[DO NOT MERGE] tmp/feat/build above dependency pass

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

@@ -0,0 +1,149 @@
+name: build-and-test-packages-above-differential
+
+on:
+  workflow_call:
+    inputs:
+      container:
+        required: true
+        type: string
+      runner:
+        default: ubuntu-24.04
+        required: false
+        type: string
+      rosdistro:
+        default: humble
+        required: false
+        type: string
+      run-condition:
+        default: true
+        required: false
+        type: boolean
+      container-suffix:
+        required: false
+        default: ""
+        type: string
+      build-pre-command:
+        required: false
+        default: ""
+        type: string
+    secrets:
+      codecov-token:
+        required: true
+
+env:
+  CC: /usr/lib/ccache/gcc
+  CXX: /usr/lib/ccache/g++
+
+jobs:
+  build-and-test-packages-above-differential:
+    if: ${{ inputs.run-condition }}
+    runs-on: ${{ inputs.runner }}
+    container: ${{ inputs.container }}${{ inputs.container-suffix }}
+    steps:
+      - name: Set PR fetch depth
+        run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
+        shell: bash
+
+      - name: Checkout PR branch and all PR commits
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ github.event.pull_request.head.sha }}
+          fetch-depth: ${{ env.PR_FETCH_DEPTH }}
+
+      - name: Show disk space before the tasks
+        run: df -h
+        shell: bash
+
+      - name: Show machine specs
+        run: lscpu && free -h
+        shell: bash
+
+      - name: Remove exec_depend
+        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
+
+      - name: Get modified packages
+        id: get-modified-packages
+        uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
+
+      - name: Create ccache directory
+        run: |
+          mkdir -p ${CCACHE_DIR}
+          du -sh ${CCACHE_DIR} && ccache -s
+        shell: bash
+
+      - name: Attempt to restore ccache
+        uses: actions/cache/restore@v4
+        with:
+          path: |
+            /root/.ccache
+          key: ccache-main-${{ runner.arch }}-${{ inputs.rosdistro }}-${{ github.event.pull_request.base.sha }}
+          restore-keys: |
+            ccache-main-${{ runner.arch }}-${{ inputs.rosdistro }}-
+
+      - name: Show ccache stats before build and reset stats
+        run: |
+          du -sh ${CCACHE_DIR} && ccache -s
+          ccache --zero-stats
+        shell: bash
+
+      - name: Export CUDA state as a variable for adding to cache key
+        run: |
+          build_type_cuda_state=nocuda
+          if [[ "${{ inputs.container-suffix }}" == "-cuda" ]]; then
+            build_type_cuda_state=cuda
+          fi
+          echo "BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" >> "${GITHUB_ENV}"
+          echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state"
+        shell: bash
+
+      - name: Prepare build_depends.repos file (main branch)
+        if: ${{ github.event.pull_request.base.ref == 'main' }}
+        uses: ./.github/actions/combine-repos-action
+        with:
+          base_file: build_depends_humble.repos
+          overlay_file: build_depends_nightly.repos
+          output_file: build_depends.repos
+
+      - name: Prepare build_depends.repos file (humble branch)
+        if: ${{ github.event.pull_request.base.ref == 'humble' }}
+        run: cp build_depends_humble.repos build_depends.repos
+        shell: bash
+
+      - name: Build
+        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-build@feat/colcon-build-above-dependency
+        with:
+          rosdistro: ${{ inputs.rosdistro }}
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          build-depends-repos: build_depends.repos
+          packages-above-repos: packages_above.repos
+          cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
+          build-pre-command: ${{ inputs.build-pre-command }}
+
+      - name: Show ccache stats after build
+        run: du -sh ${CCACHE_DIR} && ccache -s
+        shell: bash
+
+      - name: Test
+        id: test
+        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-test@feat/colcon-build-above-dependency
+        with:
+          rosdistro: ${{ inputs.rosdistro }}
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          build-depends-repos: build_depends.repos
+          packages-above-repos: packages_above.repos
+
+      - name: Upload coverage to CodeCov
+        if: ${{ steps.test.outputs.coverage-report-files != '' }}
+        uses: codecov/codecov-action@v4
+        with:
+          files: ${{ steps.test.outputs.coverage-report-files }}
+          fail_ci_if_error: false
+          verbose: true
+          flags: differential${{ inputs.container-suffix }}
+          token: ${{ secrets.codecov-token }}
+
+      - name: Show disk space after the tasks
+        run: df -h
+        shell: bash

.github/workflows/build-test-tidy-pr.yaml

@@ -50,6 +50,17 @@ jobs:
     secrets:
       codecov-token: ${{ secrets.CODECOV_TOKEN }}
 
+  build-and-test-packages-above-differential:
+    if: ${{ always() }}
+    needs:
+      - require-label
+    uses: ./.github/workflows/build-and-test-packages-above-differential.yaml
+    with:
+      container: ghcr.io/autowarefoundation/autoware:universe-devel
+      run-condition: ${{ needs.require-label.outputs.result == 'true' }}
+    secrets:
+      codecov-token: ${{ secrets.CODECOV_TOKEN }}
+
   build-and-test-differential-cuda:
     if: ${{ always() }}
     needs: check-if-cuda-job-is-needed

packages_above.repos

@@ -0,0 +1,5 @@
+repositories:
+  tools/autoware_tools:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_tools.git
+    version: main

planning/autoware_path_optimizer/include/autoware/path_optimizer/mpt_optimizer.hpp

@@ -110,7 +110,8 @@ class MPTOptimizer
     const TrajectoryParam & traj_param, const std::shared_ptr<DebugData> debug_data_ptr,
     const std::shared_ptr<autoware_utils::TimeKeeper> time_keeper_);
 
-  std::vector<TrajectoryPoint> optimizeTrajectory(const PlannerData & planner_data);
+  std::vector<TrajectoryPoint> optimizeTrajectory(
+    const PlannerData & planner_data, const bool empty = false);
   std::optional<std::vector<TrajectoryPoint>> getPrevOptimizedTrajectoryPoints() const;
 
   void initialize(const bool enable_debug_info, const TrajectoryParam & traj_param);

planning/autoware_path_optimizer/src/mpt_optimizer.cpp

@@ -472,7 +472,8 @@ void MPTOptimizer::onParam(const std::vector<rclcpp::Parameter> & parameters)
   debug_data_ptr_->mpt_visualize_sampling_num = mpt_param_.mpt_visualize_sampling_num;
 }
 
-std::vector<TrajectoryPoint> MPTOptimizer::optimizeTrajectory(const PlannerData & planner_data)
+std::vector<TrajectoryPoint> MPTOptimizer::optimizeTrajectory(
+  const PlannerData & planner_data, [[maybe_unused]] const bool empty)
 {
   autoware_utils::ScopedTimeTrack st(__func__, *time_keeper_);
 

planning/autoware_path_optimizer/src/node.cpp

@@ -363,7 +363,7 @@ std::vector<TrajectoryPoint> PathOptimizer::optimizeTrajectory(const PlannerData
 
   // 2. make trajectory kinematically-feasible and collision-free (= inside the drivable area)
   //    with model predictive trajectory
-  const auto mpt_traj = mpt_optimizer_ptr_->optimizeTrajectory(planner_data);
+  const auto mpt_traj = mpt_optimizer_ptr_->optimizeTrajectory(planner_data, false);
 
   return mpt_traj;
 }