build-and-test-differential.yaml

name: build-and-test-differential

on:
  pull_request:
    types:
      - opened
      - synchronize
      - reopened
      - labeled

env:
  CC: /usr/lib/ccache/gcc
  CXX: /usr/lib/ccache/g++

jobs:
  make-sure-label-is-present:
    uses: autowarefoundation/autoware-github-actions/.github/workflows/make-sure-label-is-present.yaml@v1
    with:
      label: tag:run-build-and-test-differential

  build-and-test-differential:
    needs: make-sure-label-is-present
    if: ${{ needs.make-sure-label-is-present.outputs.result == 'true' }}
    runs-on: ubuntu-latest
    container: ${{ matrix.container }}${{ matrix.container-suffix }}
    strategy:
      fail-fast: false
      matrix:
        rosdistro:
          - humble
        container-suffix:
          - ""
          - -cuda
        include:
          - rosdistro: humble
            container: ghcr.io/autowarefoundation/autoware:latest-prebuilt
            build-depends-repos: build_depends.repos
    steps:
      - name: Set PR fetch depth
        run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"

      - 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

      - 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-${{ runner.arch }}-${{ matrix.rosdistro }}-${{ github.event.pull_request.base.sha }}
          restore-keys: |
            ccache-main-${{ runner.arch }}-${{ matrix.rosdistro }}-

      - name: Show ccache stats before build
        run: du -sh ${CCACHE_DIR} && ccache -s
        shell: bash

      - name: Export CUDA state as a variable for adding to cache key
        run: |
          build_type_cuda_state=nocuda
          if [[ "${{ matrix.container-suffix }}" == "-cuda" ]]; then
            build_type_cuda_state=cuda
          fi
          echo "BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" >> "${GITHUB_ENV}"
          echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state"
        shell: bash

      - name: Build
        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
        uses: autowarefoundation/autoware-github-actions/colcon-build@v1
        with:
          rosdistro: ${{ matrix.rosdistro }}
          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
          build-depends-repos: ${{ matrix.build-depends-repos }}
          cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}

      - 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@v1
        with:
          rosdistro: ${{ matrix.rosdistro }}
          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
          build-depends-repos: ${{ matrix.build-depends-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
          token: ${{ secrets.CODECOV_TOKEN }}

      - name: Show disk space after the tasks
        run: df -h

  clang-tidy-differential:
    needs: build-and-test-differential
    runs-on: ubuntu-latest
    container: ghcr.io/autowarefoundation/autoware:latest-prebuilt-cuda
    steps:
      - name: Set PR fetch depth
        run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"

      - 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

      - 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: Get changed files (existing files only)
        id: get-changed-files
        run: |
          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
        shell: bash

      - name: Run clang-tidy
        if: ${{ steps.get-changed-files.outputs.changed-files != '' }}
        uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
        with:
          rosdistro: humble
          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
          target-files: ${{ steps.get-changed-files.outputs.changed-files }}
          clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy-ci
          build-depends-repos: build_depends.repos
          cache-key-element: cuda

      - name: Show disk space after the tasks
        run: df -h