Build and run #3507
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| name: Build and run | |
| on: | |
| workflow_dispatch: | |
| schedule: | |
| - cron: 0 0 * * * | |
| pull_request: | |
| paths: | |
| - "**" | |
| - "!docs/**" | |
| - "!README.md" | |
| - "!CONTRIBUTING.md" | |
| - "!.github/**" | |
| - ".github/workflows/BuildAndRun.yaml" | |
| - "!mkdocs.yml" | |
| - "!pyproject.toml" | |
| - "!poetry.lock" | |
| push: | |
| branches: | |
| - master | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.ref }} | |
| cancel-in-progress: true | |
| jobs: | |
| job1: | |
| name: BuildAndRun | |
| runs-on: ${{ matrix.runs_on }} | |
| timeout-minutes: 180 | |
| container: ros:${{ matrix.rosdistro }} | |
| env: | |
| DEBIAN_FRONTEND: noninteractive | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| rosdistro: [humble] | |
| runs_on: [ubuntu-22.04] # macos-14 is added for arm support. See also https://x.com/github/status/1752458943245189120?s=20 | |
| cmake_build_type: [RelWithDebInfo, Release] # Debug build type is currently unavailable. @TODO Fix problem and add Debug build. | |
| steps: | |
| - name: Suppress warnings | |
| run: git config --global --add safe.directory '*' | |
| - name: Setup workspace | |
| run: mkdir -p src/scenario_simulator_v2 | |
| - uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 0 | |
| path: src/scenario_simulator_v2 | |
| - uses: actions/checkout@v4 | |
| with: | |
| repository: RobotecAI/scenario_simulator_v2_scenarios | |
| path: src/scenario_simulator_v2_scenarios | |
| - name: Search packages in this repository | |
| id: list_packages | |
| run: | | |
| echo package_list=$(colcon list --names-only | tr '\n' ' ') >> $GITHUB_OUTPUT | |
| - name: Show target packages | |
| run: | | |
| echo "Target packages: ${{ steps.list_packages.outputs.package_list }}" | |
| - name: Install dependencies | |
| run: | | |
| vcs import src < src/scenario_simulator_v2/dependency_${{ matrix.rosdistro }}.repos | |
| - name: Resolve rosdep and install colcon mixin | |
| run: | | |
| apt-get update | |
| apt-get install -y python3-pip python3-colcon-lcov-result lcov unzip | |
| rosdep update --include-eol-distros | |
| rosdep install -iy --from-paths src --rosdistro ${{ matrix.rosdistro }} | |
| colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml | |
| colcon mixin update default | |
| shell: bash | |
| - name: Install sonar-scanner and build-wrapper | |
| uses: sonarsource/sonarcloud-github-c-cpp@v3 | |
| env: | |
| SONAR_HOST_URL: ${{ secrets.SONAR_HOST_URL }} | |
| - name: Build with SonarCloud Build Wrapper | |
| run: | | |
| source /opt/ros/${{ matrix.rosdistro }}/setup.bash | |
| build-wrapper-linux-x86-64 --out-dir src/scenario_simulator_v2/bw-output \ | |
| colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=${{ matrix.cmake_build_type }} -DBUILD_CPP_MOCK_SCENARIOS=ON -DBUILD_TESTING=true -DCMAKE_CXX_FLAGS='-fprofile-arcs -ftest-coverage' -DCMAKE_C_FLAGS='-fprofile-arcs -ftest-coverage' --packages-up-to ${{ steps.list_packages.outputs.package_list }} | |
| shell: bash | |
| - name: Colcon test | |
| run: | | |
| source /opt/ros/${{ matrix.rosdistro }}/setup.bash | |
| source install/local_setup.bash | |
| colcon test --event-handlers console_cohesion+ --packages-select ${{ steps.list_packages.outputs.package_list }} | |
| colcon lcov-result --packages-select ${{ steps.list_packages.outputs.package_list }} | |
| shell: bash | |
| - name: Collect and run gcov on coverage data | |
| run: | | |
| mkdir -p ./gcov && \ | |
| find ./build -name "*.gcda" -o -name "*.gcno" | \ | |
| while read -r line; do \ | |
| gcov -o $(dirname "$line") $(echo "$line" | sed 's/\.gcda$/.cpp/;s/\.gcno$/.cpp/;s/\.gcda$/.hpp/;s/\.gcno$/.hpp/'); \ | |
| done && mv *.gcov ./gcov/ | |
| - name: Show test result | |
| if: always() | |
| run: | | |
| source /opt/ros/${{ matrix.rosdistro }}/setup.bash | |
| source install/local_setup.bash | |
| colcon test-result --verbose | |
| shell: bash | |
| - name: Scenario test | |
| run: | | |
| source install/setup.bash | |
| source install/local_setup.bash | |
| ./src/scenario_simulator_v2/.github/workflows/workflow.sh ./src/scenario_simulator_v2/test_runner/scenario_test_runner/config/workflow.txt global_frame_rate:=20 | |
| shell: bash | |
| - name: Upload Lcov result | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: lcov-${{ matrix.cmake_build_type }} | |
| path: lcov | |
| retention-days: 1 | |
| - name: Run SonarCloud scan | |
| env: | |
| GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} | |
| SONAR_TOKEN: ${{ secrets.SONAR_TOKEN }} | |
| SONAR_HOST_URL: https://sonarcloud.io/ | |
| working-directory: src/scenario_simulator_v2/ | |
| run: sonar-scanner --define sonar.cfamily.compile-commands="bw-output/compile_commands.json" | |
| # - name: Basic test | |
| # run: | | |
| # source install/setup.bash | |
| # source install/local_setup.bash | |
| # ./src/scenario_simulator_v2/.github/workflows/workflow.sh ./src/scenario_simulator_v2_scenarios/workflow/basic.txt | |
| # shell: bash |