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feat: add build-and-test-packages-above-differential.yaml and packages_above.repos (#9854)
Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com>
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‎.github/workflows/build-and-test-packages-above-differential.yaml

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name: build-and-test-packages-above-differential
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on:
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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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run-condition:
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default: true
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required: false
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type: boolean
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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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build-pre-command:
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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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build-and-test-packages-above-differential:
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if: ${{ inputs.run-condition }}
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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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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: 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
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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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- name: Create ccache directory
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run: |
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mkdir -p ${CCACHE_DIR}
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du -sh ${CCACHE_DIR} && ccache -s
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shell: bash
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- name: Attempt to restore ccache
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uses: actions/cache/restore@v4
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with:
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path: |
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/root/.ccache
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key: ccache-main-${{ 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 ccache stats before build and reset stats
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run: |
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du -sh ${CCACHE_DIR} && ccache -s
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ccache --zero-stats
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shell: bash
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- name: Export CUDA state as a variable for adding to cache key
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run: |
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build_type_cuda_state=nocuda
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if [[ "${{ 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: Prepare build_depends.repos file (main branch)
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if: ${{ github.event.pull_request.base.ref == 'main' }}
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uses: ./.github/actions/combine-repos-action
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with:
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base_file: build_depends_humble.repos
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overlay_file: build_depends_nightly.repos
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output_file: build_depends.repos
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- name: Prepare build_depends.repos file (humble branch)
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if: ${{ github.event.pull_request.base.ref == 'humble' }}
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run: cp build_depends_humble.repos build_depends.repos
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shell: bash
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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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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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packages-above-repos: packages_above.repos
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cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
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build-pre-command: ${{ inputs.build-pre-command }}
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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: 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: ${{ 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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packages-above-repos: packages_above.repos
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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
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run: df -h
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shell: bash

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

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

‎packages_above.repos

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repositories:
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tools/autoware_tools:
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type: git
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url: https://github.com/autowarefoundation/autoware_tools.git
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version: main

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