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Rework CI to ensure up-to-date containers prior to builds (bdaiinstit…
…ute#256) Signed-off-by: Michel Hidalgo <mhidalgo@theaiinstitute.com>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,134 @@ | ||
| name: spot_ros2 CI | ||
|
|
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| on: | ||
| pull_request: | ||
| push: | ||
| branches: | ||
| - main | ||
| workflow_call: | ||
| secrets: | ||
| CODECOV_TOKEN: | ||
| required: true | ||
|
|
||
| permissions: | ||
| contents: write | ||
|
|
||
| env: | ||
| # Use docker.io for Docker Hub if empty | ||
| REGISTRY: ghcr.io | ||
| # github.repository as <account>/<repo> | ||
| IMAGE_NAME: bdaiinstitute/spot_ros2_jammy_humble | ||
|
|
||
| defaults: | ||
| run: | ||
| shell: bash | ||
|
|
||
| jobs: | ||
| lint: | ||
| name: Lint spot_ros2 packages | ||
| runs-on: ubuntu-latest | ||
| steps: | ||
| - name: Checkout repository | ||
| uses: actions/checkout@v3 | ||
| - uses: actions/setup-python@v3 | ||
| - name: Lint sources | ||
| uses: pre-commit/action@v3.0.0 | ||
| prepare_container: | ||
| name: Prepare Humble container for tests | ||
| runs-on: ubuntu-latest | ||
| needs: lint | ||
| permissions: | ||
| contents: read | ||
| packages: write | ||
| # This is used to complete the identity challenge | ||
| # with sigstore/fulcio when running outside of PRs. | ||
| id-token: write | ||
| outputs: | ||
| image: ${{ fromJSON(steps.meta.outputs.json).tags[0] }} | ||
| steps: | ||
| - name: Checkout repository | ||
| uses: actions/checkout@v3 | ||
| with: | ||
| submodules: recursive | ||
| - name: Setup Docker buildx # to workaround: https://github.com/docker/build-push-action/issues/461 | ||
| uses: docker/setup-buildx-action@79abd3f86f79a9d68a23c75a09a9a85889262adf | ||
| - name: Log into registry ${{ env.REGISTRY }} | ||
| uses: docker/login-action@28218f9b04b4f3f62068d7b6ce6ca5b26e35336c # https://github.com/docker/login-action | ||
| with: | ||
| registry: ${{ env.REGISTRY }} | ||
| username: ${{ github.actor }} | ||
| password: ${{ secrets.GITHUB_TOKEN }} | ||
| - name: Extract metadata (tags, labels) for Docker | ||
| uses: docker/metadata-action@98669ae865ea3cffbcbaa878cf57c20bbf1c6c38 # https://github.com/docker/metadata-action | ||
| with: | ||
| images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }} | ||
| id: meta | ||
| - name: Build and push Docker image (may be cached) | ||
| uses: docker/build-push-action@ac9327eae2b366085ac7f6a2d02df8aa8ead720a # https://github.com/docker/build-push-action | ||
| with: | ||
| context: . | ||
| file: .devcontainer/Dockerfile | ||
| push: true | ||
| tags: ${{ steps.meta.outputs.tags }} | ||
| labels: ${{ steps.meta.outputs.labels }} | ||
| cache-from: type=gha | ||
| cache-to: type=gha,mode=max | ||
| build_and_test_package_and_docs: | ||
| name: Build and test spot_ros2 packages | ||
| runs-on: ubuntu-latest | ||
| needs: prepare_container | ||
| container: | ||
| image: ${{ needs.prepare_container.outputs.image }} | ||
| steps: | ||
| - name: Checkout repository | ||
| uses: actions/checkout@v3 | ||
| with: | ||
| submodules: recursive | ||
| path: src | ||
| - name: Build packages | ||
| run: | | ||
| source /opt/ros/$ROS_DISTRO/setup.bash | ||
| colcon build --symlink-install --packages-skip-regex proto2ros --cmake-args -DCMAKE_CXX_FLAGS="--coverage" | ||
| - name: Test packages | ||
| run: | | ||
| source install/setup.bash | ||
| colcon test --python-testing pytest --pytest-with-coverage --event-handlers console_direct+ --packages-skip-regex bdai_ros2_wrappers proto2ros | ||
| - name: Generate coverage report | ||
| run: lcov -c -d build/spot_driver/ -o coverage_spot_driver.info --include "*/spot_driver/*" --exclude "*/test/*" | ||
| - name: Upload python coverage to Coveralls | ||
| uses: coverallsapp/github-action@v2 | ||
| with: | ||
| github-token: ${{ secrets.GITHUB_TOKEN }} | ||
| fail-on-error: true | ||
| flag-name: unittests-python | ||
| parallel: true | ||
| debug: true | ||
| files: $(find . -name "coverage.xml" -type f) | ||
| - name: Upload cpp coverage to Coveralls | ||
| uses: coverallsapp/github-action@v2 | ||
| with: | ||
| github-token: ${{ secrets.GITHUB_TOKEN }} | ||
| fail-on-error: true | ||
| flag-name: unittests-cpp | ||
| debug: true | ||
| files: coverage_spot_driver.info | ||
| format: lcov | ||
| - name: Aggregate coverage | ||
| uses: coverallsapp/github-action@v2 | ||
| with: | ||
| parallel-finished: true | ||
| carryforward: "unittests-python, unittests-cpp" | ||
| - name: Report on test results | ||
| run: colcon test-result --all --verbose | ||
| if: always() | ||
| - name: Build packages documentation | ||
| run: | | ||
| source /opt/ros/$ROS_DISTRO/setup.bash | ||
| pip install -r docs/requirements.txt | ||
| # go to documentation folder and build the .rst files | ||
| cd docs | ||
| # we don't use the --implicit-namespaces flag | ||
| sphinx-apidoc -f -o source/ ../ ../*setup* ../examples ../*launch.py ../*command_spot_driver.py | ||
| cd .. | ||
| sphinx-build docs _build -v | ||
| working-directory: ${{ github.workspace }}/src |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,26 @@ | ||
| name: spot_ros2 CI maintenance | ||
|
|
||
| on: | ||
| schedule: | ||
| - cron: "0 0 * * 0" # once a week | ||
|
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||
| env: | ||
| ORG_NAME: bdaiinstitute | ||
| # github.repository as <account>/<repo> | ||
| IMAGE_NAME: spot_ros2_jammy_humble | ||
|
|
||
| jobs: | ||
| clean-ghcr: | ||
| name: Prune old images from Github Container Registry | ||
| runs-on: ubuntu-latest | ||
| steps: | ||
| - name: Delete old pull request images | ||
| uses: snok/container-retention-policy@v2 | ||
| with: | ||
| image-names: ${{ env.IMAGE_NAME }} | ||
| skip-tags: main | ||
| cut-off: One week ago UTC | ||
| org-name: ${{ env.ORG_NAME }} | ||
| account-type: org | ||
| token: ${{ secrets.GITHUB_TOKEN }} | ||
| token-type: github-token |
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