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ci.yaml
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name: Lanelet2 CI
on:
push:
branches:
- "**"
tags:
- "**"
# Run tests for any PRs.
pull_request:
workflow_dispatch:
jobs:
formatting:
runs-on: ubuntu-latest
steps:
- name: Setup docker buildx
id: buildx
uses: docker/setup-buildx-action@v2
- name: Setup docker cache
uses: actions/cache@v3
with:
path: /tmp/.docker-cache
key: ${{runner.os}}-docker-humble
- name: Build dependencies
uses: docker/build-push-action@v3
with:
builder: ${{ steps.buildx.outputs.name }}
tags: lanelet2_src
cache-from: type=local,src=/tmp/.docker-cache
cache-to: type=local,dest=/tmp/.docker-cache
load: true
build-args: |
DEV=1
DISTRIBUTION=22.04
ROS_DISTRO=humble
ROS=ros2
target: lanelet2_src
- name: Run clang formatting check
run: |
set -ex
docker run -i --rm lanelet2_src find . -name "*.cpp" -o -name "*.h" -execdir clang-format-11 -n -Werror --style=file {} +
lint:
needs: formatting
runs-on: ubuntu-latest
steps:
- name: Setup docker buildx
id: buildx
uses: docker/setup-buildx-action@v2
- name: Setup docker cache
uses: actions/cache@v3
with:
path: /tmp/.docker-cache
key: ${{runner.os}}-docker-humble
- name: Build dependencies
uses: docker/build-push-action@v3
with:
builder: ${{ steps.buildx.outputs.name }}
tags: lanelet2_src
cache-from: type=local,src=/tmp/.docker-cache
cache-to: type=local,dest=/tmp/.docker-cache
load: true
build-args: |
DEV=1
DISTRIBUTION=22.04
ROS_DISTRO=humble
ROS=ros2
target: lanelet2_src
- name: Run clang-tidy
run: docker run -i --rm lanelet2_src /home/developer/workspace/src/lanelet2/.github/lint.bash
test:
needs: formatting
runs-on: ubuntu-latest
strategy:
fail-fast: true
matrix:
rosdistro: [noetic, galactic, humble]
include:
- rosdistro: noetic
os: 20.04
ros: ros
- rosdistro: galactic
os: 20.04
ros: ros2
- rosdistro: humble
os: 22.04
ros: ros2
steps:
- name: Setup docker buildx
id: buildx
uses: docker/setup-buildx-action@v2
- name: Setup docker cache
uses: actions/cache@v3
with:
path: /tmp/.docker-cache
key: ${{runner.os}}-docker-${{ matrix.rosdistro }}
- name: Build dependencies
uses: docker/build-push-action@v3
with:
builder: ${{ steps.buildx.outputs.name }}
tags: lanelet2_base:${{ matrix.rosdistro }}
cache-from: type=local,src=/tmp/.docker-cache
cache-to: type=local,dest=/tmp/.docker-cache
build-args: |
DEV=1
DISTRIBUTION=${{ matrix.os }}
ROS_DISTRO=${{ matrix.rosdistro }}
ROS=${{ matrix.ros }}
target: lanelet2_deps
- name: Build Lanelet2
uses: docker/build-push-action@v3
if: ${{ matrix.rosdistro == 'noetic' }}
with:
builder: ${{ steps.buildx.outputs.name }}
tags: lanelet2:${{ matrix.rosdistro }}
cache-from: type=local,src=/tmp/.docker-cache
load: true
build-args: |
DEV=1
DISTRIBUTION=${{ matrix.os }}
ROS_DISTRO=${{ matrix.rosdistro }}
ROS=${{ matrix.ros }}
target: lanelet2
- name: Build Lanelet2 (skip lcov)
uses: docker/build-push-action@v3
if: ${{ matrix.rosdistro == 'humble' || matrix.rosdistro == 'galactic' }}
with:
builder: ${{ steps.buildx.outputs.name }}
tags: lanelet2:${{ matrix.rosdistro }}
cache-from: type=local,src=/tmp/.docker-cache
load: true
build-args: |
DEV=0
DISTRIBUTION=${{ matrix.os }}
ROS_DISTRO=${{ matrix.rosdistro }}
ROS=${{ matrix.ros }}
target: lanelet2
- name: Run Lanelet2 Tests
run: |
set -ex;
if [ "${{matrix.ros}}" = "ros" ]; then
export TEST_CMD="catkin build --no-status --catkin-make-args run_tests && source /opt/ros/${{matrix.rosdistro}}/setup.bash && catkin_test_results --verbose";
else
export TEST_CMD="colcon test --return-code-on-test-failure";
fi;
docker run -i --name lanelet2_test_${{ matrix.rosdistro }} lanelet2:${{ matrix.rosdistro }} /bin/bash -c "$TEST_CMD";
- name: Extract and Merge lcov Files
if: ${{ matrix.rosdistro == 'noetic' }}
run: |
docker commit lanelet2_test_${{ matrix.rosdistro }} lanelet2_${{ matrix.rosdistro }}_post_run;
docker run -i --name lanelet2_test_${{ matrix.rosdistro }}_lcov lanelet2_${{ matrix.rosdistro }}_post_run /home/developer/workspace/src/lanelet2/.github/lcov_merge.bash;
mkdir -p ./lcov;
docker cp lanelet2_test_${{ matrix.rosdistro }}_lcov:$(docker inspect --format='{{.Config.WorkingDir}}' lanelet2_test_${{ matrix.rosdistro }}_lcov)/lcov/full_coverage.lcov ./lcov/full_coverage.lcov;
- name: Cleanup Docker Container
run: |
docker rm -f lanelet2_test_${{ matrix.rosdistro }};
docker rm -f lanelet2_test_${{ matrix.rosdistro }}_lcov;
- name: Report code coverage
uses: immel-f/[email protected]
if: ${{ matrix.rosdistro == 'noetic' }}
with:
coverage-files: ./lcov/full_coverage.lcov
artifact-name: code-coverage-report
github-token: ${{ secrets.GITHUB_TOKEN }}
full_conan_installation:
needs: lint
strategy:
matrix:
# to reach 2_27, we need a gcc7.
# to build python>3.10, we need boost>1.75.
# to build boost>1.81 we need a gcc>10.
python-version: ["3.8", "3.9", "3.10", "3.11"]
include:
- python-version: "3.8"
boost-version: "1.75.0"
platform-version: manylinux_2_27_x86_64
image-version: conanio/gcc7:latest
- python-version: "3.9"
boost-version: "1.75.0"
platform-version: manylinux_2_27_x86_64
image-version: conanio/gcc7:latest
- python-version: "3.10"
boost-version: "1.81.0"
platform-version: manylinux_2_31_x86_64
image-version: conanio/gcc10:latest
- python-version: "3.11"
boost-version: "1.81.0"
platform-version: manylinux_2_31_x86_64
image-version: conanio/gcc10:latest
runs-on: ubuntu-latest
steps:
- name: Setup docker buildx
id: buildx
uses: docker/setup-buildx-action@v2
- name: Build dependencies
uses: docker/build-push-action@v3
with:
builder: ${{ steps.buildx.outputs.name }}
file: .github/conan_dockerfile/Dockerfile
tags: lanelet2_conan_with_pip_wheel
load: true
target: lanelet2_conan_with_pip_wheel
build-args: |
FROM=${{ matrix.image-version }}
PY_VERSION=${{ matrix.python-version }}
PLATFORM=${{ matrix.platform-version }}
CONAN_ARGS=--require-override=boost/${{ matrix.boost-version }}