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ci: update build-and-test workflows
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 * * *
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workflow_dispatch:
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jobs:
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build-and-test-daily:
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runs-on: [self-hosted, linux, X64, gpu]
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container: ${{ matrix.container }}${{ matrix.container-suffix }}
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strategy:
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fail-fast: false
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matrix:
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rosdistro:
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- humble
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container-suffix:
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- ""
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- -cuda
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include:
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- rosdistro: humble
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container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe
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build-depends-repos: build_depends.repos
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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: 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: 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 [[ "${{ matrix.container-suffix }}" == "-cuda" ]]; then
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build_type_cuda_state=cuda
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fi
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echo "BUILD_TYPE_CUDA_STATE=$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: ${{ matrix.rosdistro }}
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target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
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build-depends-repos: ${{ matrix.build-depends-repos }}
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cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
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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: ${{ matrix.rosdistro }}
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target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
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build-depends-repos: ${{ matrix.build-depends-repos }}
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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: total
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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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Original file line numberDiff line numberDiff line change
@@ -2,27 +2,44 @@ name: build-and-test
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on:
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push:
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schedule:
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- cron: 0 0 * * *
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branches:
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- main
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workflow_dispatch:
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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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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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if: ${{ github.event_name != 'push' || github.ref_name == github.event.repository.default_branch }}
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runs-on: ubuntu-latest
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container: ${{ matrix.container }}
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runs-on: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large
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container: ${{ matrix.container }}${{ matrix.container-suffix }}
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strategy:
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fail-fast: false
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matrix:
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rosdistro:
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- humble
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container-suffix:
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- -cuda
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include:
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- rosdistro: humble
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container: ros:humble
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container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe
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build-depends-repos: build_depends.repos
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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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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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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 }}-${{ matrix.rosdistro }}-${{ github.sha }}
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restore-keys: |
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ccache-main-${{ runner.arch }}-${{ matrix.rosdistro }}-
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- name: Limit ccache size
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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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run: |
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du -sh ${CCACHE_DIR} && ccache -s
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ccache --zero-stats
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shell: bash
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- name: Export CUDA state as a variable for adding to cache key
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run: |
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build_type_cuda_state=nocuda
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if [[ "${{ matrix.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: ${{ matrix.rosdistro }}
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target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
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build-depends-repos: ${{ matrix.build-depends-repos }}
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cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
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build-pre-command: taskset --cpu-list 0-6
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- name: Show ccache stats after build
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run: du -sh ${CCACHE_DIR} && ccache -s
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shell: bash
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# Only keep save the -cuda version because cuda packages covers non-cuda packages too
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- name: Push the ccache cache
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if: matrix.container-suffix == '-cuda'
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uses: actions/cache/save@v4
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with:
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path: |
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/root/.ccache
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key: ccache-main-${{ runner.arch }}-${{ matrix.rosdistro }}-${{ github.sha }}
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- name: Test
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if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
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- name: Upload coverage to CodeCov
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if: ${{ steps.test.outputs.coverage-report-files != '' }}
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uses: codecov/codecov-action@v3
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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: total
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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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