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feat(autoware_pointcloud_preprocessor): redesign concatenate and time sync node #42141

feat(autoware_pointcloud_preprocessor): redesign concatenate and time sync node

feat(autoware_pointcloud_preprocessor): redesign concatenate and time sync node #42141

name: build-and-test-differential
on:
pull_request:
types:
- opened
- synchronize
- reopened
- labeled
concurrency:
group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.run_id }}
cancel-in-progress: true
env:
CC: /usr/lib/ccache/gcc
CXX: /usr/lib/ccache/g++
jobs:
make-sure-label-is-present:
uses: autowarefoundation/autoware-github-actions/.github/workflows/make-sure-label-is-present.yaml@v1
with:
label: tag:run-build-and-test-differential
make-sure-require-cuda-label-is-present:
uses: autowarefoundation/autoware-github-actions/.github/workflows/make-sure-label-is-present.yaml@v1
with:
label: tag:require-cuda-build-and-test
prepare-build-and-test-differential:
runs-on: ubuntu-latest
needs: [make-sure-label-is-present, make-sure-require-cuda-label-is-present]
outputs:
cuda_build: ${{ steps.check-if-cuda-build-is-required.outputs.cuda_build }}
steps:
- name: Check if cuda-build is required
id: check-if-cuda-build-is-required
run: |
if ${{ needs.make-sure-require-cuda-label-is-present.outputs.result == 'true' }}; then
echo "cuda-build is required"
echo "cuda_build=true" >> $GITHUB_OUTPUT
else
echo "cuda-build is not required"
echo "cuda_build=false" >> $GITHUB_OUTPUT
fi
shell: bash
- name: Fail if the tag:run-build-and-test-differential is missing
if: ${{ needs.make-sure-label-is-present.outputs.result != 'true' }}
run: exit 1
build-and-test-differential:
runs-on: ubuntu-latest
container: ghcr.io/autowarefoundation/autoware:universe-devel
needs: prepare-build-and-test-differential
steps:
- name: Set PR fetch depth
run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
shell: bash
- name: Checkout PR branch and all PR commits
uses: actions/checkout@v4
with:
ref: ${{ github.event.pull_request.head.sha }}
fetch-depth: ${{ env.PR_FETCH_DEPTH }}
- name: Run build-and-test-differential action
uses: ./.github/actions/build-and-test-differential
with:
rosdistro: humble
container: ghcr.io/autowarefoundation/autoware:universe-devel
container-suffix: ""
runner: ubuntu-latest
build-depends-repos: build_depends.repos
build-pre-command: ""
codecov-token: ${{ secrets.CODECOV_TOKEN }}
build-and-test-differential-cuda:
runs-on: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large
container: ghcr.io/autowarefoundation/autoware:universe-devel-cuda
needs: prepare-build-and-test-differential
if: ${{ needs.prepare-build-and-test-differential.outputs.cuda_build == 'true' }}
steps:
- name: Set PR fetch depth
run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
shell: bash
- name: Checkout PR branch and all PR commits
uses: actions/checkout@v4
with:
ref: ${{ github.event.pull_request.head.sha }}
fetch-depth: ${{ env.PR_FETCH_DEPTH }}
- name: Run build-and-test-differential action
uses: ./.github/actions/build-and-test-differential
with:
rosdistro: humble
container: ghcr.io/autowarefoundation/autoware:universe-devel
container-suffix: -cuda
runner: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large
build-depends-repos: build_depends.repos
build-pre-command: taskset --cpu-list 0-5
codecov-token: ${{ secrets.CODECOV_TOKEN }}
clang-tidy-differential:
needs: [build-and-test-differential, prepare-build-and-test-differential]
if: ${{ needs.prepare-build-and-test-differential.outputs.cuda_build == 'false' }}
runs-on: ubuntu-latest
container: ghcr.io/autowarefoundation/autoware:universe-devel
steps:
- name: Set PR fetch depth
run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
- name: Checkout PR branch and all PR commits
uses: actions/checkout@v4
with:
ref: ${{ github.event.pull_request.head.sha }}
fetch-depth: ${{ env.PR_FETCH_DEPTH }}
- name: Show disk space before the tasks
run: df -h
- name: Remove exec_depend
uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
- name: Get modified packages
id: get-modified-packages
uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
- name: Get changed files (existing files only)
id: get-changed-files
run: |
echo "changed-files=$(git diff --name-only "origin/${{ github.base_ref }}"...HEAD | grep -E '\.(cpp|hpp)$' | while read -r file; do [ -e "$file" ] && echo -n "$file "; done)" >> $GITHUB_OUTPUT
shell: bash
- name: Run clang-tidy
if: ${{ steps.get-changed-files.outputs.changed-files != '' }}
uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
with:
rosdistro: humble
target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy-ci
clang-tidy-ignore-path: .clang-tidy-ignore
build-depends-repos: build_depends.repos
cache-key-element: cuda
- name: Show disk space after the tasks
run: df -h
clang-tidy-differential-cuda:
needs: build-and-test-differential-cuda
runs-on: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large
container: ghcr.io/autowarefoundation/autoware:universe-devel-cuda
steps:
- name: Set PR fetch depth
run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
- name: Checkout PR branch and all PR commits
uses: actions/checkout@v4
with:
ref: ${{ github.event.pull_request.head.sha }}
fetch-depth: ${{ env.PR_FETCH_DEPTH }}
- name: Show disk space before the tasks
run: df -h
- name: Remove exec_depend
uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
- name: Get modified packages
id: get-modified-packages
uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
- name: Get changed files (existing files only)
id: get-changed-files
run: |
echo "changed-files=$(git diff --name-only "origin/${{ github.base_ref }}"...HEAD | grep -E '\.(cpp|hpp)$' | while read -r file; do [ -e "$file" ] && echo -n "$file "; done)" >> $GITHUB_OUTPUT
shell: bash
- name: Run clang-tidy
if: ${{ steps.get-changed-files.outputs.changed-files != '' }}
uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
with:
rosdistro: humble
target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy-ci
clang-tidy-ignore-path: .clang-tidy-ignore
build-depends-repos: build_depends.repos
cache-key-element: cuda
- name: Show disk space after the tasks
run: df -h