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ci: add build and test workflows (#4)
Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
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‎.github/workflows/build-and-test-daily.yaml‎

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name: build-and-test-daily
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on:
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schedule:
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- cron: 0 0 * * * # every day at midnight UTC
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workflow_dispatch:
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jobs:
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build-and-test-daily:
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uses: ./.github/workflows/build-and-test-reusable.yaml
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with:
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container: ghcr.io/autowarefoundation/autoware:core-devel
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container-suffix: ""
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pull-ccache: true
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concurrency-group: build-and-test-daily-${{ github.ref }}-${{ github.run_id }}
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codecov-flag: daily
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secrets:
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codecov-token: ${{ secrets.CODECOV_TOKEN }}

‎.github/workflows/build-and-test-differential.yaml‎

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name: build-and-test-differential
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on:
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workflow_call:
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inputs:
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container:
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required: true
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type: string
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runner:
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default: ubuntu-24.04
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required: false
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type: string
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rosdistro:
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default: humble
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required: false
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type: string
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run-condition:
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default: true
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required: false
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type: boolean
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container-suffix:
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required: false
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default: ""
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type: string
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build-pre-command:
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required: false
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default: ""
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type: string
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secrets:
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codecov-token:
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required: true
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env:
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CC: /usr/lib/ccache/gcc
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CXX: /usr/lib/ccache/g++
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jobs:
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build-and-test-differential:
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if: ${{ inputs.run-condition }}
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runs-on: ${{ inputs.runner }}
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container: ${{ inputs.container }}${{ inputs.container-suffix }}
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steps:
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- name: Set PR fetch depth
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run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
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shell: bash
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- name: Checkout PR branch and all PR commits
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uses: actions/checkout@v4
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with:
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ref: ${{ github.event.pull_request.head.sha }}
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fetch-depth: ${{ env.PR_FETCH_DEPTH }}
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- name: Show disk space before the tasks
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run: df -h
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shell: bash
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- name: Show machine specs
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run: lscpu && free -h
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shell: bash
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- name: Remove exec_depend
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uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
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- name: Get modified packages
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id: get-modified-packages
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uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
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- name: Create ccache directory
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run: |
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mkdir -p ${CCACHE_DIR}
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du -sh ${CCACHE_DIR} && ccache -s
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shell: bash
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- name: Attempt to restore ccache
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uses: actions/cache/restore@v4
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with:
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path: |
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/root/.ccache
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key: ccache-main-${{ runner.arch }}-${{ inputs.rosdistro }}-${{ github.event.pull_request.base.sha }}
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restore-keys: |
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ccache-main-${{ runner.arch }}-${{ inputs.rosdistro }}-
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- name: Show ccache stats before build and reset stats
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run: |
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du -sh ${CCACHE_DIR} && ccache -s
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ccache --zero-stats
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shell: bash
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- name: Export CUDA state as a variable for adding to cache key
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run: |
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build_type_cuda_state=nocuda
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if [[ "${{ inputs.container-suffix }}" == "-cuda" ]]; then
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build_type_cuda_state=cuda
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fi
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echo "BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" >> "${GITHUB_ENV}"
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echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state"
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shell: bash
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- name: Build
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if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
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uses: autowarefoundation/autoware-github-actions/colcon-build@v1
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with:
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rosdistro: ${{ inputs.rosdistro }}
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target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
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cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
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build-pre-command: ${{ inputs.build-pre-command }}
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underlay-workspace: /opt/autoware
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- name: Show ccache stats after build
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run: du -sh ${CCACHE_DIR} && ccache -s
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shell: bash
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- name: Test
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id: test
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if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
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uses: autowarefoundation/autoware-github-actions/colcon-test@v1
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with:
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rosdistro: ${{ inputs.rosdistro }}
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target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
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underlay-workspace: /opt/autoware
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- name: Upload coverage to CodeCov
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if: ${{ steps.test.outputs.coverage-report-files != '' }}
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uses: codecov/codecov-action@v4
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with:
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files: ${{ steps.test.outputs.coverage-report-files }}
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fail_ci_if_error: false
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verbose: true
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flags: differential${{ inputs.container-suffix }}
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token: ${{ secrets.codecov-token }}
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- name: Show disk space after the tasks
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run: df -h
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shell: bash

‎.github/workflows/build-and-test-reusable.yaml‎

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name: build-and-test-reusable
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on:
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workflow_call:
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inputs:
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# Why is it a JSON string?
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# https://github.com/orgs/community/discussions/11692#discussioncomment-3541856
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runner:
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type: string
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default: "['ubuntu-latest']"
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required: false
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container:
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type: string
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default: ghcr.io/autowarefoundation/autoware:universe-devel
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required: false
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container-suffix:
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type: string
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default: ""
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required: false
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rosdistro:
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type: string
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default: humble
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required: false
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build-pre-command:
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type: string
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default: ""
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required: false
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push-ccache:
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type: boolean
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default: false
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required: false
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pull-ccache:
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type: boolean
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default: false
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required: false
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concurrency-group:
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type: string
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default: ${{ github.workflow }}-${{ github.ref }}-${{ github.run_id }} # unique per run
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required: false
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cancel-in-progress:
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type: boolean
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default: false
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required: false
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codecov-flag:
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type: string
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default: temp
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required: false
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secrets:
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codecov-token:
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required: true
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concurrency:
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group: ${{ inputs.concurrency-group }}
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cancel-in-progress: ${{ inputs.cancel-in-progress }}
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env:
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CC: /usr/lib/ccache/gcc
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CXX: /usr/lib/ccache/g++
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jobs:
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build-and-test:
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runs-on: ${{ fromJson(inputs.runner) }}
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container: ${{ inputs.container }}${{ inputs.container-suffix }}
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steps:
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- name: Check out repository
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uses: actions/checkout@v4
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with:
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fetch-depth: 1
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- name: Show disk space before the tasks
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run: df -h
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- name: Show machine specs
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run: lscpu && free -h
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- name: Remove exec_depend
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uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
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- name: Get self packages
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id: get-self-packages
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uses: autowarefoundation/autoware-github-actions/get-self-packages@v1
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- name: Create ccache directory
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if: ${{ inputs.pull-ccache || inputs.push-ccache }}
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run: |
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mkdir -p ${CCACHE_DIR}
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du -sh ${CCACHE_DIR} && ccache -s
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shell: bash
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- name: Attempt to restore ccache
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if: ${{ inputs.pull-ccache }}
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uses: actions/cache/restore@v4
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with:
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path: |
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/root/.ccache
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key: ccache-main-${{ runner.arch }}-${{ inputs.rosdistro }}-${{ github.sha }}
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restore-keys: |
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ccache-main-${{ runner.arch }}-${{ inputs.rosdistro }}-
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- name: Limit ccache size
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if: ${{ inputs.pull-ccache || inputs.push-ccache }}
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run: |
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rm -f "${CCACHE_DIR}/ccache.conf"
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echo -e "# Set maximum cache size\nmax_size = 600MB" >> "${CCACHE_DIR}/ccache.conf"
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shell: bash
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- name: Show ccache stats before build and reset stats
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if: ${{ inputs.pull-ccache || inputs.push-ccache }}
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run: |
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du -sh ${CCACHE_DIR} && ccache -s
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ccache --zero-stats
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shell: bash
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- name: Export CUDA state as a variable for adding to cache key
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run: |
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build_type_cuda_state=nocuda
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if [[ "${{ inputs.container-suffix }}" == "-cuda" ]]; then
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build_type_cuda_state=cuda
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fi
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echo "BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" >> "${GITHUB_ENV}"
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echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state"
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shell: bash
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- name: Build
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if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
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uses: autowarefoundation/autoware-github-actions/colcon-build@v1
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with:
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rosdistro: ${{ inputs.rosdistro }}
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target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
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cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
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build-pre-command: ${{ inputs.build-pre-command }}
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underlay-workspace: /opt/autoware
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- name: Show ccache stats after build
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if: ${{ inputs.pull-ccache || inputs.push-ccache }}
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run: du -sh ${CCACHE_DIR} && ccache -s
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shell: bash
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# Only keep save the -cuda version because cuda packages covers non-cuda packages too
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- name: Push the ccache cache (if inputs.container-suffix == '-cuda' AND inputs.push-ccache)
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if: ${{ inputs.push-ccache }}
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uses: actions/cache/save@v4
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with:
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path: |
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/root/.ccache
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key: ccache-main-${{ runner.arch }}-${{ inputs.rosdistro }}-${{ github.sha }}
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- name: Test
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if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
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id: test
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uses: autowarefoundation/autoware-github-actions/colcon-test@v1
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with:
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rosdistro: ${{ inputs.rosdistro }}
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target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
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underlay-workspace: /opt/autoware
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- name: Upload coverage to CodeCov
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if: ${{ steps.test.outputs.coverage-report-files != '' }}
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uses: codecov/codecov-action@v4
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with:
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files: ${{ steps.test.outputs.coverage-report-files }}
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fail_ci_if_error: false
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verbose: true
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flags: ${{ inputs.codecov-flag }}
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token: ${{ secrets.CODECOV_TOKEN }}
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- name: Show disk space after the tasks
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run: df -h

‎.github/workflows/build-and-test.yaml‎

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name: build-and-test
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on:
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push:
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branches:
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- main
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jobs:
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build-and-test:
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uses: ./.github/workflows/build-and-test-reusable.yaml
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with:
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runner: "['self-hosted', 'Linux', 'X64']"
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container: ghcr.io/autowarefoundation/autoware:universe-devel
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concurrency-group: ${{ github.workflow }}-${{ github.ref }}
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cancel-in-progress: false
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pull-ccache: true
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push-ccache: true
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codecov-flag: total
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secrets:
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codecov-token: ${{ secrets.CODECOV_TOKEN }}

‎.github/workflows/build-test-tidy-pr.yaml‎

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name: build-test-tidy-pr
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on:
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pull_request:
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types:
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- opened
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- synchronize
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- reopened
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- labeled
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concurrency:
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group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.run_id }}
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cancel-in-progress: true
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jobs:
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require-label:
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uses: autowarefoundation/autoware-github-actions/.github/workflows/require-label.yaml@v1
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with:
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label: run:build-and-test-differential
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build-and-test-differential:
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if: ${{ always() }}
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needs:
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- require-label
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uses: ./.github/workflows/build-and-test-differential.yaml
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with:
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container: ghcr.io/autowarefoundation/autoware:core-devel
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run-condition: ${{ needs.require-label.outputs.result == 'true' }}
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secrets:
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codecov-token: ${{ secrets.CODECOV_TOKEN }}
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clang-tidy-differential:
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if: ${{ always() }} # always run to provide report for status check
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needs:
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- build-and-test-differential
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uses: ./.github/workflows/clang-tidy-differential.yaml
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with:
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container: ghcr.io/autowarefoundation/autoware:core-devel
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run-condition: true

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