Merge pull request #9 from Futu-reADS/FDV-548 #64
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| # It directly uses autowarefoundation/autoware-github-actions for now | |
| # but may change using Futu-reADS/autoware-github-actions | |
| # that will be forked or mirrored from the original | |
| name: build-and-test | |
| on: | |
| push: | |
| ### - branches: [ "main" ] | |
| ### schedule: | |
| ### - cron: 0 0 * * * | |
| workflow_dispatch: | |
| jobs: | |
| build-and-test: | |
| if: (github.event_name == 'push' && github.event.before != '0000000000000000000000000000000000000000') || | |
| (github.event_name == 'workflow_dispatch') | |
| runs-on: ubuntu-22.04 | |
| container: ${{ matrix.container }} | |
| strategy: | |
| fail-fast: false | |
| # Currently, only for ROS 2 Humble | |
| matrix: | |
| rosdistro: | |
| - humble | |
| include: | |
| - rosdistro: humble | |
| container: ros:humble | |
| build-depends-repos: build_depends.repos | |
| steps: | |
| - name: Check out repository | |
| uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 1 | |
| - name: Show disk space before the tasks | |
| run: df -h | |
| - name: Remove exec_depend | |
| uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 | |
| - name: Get self packages | |
| id: get-self-packages | |
| uses: autowarefoundation/autoware-github-actions/get-self-packages@v1 | |
| # Added for FUTU-RE | |
| - name: Check build_depends.repos | |
| id: check-file | |
| run: | | |
| if [ -f build_depends.repos ]; then | |
| echo "build_depends_repos=true" >> $GITHUB_OUTPUT | |
| else | |
| echo "build_depends_repos=false" >> $GITHUB_OUTPUT | |
| fi | |
| # Added for FUTU-RE | |
| - name: Copy our latest autoware.repos | |
| if: ${{ steps.check-file.outputs.build_depends_repos != 'true' }} | |
| uses: actions/checkout@v4 | |
| with: | |
| repository: Futu-reADS/autoware.FTD | |
| sparse-checkout: | | |
| autoware.repos | |
| sparse-checkout-cone-mode: false | |
| path: autoware.FTD | |
| - run: | | |
| cd autoware.FTD | |
| cp autoware.repos ../build_depends.repos | |
| # Do not process here afterwards | |
| touch AMENT_IGNORE COLCON_IGNORE | |
| # Added for FUTU-RE | |
| - name: Install additional packages | |
| run: | | |
| # Install dependent packages | |
| sudo apt-get update -qy | |
| sudo apt-get install -y \ | |
| ros-humble-autoware-common-msgs \ | |
| libunwind-dev \ | |
| apt-utils | |
| # Added for FUTU-RE | |
| - name: Pass ROS environment variables to the subsequent steps | |
| run: | | |
| # It runs on sh but not bash | |
| . /opt/ros/${{ matrix.rosdistro }}/setup.sh | |
| env | grep -E -e '^ROS_' -e '/ros/' >> "$GITHUB_ENV" | |
| # Added for FUTU-RE | |
| - name: Set Git credential for private repos | |
| run: | | |
| git config --global credential.helper store | |
| echo "url=${{ github.server_url }}" > ~/url-username-password.txt | |
| echo "username=oku-s" >> ~/url-username-password.txt | |
| echo "password=${{ secrets.UNITTEST_WORKFLOW_TOKEN }}" >> ~/url-username-password.txt | |
| git credential approve < ~/url-username-password.txt | |
| # Added for FUTU-RE | |
| # NOTE: | |
| # This step might be able to be removed | |
| # by tuning package.xml and/or autoware.repos appropriately | |
| # so that colcon can find the following modules | |
| - name: Build and install dependent modules | |
| run: | | |
| mkdir -p src_tmp | |
| cat build_depends.repos \ | |
| | sed 's/[email protected]:/https:\/\/github.com\//' \ | |
| | vcs import --shallow --recursive src_tmp | |
| sudo rosdep init || true | |
| rosdep update | |
| rosdep install --from-paths src_tmp --ignore-src -r -y -t build | |
| for PKG in \ | |
| autoware_auto_msgs \ | |
| autoware_auto_system_msgs \ | |
| autoware_adapi_v1_msgs \ | |
| tier4_control_msgs \ | |
| tier4_system_msgs \ | |
| autoware_bridge_msgs \ | |
| ftd_master_msgs \ | |
| ; do | |
| find src_tmp \ | |
| -type f \ | |
| -path "*/$PKG/CMakeLists.txt" \ | |
| -execdir pwd \; \ | |
| | { | |
| read -r WORKDIR && | |
| cd "$WORKDIR" && | |
| cmake . && | |
| make && | |
| sudo make install | |
| } | |
| done | |
| sudo ldconfig | |
| sudo rm -rf src_tmp | |
| - name: Build | |
| if: ${{ steps.get-self-packages.outputs.self-packages != '' }} | |
| uses: autowarefoundation/autoware-github-actions/colcon-build@v1 | |
| with: | |
| rosdistro: ${{ matrix.rosdistro }} | |
| target-packages: ${{ steps.get-self-packages.outputs.self-packages }} | |
| build-depends-repos: ${{ matrix.build-depends-repos }} | |
| token: ${{ secrets.UNITTEST_WORKFLOW_TOKEN }} | |
| - name: Test | |
| if: ${{ steps.get-self-packages.outputs.self-packages != '' }} | |
| id: test | |
| uses: autowarefoundation/autoware-github-actions/colcon-test@v1 | |
| with: | |
| rosdistro: ${{ matrix.rosdistro }} | |
| target-packages: ${{ steps.get-self-packages.outputs.self-packages }} | |
| build-depends-repos: ${{ matrix.build-depends-repos }} | |
| token: ${{ secrets.UNITTEST_WORKFLOW_TOKEN }} | |
| ### # Uncomment here, to use CodeCov | |
| ### - name: Upload coverage to CodeCov | |
| ### if: ${{ steps.test.outputs.coverage-report-files != '' }} | |
| ### uses: codecov/codecov-action@v5 | |
| ### with: | |
| ### files: ${{ steps.test.outputs.coverage-report-files }} | |
| ### token: ${{ secrets.CODECOV_TOKEN }} | |
| ### fail_ci_if_error: false | |
| ### verbose: true | |
| ### flags: total | |
| - name: Show disk space after the tasks | |
| run: df -h |