build-and-test-reusable.yaml

name: build-and-test-reusable

on:
  workflow_call:
    inputs:
      # Why is it a JSON string?
      # https://github.com/orgs/community/discussions/11692#discussioncomment-3541856
      runner:
        type: string
        default: "['ubuntu-latest']"
        required: false
      container:
        type: string
        default: ghcr.io/autowarefoundation/autoware:universe-devel
        required: false
      container-suffix:
        type: string
        default: ""
        required: false
      rosdistro:
        type: string
        default: humble
        required: false
      build-pre-command:
        type: string
        default: ""
        required: false
      push-ccache:
        type: boolean
        default: false
        required: false
      pull-ccache:
        type: boolean
        default: false
        required: false
      concurrency-group:
        type: string
        default: ${{ github.workflow }}-${{ github.ref }}-${{ github.run_id }} # unique per run
        required: false
      cancel-in-progress:
        type: boolean
        default: false
        required: false
      codecov-flag:
        type: string
        default: temp
        required: false
    secrets:
      codecov-token:
        required: true

concurrency:
  group: ${{ inputs.concurrency-group }}
  cancel-in-progress: ${{ inputs.cancel-in-progress }}

env:
  CC: /usr/lib/ccache/gcc
  CXX: /usr/lib/ccache/g++

jobs:
  build-and-test:
    runs-on: ${{ fromJson(inputs.runner) }}
    container: ${{ inputs.container }}${{ inputs.container-suffix }}
    steps:
      - name: Check out repository
        uses: actions/checkout@v4
        with:
          fetch-depth: 1

      - name: Show disk space before the tasks
        run: df -h

      - name: Show machine specs
        run: lscpu && free -h

      - name: Remove exec_depend
        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1

      - name: Get self packages
        id: get-self-packages
        uses: autowarefoundation/autoware-github-actions/get-self-packages@v1

      - name: Create ccache directory
        if: ${{ inputs.pull-ccache || inputs.push-ccache }}
        run: |
          mkdir -p ${CCACHE_DIR}
          du -sh ${CCACHE_DIR} && ccache -s
        shell: bash

      - name: Attempt to restore ccache
        if: ${{ inputs.pull-ccache }}
        uses: actions/cache/restore@v4
        with:
          path: |
            /root/.ccache
          key: ccache-main-${{ runner.arch }}-${{ inputs.rosdistro }}-${{ github.sha }}
          restore-keys: |
            ccache-main-${{ runner.arch }}-${{ inputs.rosdistro }}-

      - name: Limit ccache size
        if: ${{ inputs.pull-ccache || inputs.push-ccache }}
        run: |
          rm -f "${CCACHE_DIR}/ccache.conf"
          echo -e "# Set maximum cache size\nmax_size = 600MB" >> "${CCACHE_DIR}/ccache.conf"
        shell: bash

      - name: Show ccache stats before build and reset stats
        if: ${{ inputs.pull-ccache || inputs.push-ccache }}
        run: |
          du -sh ${CCACHE_DIR} && ccache -s
          ccache --zero-stats
        shell: bash

      - name: Export CUDA state as a variable for adding to cache key
        run: |
          build_type_cuda_state=nocuda
          if [[ "${{ inputs.container-suffix }}" == "-cuda" ]]; then
            build_type_cuda_state=cuda
          fi
          echo "BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" >> "${GITHUB_ENV}"
          echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state"
        shell: bash

      - name: Build
        if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
        uses: autowarefoundation/autoware-github-actions/colcon-build@v1
        with:
          rosdistro: ${{ inputs.rosdistro }}
          target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
          cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
          build-pre-command: ${{ inputs.build-pre-command }}
          underlay-workspace: /opt/autoware

      - name: Show ccache stats after build
        if: ${{ inputs.pull-ccache || inputs.push-ccache }}
        run: du -sh ${CCACHE_DIR} && ccache -s
        shell: bash

      # Only keep save the -cuda version because cuda packages covers non-cuda packages too
      - name: Push the ccache cache (if inputs.container-suffix == '-cuda' AND inputs.push-ccache)
        if: ${{ inputs.push-ccache }}
        uses: actions/cache/save@v4
        with:
          path: |
            /root/.ccache
          key: ccache-main-${{ runner.arch }}-${{ inputs.rosdistro }}-${{ github.sha }}

      - name: Test
        if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
        id: test
        uses: autowarefoundation/autoware-github-actions/colcon-test@v1
        with:
          rosdistro: ${{ inputs.rosdistro }}
          target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
          underlay-workspace: /opt/autoware

      - name: Upload coverage to CodeCov
        if: ${{ steps.test.outputs.coverage-report-files != '' }}
        uses: codecov/codecov-action@v5
        with:
          files: ${{ steps.test.outputs.coverage-report-files }}
          fail_ci_if_error: false
          verbose: true
          flags: ${{ inputs.codecov-flag }}
          token: ${{ secrets.CODECOV_TOKEN }}

      - name: Show disk space after the tasks
        run: df -h