chore: sync upstream

.github/sync-files.yaml

@@ -5,6 +5,7 @@
     - source: DISCLAIMER.md
     - source: LICENSE
     - source: .github/dependabot.yaml
+    - source: .github/workflows/pre-commit.yaml
     - source: .github/workflows/pre-commit-optional.yaml
     - source: .github/workflows/semantic-pull-request.yaml
     - source: .github/workflows/spell-check-differential.yaml
@@ -25,7 +26,6 @@
     - source: .github/workflows/build-and-test-differential-self-hosted.yaml
     - source: .github/workflows/build-and-test-self-hosted.yaml
     - source: .github/workflows/check-build-depends.yaml
-    - source: .github/workflows/pre-commit.yaml
 
 - repository: autowarefoundation/autoware-documentation
   files:

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

@@ -37,9 +37,17 @@ jobs:
         id: get-modified-packages
         uses: autowarefoundation/autoware-github-actions/get-modified-packages@tier4/proposal
 
-      - name: Build and test
+      - name: Build
         if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
-        uses: autowarefoundation/autoware-github-actions/colcon-build-and-test@tier4/proposal
+        uses: autowarefoundation/autoware-github-actions/colcon-build@tier4/proposal
+        with:
+          rosdistro: galactic
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          build-depends-repos: build_depends.repos
+
+      - name: Test
+        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-test@tier4/proposal
         with:
           rosdistro: galactic
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}

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

@@ -28,28 +28,28 @@ jobs:
         id: get-modified-packages
         uses: autowarefoundation/autoware-github-actions/get-modified-packages@tier4/proposal
 
-      - name: Build and test
+      - name: Build
         if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
-        uses: autowarefoundation/autoware-github-actions/colcon-build-and-test@tier4/proposal
+        uses: autowarefoundation/autoware-github-actions/colcon-build@tier4/proposal
         with:
           rosdistro: galactic
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
           build-depends-repos: build_depends.repos
 
-      - name: Check the existence of coverage files
-        id: check-file-existence
-        uses: autowarefoundation/autoware-github-actions/check-file-existence@tier4/proposal
+      - name: Test
+        id: test
+        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-test@tier4/proposal
         with:
-          files: |
-            lcov/total_coverage.info
-            coveragepy/.coverage
-          condition: or
+          rosdistro: galactic
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          build-depends-repos: build_depends.repos
 
       - name: Upload coverage to CodeCov
-        if: ${{ steps.check-file-existence.outputs.exists == 'true' }}
+        if: ${{ steps.test.outputs.coverage-report-files != '' }}
         uses: codecov/codecov-action@v2
         with:
-          files: lcov/total_coverage.info,coveragepy/.coverage
+          files: ${{ steps.test.outputs.coverage-report-files }}
           fail_ci_if_error: false
           verbose: true
 

.github/workflows/build-and-test-self-hosted.yaml

@@ -25,8 +25,17 @@ jobs:
         id: get-self-packages
         uses: autowarefoundation/autoware-github-actions/get-self-packages@tier4/proposal
 
-      - name: Build and test
-        uses: autowarefoundation/autoware-github-actions/colcon-build-and-test@tier4/proposal
+      - name: Build
+        if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-build@tier4/proposal
+        with:
+          rosdistro: galactic
+          target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
+          build-depends-repos: build_depends.repos
+
+      - name: Test
+        if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-test@tier4/proposal
         with:
           rosdistro: galactic
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}

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

@@ -27,26 +27,27 @@ jobs:
         id: get-self-packages
         uses: autowarefoundation/autoware-github-actions/get-self-packages@tier4/proposal
 
-      - name: Build and test
-        uses: autowarefoundation/autoware-github-actions/colcon-build-and-test@tier4/proposal
+      - name: Build
+        if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-build@tier4/proposal
         with:
           rosdistro: galactic
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
           build-depends-repos: build_depends.repos
 
-      - name: Check the existence of coverage files
-        id: check-file-existence
-        uses: autowarefoundation/autoware-github-actions/check-file-existence@tier4/proposal
+      - name: Test
+        if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
+        id: test
+        uses: autowarefoundation/autoware-github-actions/colcon-test@tier4/proposal
         with:
-          files: |
-            lcov/total_coverage.info
-            coveragepy/.coverage
-          condition: or
+          rosdistro: galactic
+          target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
+          build-depends-repos: build_depends.repos
 
       - name: Upload coverage to CodeCov
-        if: ${{ steps.check-file-existence.outputs.exists == 'true' }}
+        if: ${{ steps.test.outputs.coverage-report-files != '' }}
         uses: codecov/codecov-action@v2
         with:
-          files: lcov/total_coverage.info,coveragepy/.coverage
+          files: ${{ steps.test.outputs.coverage-report-files }}
           fail_ci_if_error: false
           verbose: true

.github/workflows/check-build-depends.yaml

@@ -28,8 +28,15 @@ jobs:
         id: get-self-packages
         uses: autowarefoundation/autoware-github-actions/get-self-packages@tier4/proposal
 
-      - name: Build and test
-        uses: autowarefoundation/autoware-github-actions/colcon-build-and-test@tier4/proposal
+      - name: Build
+        uses: autowarefoundation/autoware-github-actions/colcon-build@tier4/proposal
+        with:
+          rosdistro: galactic
+          target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
+          build-depends-repos: build_depends.repos
+
+      - name: Test
+        uses: autowarefoundation/autoware-github-actions/colcon-test@tier4/proposal
         with:
           rosdistro: galactic
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}

.github/workflows/clang-tidy-pr-comments.yaml

@@ -0,0 +1,52 @@
+name: clang-tidy-pr-comments
+
+on:
+  workflow_run:
+    workflows:
+      - build-and-test-differential
+    types:
+      - completed
+
+jobs:
+  clang-tidy-pr-comments:
+    if: ${{ github.event.workflow_run.event == 'pull_request' && github.event.workflow_run.conclusion == 'success' }}
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v2
+
+      - name: Download analysis results
+        run: |
+          gh run download ${{ github.event.workflow_run.id }} -D /tmp
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Set variables
+        id: set-variables
+        run: |
+          echo ::set-output name=pr-id::"$(cat /tmp/clang-tidy-result/pr-id.txt)"
+          echo ::set-output name=pr-head-repo::"$(cat /tmp/clang-tidy-result/pr-head-repo.txt)"
+          echo ::set-output name=pr-head-ref::"$(cat /tmp/clang-tidy-result/pr-head-ref.txt)"
+
+      - name: Check out PR head
+        uses: actions/checkout@v2
+        with:
+          repository: ${{ steps.set-variables.outputs.pr-head-repo }}
+          ref: ${{ steps.set-variables.outputs.pr-head-ref }}
+          persist-credentials: false
+
+      - name: Replace paths in fixes.yaml
+        run: |
+          sed -i -e "s|/__w/|/home/runner/work/|g" /tmp/clang-tidy-result/fixes.yaml
+          cat /tmp/clang-tidy-result/fixes.yaml
+
+      - name: Copy fixes.yaml to access from Docker Container Action
+        run: |
+          cp /tmp/clang-tidy-result/fixes.yaml fixes.yaml
+
+      - name: Run clang-tidy-pr-comments action
+        uses: platisd/clang-tidy-pr-comments@1.1.6
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          clang_tidy_fixes: fixes.yaml
+          pull_request_id: ${{ steps.set-variables.outputs.pr-id }}

.github/workflows/spell-check-differential.yaml

@@ -13,4 +13,4 @@ jobs:
       - name: Run spell-check
         uses: autowarefoundation/autoware-github-actions/spell-check@tier4/proposal
         with:
-          cspell-json-url: https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/cspell/.cspell.json
+          cspell-json-url: https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/.cspell.json

common/osqp_interface/include/osqp_interface/osqp_interface.hpp

@@ -57,7 +57,7 @@ class OSQP_INTERFACE_PUBLIC OSQPInterface
   int64_t m_exitflag;
 
   // Runs the solver on the stored problem.
-  std::tuple<std::vector<float64_t>, std::vector<float64_t>, int64_t, int64_t> solve();
+  std::tuple<std::vector<float64_t>, std::vector<float64_t>, int64_t, int64_t, int64_t> solve();
 
   static void OSQPWorkspaceDeleter(OSQPWorkspace * ptr) noexcept;
 
@@ -75,6 +75,9 @@ class OSQP_INTERFACE_PUBLIC OSQPInterface
   OSQPInterface(
     const Eigen::MatrixXd & P, const Eigen::MatrixXd & A, const std::vector<float64_t> & q,
     const std::vector<float64_t> & l, const std::vector<float64_t> & u, const c_float eps_abs);
+  OSQPInterface(
+    const CSC_Matrix & P, const CSC_Matrix & A, const std::vector<float64_t> & q,
+    const std::vector<float64_t> & l, const std::vector<float64_t> & u, const c_float eps_abs);
 
   /****************
    * OPTIMIZATION
@@ -97,7 +100,7 @@ class OSQP_INTERFACE_PUBLIC OSQPInterface
   /// \details        std::vector<float> param = std::get<0>(result);
   /// \details        float64_t x_0 = param[0];
   /// \details        float64_t x_1 = param[1];
-  std::tuple<std::vector<float64_t>, std::vector<float64_t>, int64_t, int64_t> optimize();
+  std::tuple<std::vector<float64_t>, std::vector<float64_t>, int64_t, int64_t, int64_t> optimize();
 
   /// \brief Solves convex quadratic programs (QPs) using the OSQP solver.
   /// \return The function returns a tuple containing the solution as two float vectors.
@@ -115,7 +118,7 @@ class OSQP_INTERFACE_PUBLIC OSQPInterface
   /// \details        std::vector<float> param = std::get<0>(result);
   /// \details        float64_t x_0 = param[0];
   /// \details        float64_t x_1 = param[1];
-  std::tuple<std::vector<float64_t>, std::vector<float64_t>, int64_t, int64_t> optimize(
+  std::tuple<std::vector<float64_t>, std::vector<float64_t>, int64_t, int64_t, int64_t> optimize(
     const Eigen::MatrixXd & P, const Eigen::MatrixXd & A, const std::vector<float64_t> & q,
     const std::vector<float64_t> & l, const std::vector<float64_t> & u);
 
@@ -128,6 +131,9 @@ class OSQP_INTERFACE_PUBLIC OSQPInterface
   int64_t initializeProblem(
     const Eigen::MatrixXd & P, const Eigen::MatrixXd & A, const std::vector<float64_t> & q,
     const std::vector<float64_t> & l, const std::vector<float64_t> & u);
+  int64_t initializeProblem(
+    CSC_Matrix P, CSC_Matrix A, const std::vector<float64_t> & q,
+    const std::vector<float64_t> & l, const std::vector<float64_t> & u);
 
   // Updates problem parameters while keeping solution in memory.
   //
@@ -138,7 +144,9 @@ class OSQP_INTERFACE_PUBLIC OSQPInterface
   //   l_new: (m) vector defining the lower bound problem constraint.
   //   u_new: (m) vector defining the upper bound problem constraint.
   void updateP(const Eigen::MatrixXd & P_new);
+  void updateCscP(const CSC_Matrix & P_csc);
   void updateA(const Eigen::MatrixXd & A_new);
+  void updateCscA(const CSC_Matrix & A_csc);
   void updateQ(const std::vector<double> & q_new);
   void updateL(const std::vector<double> & l_new);
   void updateU(const std::vector<double> & u_new);