Implement fuzzy-matching Trajectory Cache 🔥 (#2838) #7394
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| # This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git). | |
| # For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst) | |
| name: CI | |
| on: | |
| workflow_dispatch: | |
| pull_request: | |
| merge_group: | |
| push: | |
| branches: | |
| - main | |
| jobs: | |
| default: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| env: | |
| - IMAGE: rolling-ci | |
| CCOV: false # Disabled: https://github.com/moveit/moveit2/issues/2866 | |
| ROS_DISTRO: rolling | |
| - IMAGE: rolling-ci | |
| ROS_DISTRO: rolling | |
| IKFAST_TEST: true | |
| CLANG_TIDY: pedantic | |
| - IMAGE: humble-ci | |
| ROS_DISTRO: humble | |
| - IMAGE: humble-ci-testing | |
| ROS_DISTRO: humble | |
| - IMAGE: jazzy-ci | |
| ROS_DISTRO: jazzy | |
| env: | |
| # TODO(andyz): When this clang-tidy issue is fixed, remove -Wno-unknown-warning-option | |
| # https://stackoverflow.com/a/41673702 | |
| CXXFLAGS: >- | |
| -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wno-unknown-warning-option | |
| CLANG_TIDY_ARGS: --fix --fix-errors --format-style=file | |
| DOCKER_IMAGE: moveit/moveit2:${{ matrix.env.IMAGE }} | |
| UPSTREAM_WORKSPACE: > | |
| moveit2.repos | |
| $(f="moveit2_$(sed 's/-.*$//' <<< "${{ matrix.env.IMAGE }}").repos"; test -r $f && echo $f) | |
| # Pull any updates to the upstream workspace (after restoring it from cache) | |
| AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src | |
| AFTER_SETUP_DOWNSTREAM_WORKSPACE: vcs pull $BASEDIR/downstream_ws/src | |
| # Clear the ccache stats before and log the stats after the build | |
| AFTER_SETUP_CCACHE: ccache --zero-stats --max-size=10.0G | |
| BEFORE_BUILD_UPSTREAM_WORKSPACE: ccache -z | |
| AFTER_BUILD_TARGET_WORKSPACE: ccache -s | |
| # Changing linker to lld as ld has a behavior where it takes a long time to finish | |
| # Compile CCOV with Debug. Enable -Werror. | |
| TARGET_CMAKE_ARGS: > | |
| -DCMAKE_EXE_LINKER_FLAGS=-fuse-ld=lld | |
| -DCMAKE_SHARED_LINKER_FLAGS=-fuse-ld=lld | |
| -DCMAKE_MODULE_LINKER_FLAGS=-fuse-ld=lld | |
| -DCMAKE_BUILD_TYPE=${{ matrix.env.CCOV && 'Debug' || 'Release'}} | |
| -DCMAKE_CXX_FLAGS="-Werror $CXXFLAGS${{ matrix.env.CCOV && ' --coverage -O2 -fno-omit-frame-pointer' || ''}}" | |
| UPSTREAM_CMAKE_ARGS: "-DCMAKE_CXX_FLAGS=''" | |
| DOWNSTREAM_CMAKE_ARGS: -DCMAKE_CXX_FLAGS="-Wall -Wextra" | |
| CCACHE_DIR: ${{ github.workspace }}/.ccache | |
| BASEDIR: ${{ github.workspace }}/.work | |
| CLANG_TIDY_BASE_REF: ${{ github.event_name != 'workflow_dispatch' && (github.base_ref || github.ref) || '' }} | |
| BEFORE_CLANG_TIDY_CHECKS: | | |
| # Show list of applied checks | |
| (cd $TARGET_REPO_PATH; clang-tidy --list-checks) | |
| # Disable clang-tidy for ikfast plugins as we cannot fix the generated code | |
| find $BASEDIR/target_ws/build -iwholename "*_ikfast_plugin/compile_commands.json" -exec rm {} \; | |
| find $BASEDIR/target_ws/build -iwholename "*_ikfast_manipulator_plugin/compile_commands.json" -exec rm {} \; | |
| CC: ${{ matrix.env.CLANG_TIDY && 'clang' }} | |
| CXX: ${{ matrix.env.CLANG_TIDY && 'clang++' }} | |
| ADDITIONAL_DEBS: lld | |
| name: ${{ matrix.env.IMAGE }}${{ matrix.env.CCOV && ' + ccov' || ''}}${{ matrix.env.IKFAST_TEST && ' + ikfast' || ''}}${{ matrix.env.CLANG_TIDY && (github.event_name != 'workflow_dispatch' && ' + clang-tidy (delta)' || ' + clang-tidy (all)') || '' }} | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: "Free up disk space" | |
| if: matrix.env.CCOV | |
| run: | | |
| sudo apt-get -qq purge "ghc*" | |
| sudo apt-get clean | |
| # cleanup docker images not used by us | |
| docker system prune -af | |
| # shift ccache folder to /mnt on a separate disk | |
| sudo mkdir /mnt/ccache | |
| mkdir ${{ env.CCACHE_DIR }} | |
| sudo mount --bind ${{ env.CCACHE_DIR }} /mnt/ccache | |
| # free up a lot of stuff from /usr/local | |
| sudo rm -rf /usr/local | |
| df -h | |
| - uses: actions/checkout@v4 | |
| # NOTE: Testspace is temporarily disabled and needs to be installed for the MoveIt org | |
| # See: https://github.com/moveit/moveit2/issues/2852 | |
| # - uses: testspace-com/setup-testspace@v1 | |
| # if: github.repository == 'moveit/moveit2' | |
| # with: | |
| # domain: moveit | |
| - name: Get latest release date for rosdistro | |
| id: rosdistro_release_date | |
| uses: JafarAbdi/latest-rosdistro-release-date-action@main | |
| with: | |
| rosdistro: ${{ matrix.env.ROS_DISTRO }} | |
| - name: Get latest timestamp repos file has been edited | |
| id: repos_edit_timestamp | |
| uses: vatanaksoytezer/latest-file-edit-timestamp-action@main | |
| with: | |
| file: moveit2.repos | |
| - name: Cache upstream workspace | |
| uses: actions/cache@v4 | |
| with: | |
| path: ${{ env.BASEDIR }}/upstream_ws | |
| key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }} | |
| restore-keys: ${{ env.CACHE_PREFIX }} | |
| save-always: true | |
| env: | |
| CACHE_PREFIX: ${{ steps.rosdistro_release_date.outputs.date }}-upstream_ws-${{ steps.repos_edit_timestamp.outputs.timestamp }}-${{ matrix.env.IMAGE }}-${{ hashFiles('moveit2*.repos', '.github/workflows/ci.yaml') }} | |
| # The target directory cache doesn't include the source directory because | |
| # that comes from the checkout. See "prepare target_ws for cache" task below | |
| - name: Cache target workspace | |
| if: "!matrix.env.CCOV" | |
| uses: actions/cache@v4 | |
| with: | |
| path: ${{ env.BASEDIR }}/target_ws | |
| key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }} | |
| restore-keys: ${{ env.CACHE_PREFIX }} | |
| save-always: true | |
| env: | |
| CACHE_PREFIX: target_ws${{ matrix.env.CCOV && '-ccov' || '' }}-${{ matrix.env.IMAGE }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml', '.github/workflows/ci.yaml') }} | |
| - name: Cache ccache | |
| uses: actions/cache@v4 | |
| with: | |
| path: ${{ env.CCACHE_DIR }} | |
| key: ${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }} | |
| restore-keys: | | |
| ${{ env.CACHE_PREFIX }}-${{ github.sha }} | |
| ${{ env.CACHE_PREFIX }} | |
| save-always: true | |
| env: | |
| CACHE_PREFIX: ccache-${{ matrix.env.IMAGE }}${{ matrix.env.CCOV && '-ccov' || '' }} | |
| - name: Configure ccache | |
| run: | | |
| mkdir -p ${{ env.CCACHE_DIR }} | |
| cp .github/ccache.conf ${{ env.CCACHE_DIR }}/ccache.conf | |
| - name: Generate ikfast packages | |
| if: matrix.env.IKFAST_TEST | |
| run: moveit_kinematics/test/test_ikfast_plugins.sh | |
| - id: ici | |
| name: Run industrial_ci | |
| uses: ros-industrial/industrial_ci@master | |
| env: ${{ matrix.env }} | |
| # NOTE: Testspace is temporarily disabled and needs to be installed for the MoveIt org | |
| # See: https://github.com/moveit/moveit2/issues/2852 | |
| # - name: Push result to Testspace | |
| # if: always() && (github.repository == 'moveit/moveit2') | |
| # run: | | |
| # testspace "[ ${{ matrix.env.IMAGE }} ]${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml" | |
| - name: Upload test artifacts (on failure) | |
| uses: actions/upload-artifact@v4 | |
| if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results) | |
| with: | |
| name: test-results-${{ matrix.env.IMAGE }} | |
| path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml | |
| - name: Generate codecov report | |
| uses: rhaschke/lcov-action@main | |
| if: always() && matrix.env.CCOV && steps.ici.outputs.target_test_results == '0' | |
| with: | |
| docker: $DOCKER_IMAGE | |
| workdir: ${{ env.BASEDIR }}/target_ws | |
| ignore: '"*/target_ws/build/*" "*/target_ws/install/*" "*/test/*"' | |
| - name: Upload codecov report | |
| uses: codecov/codecov-action@v4 | |
| if: always() && matrix.env.CCOV && steps.ici.outputs.target_test_results == '0' | |
| with: | |
| files: ${{ env.BASEDIR }}/target_ws/coverage.info | |
| - name: Upload clang-tidy changes | |
| uses: rhaschke/upload-git-patch-action@main | |
| if: always() && matrix.env.CLANG_TIDY | |
| with: | |
| name: clang-tidy | |
| path: ${{ env.BASEDIR }}/target_ws/src/$(basename $(pwd)) | |
| - name: Prepare target_ws for cache | |
| if: always() && !matrix.env.CCOV | |
| run: | | |
| du -sh ${{ env.BASEDIR }}/target_ws | |
| sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete | |
| sudo rm -rf ${{ env.BASEDIR }}/target_ws/src | |
| du -sh ${{ env.BASEDIR }}/target_ws |