feat: add colcon-build and colcon-test actions

.github/workflows/test-composite-actions.yaml

@@ -139,3 +139,33 @@ jobs:
       - name: Check result
         run: |
           [[ "${{ steps.check-file-existence4.outputs.exists }}" == "true" ]]
+
+  test-colcon-build-and-colcon-test:
+    runs-on: ubuntu-latest
+    container: ros:${{ matrix.rosdistro }}
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro:
+          - galactic
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v2
+
+      - name: Create a package with no source files
+        run: |
+          . /opt/ros/${{ matrix.rosdistro }}/setup.sh
+          ros2 pkg create --build-type ament_cmake empty_target_cmake
+          ros2 pkg create --build-type ament_python empty_target_python
+
+      - name: Run colcon-build
+        uses: ./colcon-build
+        with:
+          rosdistro: ${{ matrix.rosdistro }}
+          target-packages: empty_target_cmake empty_target_python
+
+      - name: Run colcon-test
+        uses: ./colcon-test
+        with:
+          rosdistro: ${{ matrix.rosdistro }}
+          target-packages: empty_target_cmake empty_target_python

colcon-build-and-test/README.md

@@ -1,4 +1,4 @@
-# colcon-build-and-test
+# DEPRECATED: colcon-build-and-test
 
 This action runs `colcon build` and `colcon test`.
 

colcon-build-and-test/action.yaml

@@ -19,6 +19,10 @@ inputs:
 runs:
   using: composite
   steps:
+    - name: Show deprecated warning
+      run: echo "::warning title=DEPRECATED::colcon-build-and-test action will no longer be available in future releases. Please consider using colcon-build and colcon-test workflows instead."
+      shell: bash
+
     - name: Show target packages
       run: |
         echo "target packages: ${{ inputs.target-packages }}"

colcon-build/README.md

@@ -0,0 +1,42 @@
+# colcon-build
+
+This action runs `colcon build`.
+
+## Usage
+
+```yaml
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: ros:galactic
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v2
+        with:
+          fetch-depth: 0
+
+      - name: Get modified packages
+        id: get-modified-packages
+        uses: autowarefoundation/autoware-github-actions/get-modified-packages@tier4/proposal
+
+      - name: Build
+        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-build@tier4/proposal
+        with:
+          rosdistro: galactic
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          build-depends-repos: build_depends.repos
+```
+
+## Inputs
+
+| Name                | Required | Description                                         |
+| ------------------- | -------- | --------------------------------------------------- |
+| rosdistro           | true     | ROS distro.                                         |
+| target-packages     | true     | The target packages to build.                       |
+| build-depends-repos | false    | The `.repos` file that includes build dependencies. |
+| token               | false    | The token for build dependencies.                   |
+
+## Outputs
+
+None.

colcon-build/action.yaml

@@ -0,0 +1,74 @@
+name: colcon-build
+description: ""
+
+inputs:
+  rosdistro:
+    description: ""
+    required: true
+  target-packages:
+    description: ""
+    required: true
+  build-depends-repos:
+    description: ""
+    required: false
+  token:
+    description: ""
+    required: false
+    default: ${{ github.token }}
+
+runs:
+  using: composite
+  steps:
+    - name: Show target packages
+      run: |
+        echo "target packages: ${{ inputs.target-packages }}"
+      shell: bash
+
+    - name: Install pip for rosdep
+      run: |
+        sudo apt-get -yqq update
+        sudo apt-get -yqq install python3-pip
+      shell: bash
+
+    - name: Set git config
+      if: ${{ inputs.build-depends-repos != '' }}
+      uses: autowarefoundation/autoware-github-actions/set-git-config@tier4/proposal
+      with:
+        token: ${{ inputs.token }}
+
+    - name: Clone dependency packages
+      if: ${{ inputs.build-depends-repos != '' }}
+      run: |
+        mkdir dependency_ws
+        vcs import dependency_ws < ${{ inputs.build-depends-repos }}
+      shell: bash
+
+    - name: Run rosdep install
+      run: |
+        sudo apt-get -yqq update
+        rosdep update
+        DEBIAN_FRONTEND=noninteractive rosdep install -yqq --from-paths . --ignore-src --rosdistro ${{ inputs.rosdistro }}
+      shell: bash
+
+    - name: Set up colcon-mixin
+      run: |
+        colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml || true
+        colcon mixin update default
+      shell: bash
+
+    - name: Build
+      run: |
+        . /opt/ros/${{ inputs.rosdistro }}/setup.sh
+        colcon build --event-handlers console_cohesion+ \
+          --packages-above-and-dependencies ${{ inputs.target-packages }} \
+          --cmake-args -DCMAKE_BUILD_TYPE=Release \
+          --mixin coverage-gcc coverage-pytest compile-commands
+      shell: bash
+
+    - name: Cache build artifacts
+      uses: actions/cache@v2
+      with:
+        path: |
+          ./build
+          ./install
+        key: build-${{ github.sha }}

colcon-test/README.md

@@ -0,0 +1,86 @@
+# colcon-test
+
+This action runs `colcon test` with labels specified in a regex format.
+Note that you need to build target packages before running this action.
+
+## Usage
+
+```yaml
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: ros:galactic
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v2
+        with:
+          fetch-depth: 0
+
+      - name: Get modified packages
+        id: get-modified-packages
+        uses: autowarefoundation/autoware-github-actions/get-modified-packages@tier4/proposal
+
+      - name: Build
+        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-build@tier4/proposal
+        with:
+          rosdistro: galactic
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          build-depends-repos: build_depends.repos
+
+  test:
+    needs: build
+    runs-on: ubuntu-latest
+    container: ros:galactic
+    strategy:
+      matrix:
+        include:
+          - test-label: gtest
+            codecov-flags: gtest
+          - test-label: launch_test
+            codecov-flags: launch_test
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v2
+        with:
+          fetch-depth: 0
+
+      - name: Get modified packages
+        id: get-modified-packages
+        uses: autowarefoundation/autoware-github-actions/get-modified-packages@tier4/proposal
+
+      - name: Test
+        id: test
+        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-test@tier4/proposal
+        with:
+          rosdistro: galactic
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          build-depends-repos: build_depends.repos
+          label-regex: ${{ matrix.test-label }}
+
+      - name: Upload coverage to Codecov
+        if: ${{ steps.test.outputs.coverage-report-files != '' }}
+        uses: codecov/codecov-action@v2
+        with:
+          files: ${{ steps.test.outputs.coverage-report-files }}
+          fail_ci_if_error: false
+          verbose: true
+          flags: ${{ matrix.codecov-flags }}
+```
+
+## Inputs
+
+| Name                | Required | Description                                         |
+| ------------------- | -------- | --------------------------------------------------- |
+| rosdistro           | true     | ROS distro.                                         |
+| target-packages     | true     | The target packages to test.                        |
+| build-depends-repos | false    | The `.repos` file that includes build dependencies. |
+| label-regex         | false    | The regex pattern of test labels to be run.         |
+| token               | false    | The token for build dependencies.                   |
+
+## Outputs
+
+| Name                  | Description                      |
+| --------------------- | -------------------------------- |
+| coverage-report-files | Generated coverage report files. |

colcon-test/action.yaml

@@ -0,0 +1,134 @@
+name: colcon-test
+description: ""
+
+inputs:
+  rosdistro:
+    description: ""
+    required: true
+  target-packages:
+    description: ""
+    required: true
+  build-depends-repos:
+    description: ""
+    required: false
+  label-regex:
+    description: ""
+    required: false
+    default: .* # Run all tests
+  token:
+    description: ""
+    required: false
+    default: ${{ github.token }}
+outputs:
+  coverage-report-files:
+    description: ""
+    value: ${{ steps.test.outputs.coverage-reports }}
+
+runs:
+  using: composite
+  steps:
+    - name: Show target packages
+      run: |
+        echo "target packages: ${{ inputs.target-packages }}"
+      shell: bash
+
+    - name: Set up colcon-mixin
+      run: |
+        colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml || true
+        colcon mixin update default
+      shell: bash
+
+    - name: Install packages for coverage commands
+      run: |
+        sudo apt-get -yqq update
+        sudo apt-get -yqq install lcov python3-pip
+        pip3 install colcon-lcov-result colcon-coveragepy-result
+      shell: bash
+
+    - name: Set git config
+      if: ${{ inputs.build-depends-repos != '' }}
+      uses: autowarefoundation/autoware-github-actions/set-git-config@tier4/proposal
+      with:
+        token: ${{ inputs.token }}
+
+    - name: Clone dependency packages
+      if: ${{ inputs.build-depends-repos != '' }}
+      run: |
+        mkdir dependency_ws
+        vcs import dependency_ws < ${{ inputs.build-depends-repos }}
+      shell: bash
+
+    - name: Run rosdep install
+      run: |
+        sudo apt-get -yqq update
+        rosdep update
+        DEBIAN_FRONTEND=noninteractive rosdep install -yqq --from-paths . --ignore-src --rosdistro ${{ inputs.rosdistro }}
+      shell: bash
+
+    - name: Restore build files from cache
+      id: restore-build-files
+      uses: actions/cache@v2
+      with:
+        path: |
+          ./build
+          ./install
+        key: build-${{ github.sha }}
+
+    - name: Test
+      run: |
+        set -e
+        . /opt/ros/${{ inputs.rosdistro }}/setup.sh
+
+        colcon lcov-result --zero-counters \
+          --verbose \
+          --packages-above ${{ inputs.target-packages }}
+
+        colcon lcov-result --initial \
+          --verbose \
+          --packages-above ${{ inputs.target-packages }}
+
+        colcon test --event-handlers console_cohesion+ \
+          --mixin coverage-pytest \
+          --packages-above ${{ inputs.target-packages }} \
+          --ctest-args -L "${{ inputs.label-regex }}" \
+          --return-code-on-test-failure
+
+        colcon lcov-result \
+          --verbose \
+          --packages-above ${{ inputs.target-packages }} || true
+
+        colcon coveragepy-result \
+          --verbose \
+          --packages-above ${{ inputs.target-packages }} || true
+      shell: bash
+
+    - name: Check lcov coverage file exists
+      id: lcov-coverage-file-existence
+      uses: autowarefoundation/autoware-github-actions/check-file-existence@tier4/proposal
+      with:
+        files: lcov/total_coverage.info
+        condition: and
+
+    - name: Check coveragepy coverage file exists
+      id: coveragepy-coverage-file-existence
+      uses: autowarefoundation/autoware-github-actions/check-file-existence@tier4/proposal
+      with:
+        files: coveragepy/.coverage
+        condition: and
+
+    - name: Generate output
+      id: test
+      run: |
+        coverage_files=()
+        if [[ "${{ steps.lcov-coverage-file-existence.outputs.exists }}" == "true" ]]; then
+          coverage_files+=("lcov/total_coverage.info")
+        fi
+
+        if [[ "${{ steps.coveragepy-coverage-file-existence.outputs.exists}}" == "true" ]]; then
+          coverage_files+=("coveragepy/.coverage")
+        fi
+
+        # Join coverage file names
+        coverage_files_str="$(IFS=,; echo "${coverage_files[*]}")"
+        echo ::set-output name=coverage-reports::$coverage_files_str
+      shell: bash