variables around between jobs,
    #       as a work-around for ENV variables in GitHub Actions not being composable.
    runs-on: [ self-hosted, vwire ]
    container:
      image: docker:20.10.9-dind
    outputs:
      docker_cache_image_name: type=registry,ref=${{ env.DOCKER_CI_REGISTRY }}/${{ env.REPOSITORY_NAME }}:buildcache
      local_ci_image_name: ${{ env.DOCKER_CI_REGISTRY }}/${{ env.REPOSITORY_NAME }}:${{ env.DOCKER_CI_TARGET }}-${{ github.sha }}
    steps:
      - name: Empty
        run: echo

  workspace-container:
    name: Build CI workspace container
    needs: [ common-variables ]
    runs-on: [ self-hosted, vwire ]
    container:
      image: docker:20.10.9-dind
    outputs:
      image: ${{ needs.common-variables.outputs.local_ci_image_name }}
    env:
      CACHE_IMAGE_NAME: ${{ needs.common-variables.outputs.docker_cache_image_name }}
      LOCAL_IMAGE_NAME: ${{ needs.common-variables.outputs.local_ci_image_name }}
    steps:
      - name: Fetch the package's repository
        uses: actions/checkout@v3
        with:
          path: ${{ env.REPOSITORY_NAME }}

      - name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v2

      - name: Install dependencies
        # NOTE: Installing tar is required for actions/cache@v3 to work properly
        #       on docker:20.10.9-dind.
        run: apk add --no-cache tar git

      - name: Prepare ccache to accelerate the build
        id: get-date
        run: |
          mkdir -p ccache
          echo "date=$(date -u "+%Y-%m-%d_%H-%M-%S")" >> $GITHUB_OUTPUT

      - name: Pull in ccache's cache
        uses: actions/cache@v3
        with:
          path: ccache
          key: ccache-${{ secrets.CCACHE_CACHE_VERSION }}-noetic-gcc-docker-${{ github.sha }}-${{ steps.get-date.outputs.date }}
          restore-keys: |
            ccache-${{ secrets.CCACHE_CACHE_VERSION }}-noetic-gcc-docker-${{ github.sha }}-
            ccache-${{ secrets.CCACHE_CACHE_VERSION }}-noetic-gcc-docker-

      - name: Start measuring the build time
        id: start-time
        run: |
          stamp=$(date +%s)
          echo "stamp=${stamp}" >> $GITHUB_OUTPUT

      - name: Build the ${{ env.DOCKER_CI_TARGET }} image
        uses: docker/build-push-action@v3
        with:
          context: .
          file: ${{ env.REPOSITORY_NAME }}/tooling/docker/full.Dockerfile
          target: ${{ env.DOCKER_CI_TARGET }}
          build-args: |
            FROM_IMAGE=${{ env.DOCKER_FROM_IMAGE }}
            CATKIN_WS_PATH=${{ env.CATKIN_WS_PATH }}
            CCACHE_DIR=${{ env.CCACHE_DIR }}
            ROS_HOME=${{ env.ROS_HOME }}
            REPOSITORY_NAME=${{ env.REPOSITORY_NAME }}
            PACKAGE_NAME=${{ env.DOCKER_TARGET_ROS_PKG }}
          load: true
          cache-from: ${{ env.CACHE_IMAGE_NAME }}
          cache-to: ${{ env.CACHE_IMAGE_NAME }},mode=max
          tags: ${{ env.LOCAL_IMAGE_NAME }}

      - name: Determine whether the ccache cache should be updated
        id: should-writeback-ccache
        run: |
          runtime=$(( $(date +%s) - ${{ steps.start-time.outputs.stamp }} ))
          threshold=300  # seconds
          echo $runtime
          answer=false
          if [ $threshold -le $runtime ]; then
            answer=true
          fi
          echo "answer=${answer}" >> $GITHUB_OUTPUT

      - name: Test the ${{ env.DOCKER_CI_TARGET }} image
        run: docker run --rm ${{ env.LOCAL_IMAGE_NAME }}

      - name: Push the ${{ env.DOCKER_CI_TARGET }} image
        uses: docker/build-push-action@v3
        with:
          context: .
          file: ${{ env.REPOSITORY_NAME }}/tooling/docker/full.Dockerfile
          target: ${{ env.DOCKER_CI_TARGET }}
          build-args: |
            FROM_IMAGE=${{ env.DOCKER_FROM_IMAGE }}
            CATKIN_WS_PATH=${{ env.CATKIN_WS_PATH }}
            CCACHE_DIR=${{ env.CCACHE_DIR }}
            ROS_HOME=${{ env.ROS_HOME }}
            REPOSITORY_NAME=${{ env.REPOSITORY_NAME }}
            PACKAGE_NAME=${{ env.DOCKER_TARGET_ROS_PKG }}
          push: true
          cache-from: ${{ env.CACHE_IMAGE_NAME }}
          tags: ${{ env.LOCAL_IMAGE_NAME }}

      - name: Write back the build's ccache cache
        if: steps.should-writeback-ccache.outputs.answer == 'true'
        uses: docker/build-push-action@v3
        with:
          context: .
          file: ${{ env.REPOSITORY_NAME }}/tooling/docker/full.Dockerfile
          target: workspace-deps-builder-ccache-extractor
          build-args: |
            FROM_IMAGE=${{ env.DOCKER_FROM_IMAGE }}
            CATKIN_WS_PATH=${{ env.CATKIN_WS_PATH }}
            CCACHE_DIR=${{ env.CCACHE_DIR }}
            ROS_HOME=${{ env.ROS_HOME }}
            REPOSITORY_NAME=${{ env.REPOSITORY_NAME }}
            PACKAGE_NAME=${{ env.DOCKER_TARGET_ROS_PKG }}
          cache-from: ${{ env.CACHE_IMAGE_NAME }}
          tags: ${{ env.LOCAL_IMAGE_NAME }}
          outputs: type=local,dest=ccache

  lint:
    name: Lint
    needs: [ common-variables ]
    runs-on: [ self-hosted, vwire ]
    container:
      # NOTE: Pylint checks if all modules that are marked for import are
      #       available. At the time of writing, the python scripts in this repo
      #       only depend on modules that are present on noetic-ros-base-focal
      #       out of the box. If scripts are added later that depend on custom
      #       package (e.g. installed through rosdep or pulled in through
      #       vcstool), it'd make sense to run pre-commit in a full workspace
      #       container (such as ${{ needs.workspace-container.outputs.image }})
      #       at the cost of a longer loading time on the CI actions runner.
      image: ros:noetic-ros-base-focal
    steps:
      - name: Install pre-commit's dependencies
        run: |
          apt-get update
          apt-get install -q -y --no-install-recommends git python3-pip clang-format-11 cppcheck libxml2-utils wget
          pip3 install pre-commit cpplint
          wget -O /bin/hadolint https://github.com/hadolint/hadolint/releases/download/v2.8.0/hadolint-Linux-x86_64
          chmod +x /bin/hadolint

      - name: Fetch the package's repository
        uses: actions/checkout@v3
        # NOTE: This has to be done after installing pre-commit, s.t. the
        #       pre-commit hooks are automatically initialized.

      - name: Get python version for pre-commit cache
        run: echo "PRE_COMMIT_PYTHON_VERSION=$(python -VV | sha256sum | cut -d' ' -f1)" >> $GITHUB_ENV

      - name: Setup pre-commit cache sharing
        uses: actions/cache@v3
        with:
          path: ${{ env.PRE_COMMIT_DIR }}
          key: pre-commit|${{ env.PRE_COMMIT_PYTHON_VERSION }}|${{ hashFiles('.pre-commit-config.yaml') }}

      - name: Run the pre-commit hooks
        shell: bash
        run: |
          echo "::add-matcher::./.github/problem-matchers/pre-commit.json"
          source /opt/ros/noetic/setup.bash
          PRE_COMMIT_HOME=${{ env.PRE_COMMIT_DIR }} SKIP=no-commit-to-branch pre-commit run --all-files
          echo "::remove-matcher owner=problem-matcher-pre-commit::"

  build-docs:
    name: Build docs
    needs: [ workspace-container, lint ]
    runs-on: [ self-hosted, vwire ]
    container:
      image: ${{ needs.workspace-container.outputs.image }}
    steps:
      - name: Fetch the package's repository
        uses: actions/checkout@v3

      - name: Install dependencies (doxygen+sphinx+breathe+exhale toolchain)
        run: |
          apt-get update
          apt-get install -q -y --no-install-recommends python3-pip doxygen
          pip3 install exhale sphinx-rtd-theme sphinx-copybutton

      - name: Build documentation
        working-directory: ${{ env.CATKIN_WS_PATH }}/src/${{ env.REPOSITORY_NAME }}/docs
        shell: bash
        run: make html

      - name: Archive pages artifact
        shell: bash
        run: |
          tar \
            --dereference --hard-dereference \
            --directory ${{ env.CATKIN_WS_PATH }}/src/${{ env.REPOSITORY_NAME }}/docs/_build/html/ \
            -cvf ${{ env.CATKIN_WS_PATH }}/src/${{ env.REPOSITORY_NAME }}/docs/artifact.tar \
            --exclude=.git \
            --exclude=.github \
            .

      - name: Upload pages artifact
        uses: actions/upload-artifact@main
        with:
          name: github-pages
          path: ${{ env.CATKIN_WS_PATH }}/src/${{ env.REPOSITORY_NAME }}/docs/artifact.tar
          retention-days: 1

  build:
    name: Build
    needs: workspace-container
    runs-on: [ self-hosted, vwire ]
    container:
      image: ${{ needs.workspace-container.outputs.image }}
    steps:
      - name: Fetch the package's repository
        uses: actions/checkout@v3
        # NOTE: Even though the repo is already present in the container, we
        #       also need to check it out at GitHub Actions' preferred location
        #       for private actions and problem matchers to work.

      - name: Setup ccache
        uses: ./.github/actions/setup-ccache
        with:
          cache-group: noetic-gcc-release
          cache-version: ${{ secrets.CCACHE_CACHE_VERSION }}

      - name: Build all wavemap packages
        working-directory: ${{ env.CATKIN_WS_PATH }}
        shell: bash
        run: |
          echo "::add-matcher::./.github/problem-matchers/gcc.json"
          catkin build wavemap_all --no-status --force-color
          echo "::remove-matcher owner=problem-matcher-gcc::"

      - name: Show statistics for ccache
        uses: ./.github/actions/log-ccache-stats

  install:
    name: Catkin install
    needs: [ workspace-container, build ]
    runs-on: [ self-hosted, vwire ]
    container:
      image: ${{ needs.workspace-container.outputs.image }}
    steps:
      - name: Fetch the package's repository
        uses: actions/checkout@v3
        # NOTE: Even though the repo is already present in the container, we
        #       also need to check it out at GitHub Actions' preferred location
        #       for private actions and problem matchers to work.

      - name: Setup ccache
        uses: ./.github/actions/setup-ccache
        with:
          cache-group: noetic-gcc-release
          cache-version: ${{ secrets.CCACHE_CACHE_VERSION }}

      - name: Enable catkin install
        working-directory: ${{ env.CATKIN_WS_PATH }}
        shell: bash
        run: |
          catkin config --install
          catkin clean -b -y

      - name: Build all wavemap packages
        working-directory: ${{ env.CATKIN_WS_PATH }}
        shell: bash
        run: |
          . /opt/ros/noetic/setup.sh
          echo "::add-matcher::./.github/problem-matchers/gcc.json"
          catkin build wavemap_all --no-status --force-color
          echo "::remove-matcher owner=problem-matcher-gcc::"

      - name: Show statistics for ccache
        uses: ./.github/actions/log-ccache-stats

  clang-tidy:
    name: Clang tidy
    needs: [ workspace-container, build ]
    runs-on: [ self-hosted, vwire ]
    container:
      image: ${{ needs.workspace-container.outputs.image }}
    steps:
      - name: Fetch the package's repository
        uses: actions/checkout@v3
        # NOTE: Even though the repo is already present in the container, we
        #       also need to check it out at GitHub Actions' preferred location
        #       for private actions and problem matchers to work.

      - name: Setup ccache
        uses: ./.github/actions/setup-ccache
        with:
          cache-group: noetic-gcc-release
          cache-version: ${{ secrets.CCACHE_CACHE_VERSION }}

      - name: Install clang-tidy
        run: |
          apt-get update
          apt-get install -q -y --no-install-recommends clang-tidy

      - name: Build catkin package and dependencies
        working-directory: ${{ env.CATKIN_WS_PATH }}
        shell: bash
        run: catkin build wavemap_all --no-status --force-color --cmake-args -DUSE_CLANG_TIDY=ON

      - name: Run clang-tidy for wavemap
        working-directory: ${{ env.CATKIN_WS_PATH }}/build/wavemap
        run: |
          echo "::add-matcher::./.github/problem-matchers/clang-tidy.json"
          run-clang-tidy -header-filter="*include/wavemap/*" -quiet
          echo "::remove-matcher owner=problem-matcher-clang-tidy::"

      - name: Run clang-tidy for wavemap_ros
        working-directory: ${{ env.CATKIN_WS_PATH }}/build/wavemap_ros
        run: |
          echo "::add-matcher::./.github/problem-matchers/clang-tidy.json"
          run-clang-tidy -header-filter="*include/wavemap_ros/*" -quiet
          echo "::remove-matcher owner=problem-matcher-clang-tidy::"

  test:
    name: Test
    needs: [ workspace-container, build ]
    runs-on: [ self-hosted, vwire ]
    container:
      image: ${{ needs.workspace-container.outputs.image }}
    steps:
      - name: Fetch the package's repository
        uses: actions/checkout@v3
        # NOTE: Even though the repo is already present in the container, we
        #       also need to check it out at GitHub Actions' preferred location
        #       for private actions and problem matchers to work.

      - name: Setup ccache
        uses: ./.github/actions/setup-ccache
        with:
          cache-group: noetic-gcc-release
          cache-version: ${{ secrets.CCACHE_CACHE_VERSION }}

      - name: Build regular code
        working-directory: ${{ env.CATKIN_WS_PATH }}
        shell: bash
        run: catkin build wavemap_all --no-status --force-color --cmake-args -DDCHECK_ALWAYS_ON=ON

      - name: Build unit tests
        working-directory: ${{ env.CATKIN_WS_PATH }}
        shell: bash
        run: |
          echo "::add-matcher::./.github/problem-matchers/gcc.json"
          catkin build wavemap_all --no-status --force-color --no-deps --cmake-args -DDCHECK_ALWAYS_ON=ON --catkin-make-args tests
          echo "::remove-matcher owner=problem-matcher-gcc::"

      - name: Run unit tests
        working-directory: ${{ env.CATKIN_WS_PATH }}
        shell: bash
        run: |
          all_tests_passed=1
          source devel/setup.bash
          for f in devel/lib/wavemap*/test_*
            do $f --gtest_color=yes || all_tests_passed=0
          done
          if [ $all_tests_passed -ne 1 ]; then
            echo "Not all tests passed!"
            exit 1
          fi

      - name: Show statistics for ccache
        uses: ./.github/actions/log-ccache-stats

  coverage:
    name: Coverage
    # TODO(victorr): Enable this again once it has been updated to work with the new package structure
    if: ${{ false }}
    needs: [ workspace-container, test ]
    runs-on: [ self-hosted, vwire ]
    container:
      image: ${{ needs.workspace-container.outputs.image }}
    steps:
      - name: Fetch the package's repository
        uses: actions/checkout@v3
        # NOTE: Even though the repo is already present in the container, we
        #       also need to check it out at GitHub Actions' preferred location
        #       for private actions and problem matchers to work.

      - name: Setup ccache
        uses: ./.github/actions/setup-ccache
        with:
          cache-group: noetic-gcc-debug
          cache-version: ${{ secrets.CCACHE_CACHE_VERSION }}

      - name: Install lcov for coverage report generation
        run: |
          apt-get update
          apt-get install -q -y --no-install-recommends lcov

      - name: Switch catkin workspace to debug mode
        working-directory: ${{ env.CATKIN_WS_PATH }}
        shell: bash
        run: |
          catkin clean -y
          catkin config --cmake-args -DCMAKE_BUILD_TYPE=Debug

      - name: Rebuild dependencies and build regular code (in debug mode)
        working-directory: ${{ env.CATKIN_WS_PATH }}
        shell: bash
        run: |
          source /opt/ros/noetic/setup.bash
          catkin build wavemap_all --no-status --force-color

      - name: Build unit tests
        working-directory: ${{ env.CATKIN_WS_PATH }}
        shell: bash
        run: catkin build wavemap_all --no-status --force-color --no-deps --cmake-args -DENABLE_COVERAGE_TESTING=ON --catkin-make-args tests

      - name: Set coverage counters to zero and create report base
        working-directory: ${{ env.CATKIN_WS_PATH }}/build/wavemap
        shell: bash
        run: |
          lcov --zerocounters --directory .
          lcov --capture --initial --directory . --output-file wavemap_coverage_base.info

      - name: Run all tests while measuring coverage
        working-directory: ${{ env.CATKIN_WS_PATH }}
        shell: bash
        run: |
          all_tests_passed=1
          for f in devel/lib/wavemap*/test_*
          do
            $f --gtest_color=yes || all_tests_passed=0
          done
          if [ $all_tests_passed -ne 1 ]; then
            echo "Not all tests passed! Note that the code is currently compiled"\
                 "in Debug mode, so some additional errors may be caught compared"\
                 "to previous test runs in Release mode (e.g. failing DCHECKs)."
            exit 1
          fi

      - name: Create the coverage report
        working-directory: ${{ env.CATKIN_WS_PATH }}/build/wavemap
        shell: bash
        run: |
          lcov --capture --directory . --output-file wavemap_coverage_unit_tests.info
          lcov --add-tracefile wavemap_coverage_base.info --add-tracefile wavemap_coverage_unit_tests.info --output-file wavemap_coverage_total.info
          lcov --extract wavemap_coverage_total.info '*/wavemap/wavemap*' --output-file wavemap_coverage_filtered_intermediate.info
          lcov --remove wavemap_coverage_filtered_intermediate.info '*/wavemap/test/*' '*/wavemap/app/*' '*/wavemap/benchmark/*' --output-file wavemap_coverage.info
          rm wavemap_coverage_base.info wavemap_coverage_unit_tests.info wavemap_coverage_total.info wavemap_coverage_filtered_intermediate.info
          lcov --list wavemap_coverage.info  # Include report in logs for debugging

      - name: Upload coverage stats to Codecov
        uses: codecov/codecov-action@v2
        with:
          token: ${{ secrets.CODECOV_TOKEN }}
          directory: ${{ env.CATKIN_WS_PATH }}/build/wavemap
          flags: unittests
          fail_ci_if_error: true
          verbose: true

      - name: Show statistics for ccache
        uses: ./.github/actions/log-ccache-stats

  sanitize:
    name: Sanitize ${{ matrix.sanitizer.detects }}
    needs: [ workspace-container, test ]
    runs-on: [ self-hosted, vwire ]
    container:
      image: ${{ needs.workspace-container.outputs.image }}
    strategy:
      matrix:
        sanitizer:
          - { name: UBSAN, detects: 'undefined behavior' }
          - { name: ASAN, detects: 'addressability and leaks' }
          # - { name: TSAN, detects: 'data races and deadlocks' }
          # NOTE: TSAN is disabled until the following bug is resolved:
          #       https://bugs.launchpad.net/ubuntu/+source/gcc-10/+bug/2029910.
          # NOTE: MSAN is not used for now since it also requires all deps to be
          #       instrumented (recompiled with clang and the MSan flags, LLVM's
          #       stdlib instead of GCCs,...). We therefore use Valgrind to
          #       check for uninitialized memory usage errors instead.
      fail-fast: false
    steps:
      - name: Fetch the package's repository
        uses: actions/checkout@v3
        # NOTE: Even though the repo is already present in the container, we
        #       also need to check it out at GitHub Actions' preferred location
        #       for private actions and problem matchers to work.

      - name: Setup ccache
        uses: ./.github/actions/setup-ccache
        with:
          cache-group: noetic-gcc-release
          cache-version: ${{ secrets.CCACHE_CACHE_VERSION }}

      - name: Build regular code
        working-directory: ${{ env.CATKIN_WS_PATH }}
        shell: bash
        run: catkin build wavemap_all --no-status --force-color

      - name: Build unit tests
        working-directory: ${{ env.CATKIN_WS_PATH }}
        shell: bash
        run: catkin build wavemap_all --no-status --force-color --no-deps --cmake-args -DUSE_${{ matrix.sanitizer.name }}=ON --catkin-make-args tests

      - name: Check unit tests with ${{ matrix.sanitizer.name }}
        working-directory: ${{ env.CATKIN_WS_PATH }}
        env:
          UBSAN_OPTIONS: halt_on_error=1:print_stacktrace=1
          ASAN_OPTIONS: halt_on_error=1:detect_leaks=1:detect_stack_use_after_return=1
          TSAN_OPTIONS: halt_on_error=1:second_deadlock_stack=1
        shell: bash
        run: |
          echo "::add-matcher::./.github/problem-matchers/gcc-sanitizers.json"
          all_tests_passed=1
          for f in devel/lib/wavemap*/test_*
            do $f --gtest_color=yes || all_tests_passed=0
          done
          if [ $all_tests_passed -ne 1 ]; then
            echo "Not all tests passed!"
            exit 1
          fi
          echo "::remove-matcher owner=problem-matcher-gcc-ubsan::"
          echo "::remove-matcher owner=problem-matcher-gcc-asan::"
          echo "::remove-matcher owner=problem-matcher-gcc-tsan::"

      - name: Show statistics for ccache
        uses: ./.github/actions/log-ccache-stats

  valgrind:
    name: Valgrind memcheck
    needs: [ workspace-container, test ]
    runs-on: [ self-hosted, vwire ]
    container:
      image: ${{ needs.workspace-container.outputs.image }}
    steps:
      - name: Fetch the package's repository
        uses: actions/checkout@v3
        # NOTE: Even though the repo is already present in the container, we
        #       also need to check it out at GitHub Actions' preferred location
        #       for private actions and problem matchers to work.

      - name: Setup ccache
        uses: ./.github/actions/setup-ccache
        with:
          cache-group: noetic-gcc-release
          cache-version: ${{ secrets.CCACHE_CACHE_VERSION }}

      - name: Install Valgrind
        run: |
          apt-get update
          apt-get install -q -y --no-install-recommends valgrind

      - name: Build regular code
        working-directory: ${{ env.CATKIN_WS_PATH }}
        shell: bash
        run: catkin build wavemap_all --no-status --force-color

      - name: Build unit tests
        working-directory: ${{ env.CATKIN_WS_PATH }}
        shell: bash
        run: catkin build wavemap_all --no-status --force-color --no-deps --catkin-make-args tests

      - name: Check unit tests with Valgrind memcheck
        working-directory: ${{ env.CATKIN_WS_PATH }}
        shell: bash
        run: |
          echo "::add-matcher::./.github/problem-matchers/valgrind.json"
          all_tests_passed=1
          source devel/setup.bash
          for f in devel/lib/wavemap*/test_*
            do valgrind --tool=memcheck --leak-check=full --leak-resolution=high --num-callers=20 --track-origins=yes --show-possibly-lost=no --errors-for-leak-kinds=definite,indirect --error-exitcode=1 --xml=yes --xml-file=valgrind-log.xml $f --gtest_color=yes || all_tests_passed=0
            grep -Poz '(?<=<error>)(.*\n)*.*(?=</error>)' valgrind-log.xml || true
          done
          if [ $all_tests_passed -ne 1 ]; then
            echo "Not all tests passed!"
            exit 1
          fi
          echo "::remove-matcher owner=problem-matcher-valgrind::"

      - name: Show statistics for ccache
        uses: ./.github/actions/log-ccache-stats