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CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[CLANG_TIDY:true IMAGE:noble-ci-testing TARGET_CMAKE_… (push) Has been cancelled
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[DOCKER_RUN_OPTS:-e PRELOAD=libasan.so.8 -e LSAN_OPTI… (push) Has been cancelled
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[IMAGE:jammy-ci]) (push) Has been cancelled
CI / ${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }} (map[IMAGE:noble-ci NAME:ccov TARGET_CMAKE_ARGS:-DCMAKE_B… (push) Has been cancelled
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- Fix clang error https://stackoverflow.com/questions/27954940/a-using-statement-compiles-with-g-fails-compilation-with-clang - Don't run pick-place test with asan: it doesn't finish. - Add PIP_BREAK_SYSTEM_PACKAGES - Fix coverage creation + upload
166 lines
6.2 KiB
YAML
166 lines
6.2 KiB
YAML
# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
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# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
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name: CI
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on:
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workflow_dispatch:
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pull_request:
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push:
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permissions:
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contents: read
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pages: write
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id-token: write
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jobs:
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ici:
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strategy:
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fail-fast: false
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matrix:
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env:
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- IMAGE: noble-ci
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NAME: ccov
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TARGET_CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Debug -DCMAKE_CXX_FLAGS="--coverage"
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- IMAGE: noble-ci-testing
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CLANG_TIDY: true
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TARGET_CMAKE_ARGS: >-
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-DCMAKE_BUILD_TYPE=Release
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-DCMAKE_CXX_FLAGS="-Werror -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wold-style-cast"
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- IMAGE: jammy-ci
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- IMAGE: noble-ci-testing
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NAME: asan
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DOCKER_RUN_OPTS: >-
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-e PRELOAD=libasan.so.8
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-e LSAN_OPTIONS="suppressions=$PWD/.github/workflows/lsan.suppressions"
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TARGET_CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-fsanitize=address -fno-omit-frame-pointer -O1 -g"
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env:
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PIP_BREAK_SYSTEM_PACKAGES: 1
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CATKIN_LINT: true
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CLANG_TIDY_ARGS: -quiet -export-fixes ${{ github.workspace }}/.work/clang-tidy-fixes.yaml
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DOCKER_IMAGE: moveit/moveit:${{ matrix.env.IMAGE }}
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UNDERLAY: ${{ endsWith(matrix.env.IMAGE, '-source') && '/root/ws_moveit/install' || '' }}
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DOWNSTREAM_WORKSPACE: "github:ubi-agni/mtc_demos#master"
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CCACHE_DIR: ${{ github.workspace }}/.ccache
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BASEDIR: ${{ github.workspace }}/.work
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CACHE_PREFIX: "${{ matrix.env.IMAGE }}${{ contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') && '-ccov' || '' }}"
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# perform full clang-tidy check only on manual trigger (workflow_dispatch), PRs do check changed files, otherwise nothing
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CLANG_TIDY_BASE_REF: ${{ github.event_name != 'workflow_dispatch' && (github.base_ref || github.ref) || '' }}
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CC: ${{ matrix.env.CLANG_TIDY && 'clang' }}
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CXX: ${{ matrix.env.CLANG_TIDY && 'clang++ -std=c++17' }}
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name: "${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }}"
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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with:
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submodules: recursive
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- name: Cache ccache
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uses: rhaschke/cache@main
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with:
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path: ${{ env.CCACHE_DIR }}
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key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
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restore-keys: |
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ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
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ccache-${{ env.CACHE_PREFIX }}
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env:
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GHA_CACHE_SAVE: always
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- id: ici
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name: Run industrial_ci
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uses: rhaschke/industrial_ci@master
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env: ${{ matrix.env }}
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- name: Upload ici's target_ws/install folder
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uses: rhaschke/upload-ici-workspace@main
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if: success() && matrix.env.IMAGE == 'jammy-ci'
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with:
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subdir: target_ws/install
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- name: Upload test artifacts (on failure)
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uses: actions/upload-artifact@v4
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if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results)
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with:
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name: test-results-${{ matrix.env.IMAGE }}${{ matrix.env.NAME && '-' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CLANG_TIDY && '-clang-tidy' || '' }}
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path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml
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- name: Upload clang-tidy fixes (on failure)
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uses: actions/upload-artifact@v4
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if: failure() && steps.ici.outputs.clang_tidy_checks
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with:
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name: clang-tidy-fixes.yaml
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path: ${{ env.BASEDIR }}/clang-tidy-fixes.yaml
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- name: Show clang-tidy warnings
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if: always() && matrix.env.CLANG_TIDY
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uses: asarium/clang-tidy-action@v1
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with:
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fixesFile: ${{ env.BASEDIR }}/clang-tidy-fixes.yaml
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- name: Generate codecov report
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uses: rhaschke/lcov-action@main
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if: contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') && steps.ici.outputs.target_test_results == '0'
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with:
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docker: $DOCKER_IMAGE
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workdir: ${{ env.BASEDIR }}/target_ws
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lcov_capture_args: --ignore-errors=gcov,gcov,mismatch,mismatch,negative,negative,source
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ignore: '"*/target_ws/build/*" "*/target_ws/install/*" "*/test/*"'
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- name: Upload codecov report
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uses: codecov/codecov-action@v5
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if: contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') && steps.ici.outputs.target_test_results == '0'
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with:
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files: ${{ env.BASEDIR }}/target_ws/coverage.info
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doc:
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# https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake
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if: github.repository_owner == 'moveit'
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runs-on: ubuntu-latest
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needs: ici
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container:
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image: moveit/moveit:jammy-ci
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steps:
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- name: Checkout
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uses: actions/checkout@v4
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- name: Setup Pages
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uses: actions/configure-pages@v5
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- name: Install dependencies
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run: |
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apt-get update -q
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apt-get install -y doxygen graphviz python3-pip ros-one-moveit-ros ros-one-py-binding-tools libfmt8
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pip install -r core/doc/requirements.txt
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- name: Download ICI workspace
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uses: rhaschke/download-ici-workspace@main
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- name: Build Documentation
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shell: bash
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run: |
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source ici/setup.bash
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(cd core/doc; doxygen)
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sphinx-build core/doc _site
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- name: Validate links
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if: false
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shell: bash
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run: |
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source ici/setup.bash
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sphinx-build -W -b linkcheck core/doc _site
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- name: Upload pages artifact
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uses: actions/upload-pages-artifact@v3
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# Deployment job
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deploy:
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if: github.repository_owner == 'moveit' && github.ref == 'refs/heads/master'
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runs-on: ubuntu-latest
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needs: doc
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environment:
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name: github-pages
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url: ${{ steps.deployment.outputs.page_url }}
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steps:
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- name: Deploy to GitHub Pages
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id: deployment
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uses: actions/deploy-pages@v4
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