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ci: introduce build-test-tidy-pr (#9709)
Signed-off-by: M. Fatih Cırıt <mfc@autoware.org>
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‎.github/actions/build-and-test-differential/action.yaml

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‎.github/labeler.yaml

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- tools/**/*
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"component:vehicle":
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- vehicle/**/*
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"tag:require-cuda-build-and-test":
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- perception/**/*
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- sensing/**/*

‎.github/workflows/build-and-test-differential.yaml

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name: build-and-test-differential
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on:
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pull_request:
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types:
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- opened
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- synchronize
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- reopened
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- labeled
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concurrency:
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group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.run_id }}
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cancel-in-progress: true
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workflow_call:
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inputs:
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container:
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required: true
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type: string
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runner:
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default: ubuntu-24.04
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required: false
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type: string
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rosdistro:
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default: humble
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required: false
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type: string
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container-suffix:
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required: false
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default: ""
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type: string
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secrets:
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codecov-token:
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required: true
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env:
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CC: /usr/lib/ccache/gcc
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CXX: /usr/lib/ccache/g++
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jobs:
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make-sure-label-is-present:
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uses: autowarefoundation/autoware-github-actions/.github/workflows/make-sure-label-is-present.yaml@v1
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with:
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label: tag:run-build-and-test-differential
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make-sure-require-cuda-label-is-present:
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uses: autowarefoundation/autoware-github-actions/.github/workflows/make-sure-label-is-present.yaml@v1
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with:
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label: tag:require-cuda-build-and-test
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prepare-build-and-test-differential:
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runs-on: ubuntu-latest
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needs: [make-sure-label-is-present, make-sure-require-cuda-label-is-present]
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outputs:
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cuda_build: ${{ steps.check-if-cuda-build-is-required.outputs.cuda_build }}
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steps:
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- name: Check if cuda-build is required
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id: check-if-cuda-build-is-required
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run: |
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if ${{ needs.make-sure-require-cuda-label-is-present.outputs.result == 'true' }}; then
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echo "cuda-build is required"
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echo "cuda_build=true" >> $GITHUB_OUTPUT
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else
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echo "cuda-build is not required"
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echo "cuda_build=false" >> $GITHUB_OUTPUT
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fi
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shell: bash
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- name: Fail if the tag:run-build-and-test-differential is missing
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if: ${{ needs.make-sure-label-is-present.outputs.result != 'true' }}
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run: exit 1
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build-and-test-differential:
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runs-on: ubuntu-latest
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container: ghcr.io/autowarefoundation/autoware:universe-devel
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needs: prepare-build-and-test-differential
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runs-on: ${{ inputs.runner }}
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container: ${{ inputs.container }}${{ inputs.container-suffix }}
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steps:
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- name: Set PR fetch depth
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run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
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ref: ${{ github.event.pull_request.head.sha }}
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fetch-depth: ${{ env.PR_FETCH_DEPTH }}
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- name: Run build-and-test-differential action
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uses: ./.github/actions/build-and-test-differential
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with:
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rosdistro: humble
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container: ghcr.io/autowarefoundation/autoware:universe-devel
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container-suffix: ""
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runner: ubuntu-latest
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build-depends-repos: build_depends.repos
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build-pre-command: ""
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codecov-token: ${{ secrets.CODECOV_TOKEN }}
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build-and-test-differential-cuda:
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runs-on: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large
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container: ghcr.io/autowarefoundation/autoware:universe-devel-cuda
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needs: prepare-build-and-test-differential
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if: ${{ needs.prepare-build-and-test-differential.outputs.cuda_build == 'true' }}
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steps:
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- name: Set PR fetch depth
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run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
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shell: bash
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- name: Checkout PR branch and all PR commits
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uses: actions/checkout@v4
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with:
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ref: ${{ github.event.pull_request.head.sha }}
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fetch-depth: ${{ env.PR_FETCH_DEPTH }}
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- name: Run build-and-test-differential action
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uses: ./.github/actions/build-and-test-differential
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with:
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rosdistro: humble
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container: ghcr.io/autowarefoundation/autoware:universe-devel
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container-suffix: -cuda
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runner: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large
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build-depends-repos: build_depends.repos
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build-pre-command: taskset --cpu-list 0-5
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codecov-token: ${{ secrets.CODECOV_TOKEN }}
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clang-tidy-differential:
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needs: [build-and-test-differential, prepare-build-and-test-differential]
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if: ${{ needs.prepare-build-and-test-differential.outputs.cuda_build == 'false' }}
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runs-on: ubuntu-latest
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container: ghcr.io/autowarefoundation/autoware:universe-devel
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steps:
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- name: Set PR fetch depth
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run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
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- name: Checkout PR branch and all PR commits
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uses: actions/checkout@v4
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with:
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ref: ${{ github.event.pull_request.head.sha }}
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fetch-depth: ${{ env.PR_FETCH_DEPTH }}
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- name: Show disk space before the tasks
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run: df -h
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shell: bash
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- name: Show machine specs
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run: lscpu && free -h
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shell: bash
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- name: Remove exec_depend
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uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
@@ -126,66 +56,69 @@ jobs:
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id: get-modified-packages
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uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
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- name: Get changed files (existing files only)
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id: get-changed-files
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- name: Create ccache directory
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run: |
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echo "changed-files=$(git diff --name-only "origin/${{ github.base_ref }}"...HEAD | grep -E '\.(cpp|hpp)$' | while read -r file; do [ -e "$file" ] && echo -n "$file "; done)" >> $GITHUB_OUTPUT
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mkdir -p ${CCACHE_DIR}
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du -sh ${CCACHE_DIR} && ccache -s
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shell: bash
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- name: Run clang-tidy
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if: ${{ steps.get-changed-files.outputs.changed-files != '' }}
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uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
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- name: Attempt to restore ccache
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uses: actions/cache/restore@v4
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with:
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rosdistro: humble
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target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
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clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy-ci
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clang-tidy-ignore-path: .clang-tidy-ignore
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build-depends-repos: build_depends.repos
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cache-key-element: cuda
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path: |
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/root/.ccache
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key: ccache-main-${{ runner.arch }}-${{ inputs.rosdistro }}-${{ github.event.pull_request.base.sha }}
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restore-keys: |
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ccache-main-${{ runner.arch }}-${{ inputs.rosdistro }}-
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- name: Show disk space after the tasks
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run: df -h
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- name: Show ccache stats before build and reset stats
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run: |
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du -sh ${CCACHE_DIR} && ccache -s
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ccache --zero-stats
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shell: bash
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clang-tidy-differential-cuda:
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needs: build-and-test-differential-cuda
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runs-on: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large
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container: ghcr.io/autowarefoundation/autoware:universe-devel-cuda
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steps:
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- name: Set PR fetch depth
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run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
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- name: Export CUDA state as a variable for adding to cache key
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run: |
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build_type_cuda_state=nocuda
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if [[ "${{ inputs.container-suffix }}" == "-cuda" ]]; then
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build_type_cuda_state=cuda
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fi
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echo "BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" >> "${GITHUB_ENV}"
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echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state"
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shell: bash
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- name: Checkout PR branch and all PR commits
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uses: actions/checkout@v4
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- name: Build
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if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
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uses: autowarefoundation/autoware-github-actions/colcon-build@v1
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with:
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ref: ${{ github.event.pull_request.head.sha }}
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fetch-depth: ${{ env.PR_FETCH_DEPTH }}
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- name: Show disk space before the tasks
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run: df -h
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- name: Remove exec_depend
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uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
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- name: Get modified packages
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id: get-modified-packages
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uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
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rosdistro: ${{ inputs.rosdistro }}
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target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
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build-depends-repos: build_depends.repos
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cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
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- name: Get changed files (existing files only)
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id: get-changed-files
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run: |
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echo "changed-files=$(git diff --name-only "origin/${{ github.base_ref }}"...HEAD | grep -E '\.(cpp|hpp)$' | while read -r file; do [ -e "$file" ] && echo -n "$file "; done)" >> $GITHUB_OUTPUT
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- name: Show ccache stats after build
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run: du -sh ${CCACHE_DIR} && ccache -s
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shell: bash
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- name: Run clang-tidy
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if: ${{ steps.get-changed-files.outputs.changed-files != '' }}
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uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
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- name: Test
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id: test
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if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
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uses: autowarefoundation/autoware-github-actions/colcon-test@v1
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with:
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rosdistro: humble
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rosdistro: ${{ inputs.rosdistro }}
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target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
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clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy-ci
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clang-tidy-ignore-path: .clang-tidy-ignore
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build-depends-repos: build_depends.repos
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cache-key-element: cuda
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- name: Upload coverage to CodeCov
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if: ${{ steps.test.outputs.coverage-report-files != '' }}
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uses: codecov/codecov-action@v4
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with:
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files: ${{ steps.test.outputs.coverage-report-files }}
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fail_ci_if_error: false
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verbose: true
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flags: differential${{ inputs.container-suffix }}
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token: ${{ secrets.codecov-token }}
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- name: Show disk space after the tasks
191123
run: df -h
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shell: bash

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