ci.yaml

# 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:
    branches:
      - master
      - "[kmn]*-devel"

jobs:
  default:
    strategy:
      fail-fast: false
      matrix:
        env:
          - IMAGE: noetic-ci
            CCOV: true
            BUILDER: .github/workflows/catkin_tools_devel.sh
          - IMAGE: noetic-ci-shadow-fixed
            IKFAST_TEST: true
            CATKIN_LINT: true
            CLANG_TIDY: pedantic
          - IMAGE: master-ci # ROS Melodic with all dependencies required for master
            CATKIN_LINT: true
    env:
      CLANG_TIDY_ARGS: --fix --fix-errors --format-style=file
      DOCKER_IMAGE: moveit/moveit:${{ matrix.env.IMAGE }}
      UPSTREAM_WORKSPACE: .github/workflows/upstream.rosinstall
      TARGET_WORKSPACE: $TARGET_REPO_PATH github:ros-planning/moveit_resources#master
      DOWNSTREAM_WORKSPACE: .github/workflows/downstream.rosinstall
      # Pull any updates to the upstream workspace (after restoring it from cache)
      AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src
      AFTER_SETUP_DOWNSTREAM_WORKSPACE: vcs pull $BASEDIR/downstream_ws/src
      TARGET_CMAKE_ARGS: >
        -DCMAKE_BUILD_TYPE=${{ matrix.env.CCOV && 'Debug' || 'Release'}}
        -DCMAKE_CXX_FLAGS="${{ matrix.env.CLANG_TIDY != 'pedantic' && '-Werror ' || '' }}${{ matrix.env.CCOV && ' --coverage -O2 -fno-omit-frame-pointer'}}"
      DOWNSTREAM_CMAKE_ARGS: -DCMAKE_CXX_FLAGS="-Wall -Wextra"
      CCACHE_DIR: ${{ github.workspace }}/.ccache
      BASEDIR: ${{ github.workspace }}/.work
      CLANG_TIDY_BASE_REF: ${{ github.event_name != 'workflow_dispatch' && (github.base_ref || github.ref) || '' }}
      BEFORE_CLANG_TIDY_CHECKS: |
        # Show list of applied checks
        (cd $TARGET_REPO_PATH; clang-tidy --list-checks)
        # Disable clang-tidy for ikfast plugins as we cannot fix the generated code
        find $BASEDIR/target_ws/build -iwholename "*_ikfast_plugin/compile_commands.json" -exec rm {} \;
      BUILDER: ${{ matrix.env.BUILDER || 'catkin_tools' }}
      CC: ${{ matrix.env.CLANG_TIDY && 'clang' }}
      CXX: ${{ matrix.env.CLANG_TIDY && 'clang++' }}

    name: "${{ matrix.env.IMAGE }}${{ matrix.env.CATKIN_LINT && ' + catkin_lint' || ''}}${{ matrix.env.CCOV && ' + ccov' || ''}}${{ matrix.env.IKFAST_TEST && ' + ikfast' || ''}}${{ matrix.env.CLANG_TIDY && (github.event_name != 'workflow_dispatch' && ' + clang-tidy (delta)' || ' + clang-tidy (all)') || '' }}"
    runs-on: ubuntu-latest
    steps:
      - name: "Free up disk space"
        if: matrix.env.CCOV
        run: |
          sudo apt-get -qq purge build-essential "ghc*"
          sudo apt-get clean
          # cleanup docker images not used by us
          docker system prune -af
          # shift ccache folder to /mnt on a separate disk
          sudo mkdir /mnt/ccache
          mkdir ${{ env.CCACHE_DIR }}
          sudo mount --bind ${{ env.CCACHE_DIR }} /mnt/ccache
          # free up a lot of stuff from /usr/local
          sudo rm -rf /usr/local
          df -h
      - uses: actions/checkout@v2
      - name: Cache upstream workspace
        uses: pat-s/always-upload-cache@v2.1.5
        with:
          path: ${{ env.BASEDIR }}/upstream_ws
          key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
          restore-keys: ${{ env.CACHE_PREFIX }}
        env:
          CACHE_PREFIX: upstream_ws-${{ matrix.env.IMAGE }}-${{ hashFiles('.github/workflows/upstream.rosinstall', '.github/workflows/ci.yaml') }}
      - name: Cache downstream workspace
        uses: pat-s/always-upload-cache@v2.1.5
        with:
          path: ${{ env.BASEDIR }}/downstream_ws
          key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
          restore-keys: ${{ env.CACHE_PREFIX }}
        env:
          CACHE_PREFIX: downstream_ws-${{ matrix.env.IMAGE }}-${{ hashFiles('.github/workflows/downstream.rosinstall', '.github/workflows/ci.yaml') }}
      # The target directory cache doesn't include the source directory because
      # that comes from the checkout.  See "prepare target_ws for cache" task below
      - name: Cache target workspace
        if: "!matrix.env.CCOV"
        uses: pat-s/always-upload-cache@v2.1.5
        with:
          path: ${{ env.BASEDIR }}/target_ws
          key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }}
          restore-keys: ${{ env.CACHE_PREFIX }}
        env:
          CACHE_PREFIX: target_ws${{ matrix.env.CCOV && '-ccov' || '' }}-${{ matrix.env.IMAGE }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml', '.github/workflows/ci.yaml') }}
      - name: Cache ccache
        uses: pat-s/always-upload-cache@v2.1.5
        with:
          path: ${{ env.CCACHE_DIR }}
          key: ${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
          restore-keys: |
            ${{ env.CACHE_PREFIX }}-${{ github.sha }}
            ${{ env.CACHE_PREFIX }}
        env:
          CACHE_PREFIX: ccache-${{ matrix.env.IMAGE }}${{ matrix.env.CCOV && '-ccov' || '' }}

      - name: Generate ikfast packages
        if: matrix.env.IKFAST_TEST
        run: moveit_kinematics/test/test_ikfast_plugins.sh
      - 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: matrix.env.CCOV && 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: matrix.env.CCOV && steps.ici.outputs.target_test_results == '0'
        with:
          files: ${{ env.BASEDIR }}/target_ws/coverage.info
      - name: Upload clang-tidy changes
        uses: rhaschke/upload-git-patch-action@main
        if: matrix.env.CLANG_TIDY
        with:
          name: clang-tidy
          path: ${{ env.BASEDIR }}/target_ws/src/$(basename $(pwd))
      - name: Prepare target_ws for cache
        if: "!matrix.env.CCOV"
        run: |
          du -sh ${{ env.BASEDIR }}/target_ws
          sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
          sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
          du -sh ${{ env.BASEDIR }}/target_ws