# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git). # For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst) name: CI on: workflow_dispatch: pull_request: push: jobs: default: strategy: fail-fast: false matrix: env: - IMAGE: humble-source CXXFLAGS: >- -Werror -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith - IMAGE: rolling-source NAME: ccov TARGET_CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Debug -DCMAKE_CXX_FLAGS="--coverage" CXXFLAGS: >- -Werror -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith - IMAGE: rolling-source CXX: clang++ CLANG_TIDY: true CXXFLAGS: >- -Werror -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wno-deprecated-copy # Add fast_unwind_on_malloc=0 to fix stacktraces being too short or do not make sense # see https://github.com/google/sanitizers/wiki/AddressSanitizer - IMAGE: rolling-source NAME: asan DOCKER_RUN_OPTS: >- -e PRELOAD=libasan.so.5 -e LSAN_OPTIONS="suppressions=$PWD/.github/workflows/lsan.suppressions,fast_unwind_on_malloc=0" -e ASAN_OPTIONS="new_delete_type_mismatch=0,alloc_dealloc_mismatch=0" TARGET_CMAKE_ARGS: -DCMAKE_CXX_FLAGS="-fsanitize=address -fno-omit-frame-pointer -O1 -g" env: CLANG_TIDY_ARGS: --fix --fix-errors --format-style=file DOCKER_IMAGE: ghcr.io/ros-planning/moveit2:${{ matrix.env.IMAGE }} UNDERLAY: /root/ws_moveit/install # TODO: Port to ROS2 # DOWNSTREAM_WORKSPACE: "github:ubi-agni/mtc_demos#master github:TAMS-Group/mtc_pour#master" UPSTREAM_WORKSPACE: .repos CCACHE_DIR: ${{ github.workspace }}/.ccache BASEDIR: ${{ github.workspace }}/.work CACHE_PREFIX: "${{ matrix.env.IMAGE }}${{ contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') && '-ccov' || '' }}" # perform full clang-tidy check only on manual trigger (workflow_dispatch), PRs do check changed files, otherwise nothing CLANG_TIDY_BASE_REF: ${{ github.event_name != 'workflow_dispatch' && (github.base_ref || github.ref) || '' }} CC: ${{ matrix.env.CLANG_TIDY && 'clang' }} CXX: ${{ matrix.env.CLANG_TIDY && 'clang++' }} name: "${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }}" runs-on: ubuntu-latest steps: - uses: actions/checkout@v2 - name: Cache ccache uses: pat-s/always-upload-cache@v2.1.5 with: path: ${{ env.CCACHE_DIR }} key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }} restore-keys: | ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }} ccache-${{ env.CACHE_PREFIX }} - id: ici name: Run industrial_ci uses: ros-industrial/industrial_ci@master env: ${{ matrix.env }} - name: Upload test artifacts (on failure) uses: actions/upload-artifact@v2 if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results) with: name: test-results-${{ matrix.env.IMAGE }} path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml - name: Generate codecov report uses: rhaschke/lcov-action@main if: contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') && steps.ici.outputs.target_test_results == '0' with: docker: $DOCKER_IMAGE workdir: ${{ env.BASEDIR }}/target_ws ignore: '"*/target_ws/build/*" "*/target_ws/install/*" "*/test/*"' - name: Upload codecov report uses: codecov/codecov-action@v2 if: contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') && steps.ici.outputs.target_test_results == '0' with: files: ${{ env.BASEDIR }}/target_ws/coverage.info