Add missing test dependency #880
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| # 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: | |
| push: | |
| permissions: | |
| contents: read | |
| pages: write | |
| id-token: write | |
| jobs: | |
| ici: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| env: | |
| - IMAGE: noetic-source | |
| NAME: ccov | |
| TARGET_CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Debug -DCMAKE_CXX_FLAGS="--coverage" | |
| - IMAGE: noetic-source | |
| CLANG_TIDY: true | |
| TARGET_CMAKE_ARGS: >- | |
| -DCMAKE_BUILD_TYPE=Release | |
| -DCMAKE_CXX_FLAGS="-Werror -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wold-style-cast" | |
| - IMAGE: noetic-source | |
| NAME: asan | |
| DOCKER_RUN_OPTS: >- | |
| -e PRELOAD=libasan.so.5 | |
| -e LSAN_OPTIONS="suppressions=$PWD/.github/workflows/lsan.suppressions" | |
| TARGET_CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-fsanitize=address -fno-omit-frame-pointer -O1 -g" | |
| env: | |
| CATKIN_LINT: true | |
| CLANG_TIDY_ARGS: -quiet -export-fixes ${{ github.workspace }}/.work/clang-tidy-fixes.yaml | |
| DOCKER_IMAGE: moveit/moveit:${{ matrix.env.IMAGE }} | |
| UNDERLAY: /root/ws_moveit/install | |
| DOWNSTREAM_WORKSPACE: "github:ubi-agni/mtc_demos#master" | |
| CCACHE_DIR: ${{ github.workspace }}/.ccache | |
| BASEDIR: ${{ github.workspace }}/.work | |
| CACHE_PREFIX: "${{ matrix.env.IMAGE }}${{ contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') && '-ccov' || '' }}" | |
| # perform full clang-tidy check only on manual trigger (workflow_dispatch), PRs do check changed files, otherwise nothing | |
| CLANG_TIDY_BASE_REF: ${{ github.event_name != 'workflow_dispatch' && (github.base_ref || github.ref) || '' }} | |
| CC: ${{ matrix.env.CLANG_TIDY && 'clang' }} | |
| CXX: ${{ matrix.env.CLANG_TIDY && 'clang++' }} | |
| name: "${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }}" | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: recursive | |
| - name: Cache ccache | |
| uses: actions/cache@v4 | |
| with: | |
| save-always: true | |
| path: ${{ env.CCACHE_DIR }} | |
| key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }} | |
| restore-keys: | | |
| ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }} | |
| ccache-${{ env.CACHE_PREFIX }} | |
| - id: ici | |
| name: Run industrial_ci | |
| uses: rhaschke/industrial_ci@master | |
| env: ${{ matrix.env }} | |
| - name: Upload ici's target_ws/install folder | |
| uses: rhaschke/upload-ici-workspace@main | |
| if: success() && matrix.env.CLANG_TIDY | |
| with: | |
| subdir: target_ws/install | |
| - name: Upload test artifacts (on failure) | |
| uses: actions/upload-artifact@v4 | |
| if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results) | |
| with: | |
| name: test-results-${{ matrix.env.IMAGE }}${{ matrix.env.NAME && '-' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CLANG_TIDY && '-clang-tidy' || '' }} | |
| path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml | |
| - name: Upload clang-tidy fixes (on failure) | |
| uses: actions/upload-artifact@v4 | |
| if: failure() && steps.ici.outputs.clang_tidy_checks | |
| with: | |
| name: clang-tidy-fixes.yaml | |
| path: ${{ env.BASEDIR }}/clang-tidy-fixes.yaml | |
| - name: Show clang-tidy warnings | |
| if: always() && matrix.env.CLANG_TIDY | |
| uses: asarium/clang-tidy-action@v1 | |
| with: | |
| fixesFile: ${{ env.BASEDIR }}/clang-tidy-fixes.yaml | |
| - name: Generate codecov report | |
| uses: rhaschke/lcov-action@main | |
| if: contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') && 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: contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') && steps.ici.outputs.target_test_results == '0' | |
| with: | |
| files: ${{ env.BASEDIR }}/target_ws/coverage.info | |
| doc: | |
| # https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake | |
| if: github.repository_owner == 'moveit' | |
| runs-on: ubuntu-latest | |
| needs: ici | |
| container: | |
| image: moveit/moveit:noetic-source | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v4 | |
| - name: Setup Pages | |
| uses: actions/configure-pages@v5 | |
| - name: Install dependencies | |
| run: | | |
| apt-get update -q | |
| apt-get install -y doxygen graphviz python3-pip ros-noetic-py-binding-tools | |
| pip install -r core/doc/requirements.txt | |
| - name: Download ICI workspace | |
| uses: rhaschke/download-ici-workspace@main | |
| - name: Build Documentation | |
| shell: bash | |
| run: | | |
| source ici/setup.bash | |
| (cd core/doc; doxygen) | |
| sphinx-build core/doc _site | |
| - name: Validate links | |
| if: false | |
| shell: bash | |
| run: | | |
| source ici/setup.bash | |
| sphinx-build -W -b linkcheck core/doc _site | |
| - name: Upload pages artifact | |
| uses: actions/upload-pages-artifact@v3 | |
| # Deployment job | |
| deploy: | |
| if: github.repository_owner == 'moveit' && github.ref == 'refs/heads/master' | |
| runs-on: ubuntu-latest | |
| needs: doc | |
| environment: | |
| name: github-pages | |
| url: ${{ steps.deployment.outputs.page_url }} | |
| steps: | |
| - name: Deploy to GitHub Pages | |
| id: deployment | |
| uses: actions/deploy-pages@v4 |