Update CI config and add pre-commit-config.

huemerj · Jul 12, 2021 · 02b70e3 · 02b70e3
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commit 02b70e3
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diff --git a/.github/workflows/build-coverage.yml b/.github/workflows/build-coverage.yml
@@ -0,0 +1,42 @@
+name: Build Source
+on:
+  push:
+    branches:
+      - ros2-master
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '28 3 * * *'
+
+jobs:
+  source:
+    name: source build
+    runs-on: ubuntu-20.04
+    strategy:
+      fail-fast: false
+    steps:
+      - uses: ros-tooling/[email protected]
+      - uses: ros-tooling/[email protected]
+        with:
+          target-ros2-distro: rolling
+          # build all packages listed in the meta package
+          package-name:
+            control_toolbox
+          vcs-repo-file-url: |
+            https://raw.githubusercontent.com/ros-controls/control_toolbox/ros2-master/control_toolbox.rosinstall
+          colcon-defaults: |
+            {
+              "build": {
+                "mixin": ["coverage-gcc"]
+              }
+            }
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+      - uses: codecov/[email protected]
+        with:
+          file: ros_ws/lcov/total_coverage.info
+          flags: unittests
+          name: codecov-umbrella
+      - uses: actions/upload-artifact@v1
+        with:
+          name: colcon-logs-${{ matrix.os }}
+          path: ros_ws/log
+
diff --git a/.github/workflows/build-foxy.yml b/.github/workflows/build-foxy.yml
@@ -0,0 +1,56 @@
+# 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: Build
+on:
+  pull_request:
+  push:
+    branches:
+      - ros2-master
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '28 6 * * *'
+
+jobs:
+  binary:
+    name: binary build
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: foxy, ROS_REPO: main}
+          - {ROS_DISTRO: foxy, ROS_REPO: testing}
+    env:
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+      BASEDIR: ${{ github.workspace }}/.work
+      CACHE_PREFIX: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+      DOWNSTREAM_WORKSPACE: https://raw.githubusercontent.com/ros-controls/ros2_control/master/ros2_control/ros2_control.repos
+    steps:
+      - uses: actions/checkout@v1
+      # 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_ws
+        if: ${{ ! matrix.env.CCOV }}
+        uses: pat-s/[email protected]
+        with:
+          path: ${{ env.BASEDIR }}/target_ws
+          key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
+          restore-keys: |
+            target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
+      - name: cache ccache
+        uses: pat-s/[email protected]
+        with:
+          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 }}
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{matrix.env}}
+      - 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
diff --git a/.github/workflows/build-galactic.yml b/.github/workflows/build-galactic.yml
@@ -0,0 +1,57 @@
+# 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: Build galactic
+on:
+  pull_request:
+  push:
+    branches:
+      - ros2-master
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '28 6 * * *'
+
+jobs:
+  binary:
+    name: binary build
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: galactic, ROS_REPO: main}
+          - {ROS_DISTRO: galactic, ROS_REPO: testing}
+    env:
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+      BASEDIR: ${{ github.workspace }}/.work
+      CACHE_PREFIX: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+      DOWNSTREAM_WORKSPACE: https://raw.githubusercontent.com/ros-controls/ros2_control/master/ros2_control/ros2_control.repos
+    steps:
+      - uses: actions/checkout@v1
+      # 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_ws
+        if: ${{ ! matrix.env.CCOV }}
+        uses: pat-s/[email protected]
+        with:
+          path: ${{ env.BASEDIR }}/target_ws
+          key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
+          restore-keys: |
+            target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
+      - name: cache ccache
+        uses: pat-s/[email protected]
+        with:
+          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 }}
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{matrix.env}}
+      - 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
+
diff --git a/.github/workflows/build-rolling.yml b/.github/workflows/build-rolling.yml
@@ -0,0 +1,57 @@
+# 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: Build rolling
+on:
+  pull_request:
+  push:
+    branches:
+      - ros2-master
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '28 6 * * *'
+
+jobs:
+  binary:
+    name: binary build
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: rolling, ROS_REPO: main}
+          - {ROS_DISTRO: rolling, ROS_REPO: testing}
+    env:
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+      BASEDIR: ${{ github.workspace }}/.work
+      CACHE_PREFIX: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+      DOWNSTREAM_WORKSPACE: https://raw.githubusercontent.com/ros-controls/ros2_control/master/ros2_control/ros2_control.repos
+    steps:
+      - uses: actions/checkout@v1
+      # 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_ws
+        if: ${{ ! matrix.env.CCOV }}
+        uses: pat-s/[email protected]
+        with:
+          path: ${{ env.BASEDIR }}/target_ws
+          key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
+          restore-keys: |
+            target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
+      - name: cache ccache
+        uses: pat-s/[email protected]
+        with:
+          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 }}
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{matrix.env}}
+      - 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
+
diff --git a/.github/workflows/test.yml → .github/workflows/build-source-foxy.yml b/.github/workflows/test.yml → .github/workflows/build-source-foxy.yml
@@ -1,21 +1,21 @@
-name: Test control_toolbox
+name: Build Source foxy
 on:
-  pull_request:
   push:
     branches:
-      - ros2-master
+      - foxy-devel
   schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '17 8 * * *'
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '28 3 * * *'
 
 jobs:
-  build_and_test:
-    runs-on: ubuntu-18.04
+  source:
+    name: source build
+    runs-on: ubuntu-20.04
     strategy:
       fail-fast: false
     steps:
-      - uses: ros-tooling/setup-ros@v0.1
-      - uses: ros-tooling/action-ros-ci@v0.1
+      - uses: ros-tooling/setup-ros@0.0.26
+      - uses: ros-tooling/action-ros-ci@0.2
         with:
           vcs-repo-file-url: |
             https://raw.githubusercontent.com/ros-controls/control_toolbox/ros2-master/control_toolbox.rosinstall
@@ -24,14 +24,6 @@ jobs:
           colcon-mixin-name: coverage-gcc
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
           target-ros2-distro: foxy
-      - uses: codecov/codecov-action@v1
-        with:
-          token: ${{ secrets.CODECOV_TOKEN }}
-          file: ros_ws/lcov/total_coverage.info
-          flags: unittests
-          name: codecov-umbrella
-          yml: ./codecov.yml
-          fail_ci_if_error: true
       - uses: actions/upload-artifact@v1
         with:
           name: colcon-logs-${{ matrix.os }}

diff --git a/.github/workflows/build-source-galactic.yml b/.github/workflows/build-source-galactic.yml
@@ -0,0 +1,31 @@
+name: Build Source galactic
+on:
+  push:
+    branches:
+      - ros2-master
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '28 3 * * *'
+
+jobs:
+  source:
+    name: source build
+    runs-on: ubuntu-20.04
+    strategy:
+      fail-fast: false
+    steps:
+      - uses: ros-tooling/[email protected]
+      - uses: ros-tooling/[email protected]
+        with:
+          vcs-repo-file-url: |
+            https://raw.githubusercontent.com/ros-controls/control_toolbox/ros2-master/control_toolbox.rosinstall
+            https://raw.githubusercontent.com/ros2/ros2/master/ros2.repos
+          package-name: control_toolbox
+          colcon-mixin-name: coverage-gcc
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+          target-ros2-distro: galactic
+      - uses: actions/upload-artifact@v1
+        with:
+          name: colcon-logs-${{ matrix.os }}
+          path: ros_ws/log
+
diff --git a/.github/workflows/build-source-rollling.yml b/.github/workflows/build-source-rollling.yml
@@ -0,0 +1,30 @@
+name: Build Source rolling
+on:
+  push:
+    branches:
+      - ros2-master
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '28 3 * * *'
+
+jobs:
+  source:
+    name: source build
+    runs-on: ubuntu-20.04
+    strategy:
+      fail-fast: false
+    steps:
+      - uses: ros-tooling/[email protected]
+      - uses: ros-tooling/[email protected]
+        with:
+          vcs-repo-file-url: |
+            https://raw.githubusercontent.com/ros-controls/control_toolbox/ros2-master/control_toolbox.rosinstall
+            https://raw.githubusercontent.com/ros2/ros2/master/ros2.repos
+          package-name: control_toolbox
+          colcon-mixin-name: coverage-gcc
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+          target-ros2-distro: rolling
+      - uses: actions/upload-artifact@v1
+        with:
+          name: colcon-logs-${{ matrix.os }}
+          path: ros_ws/log
diff --git a/.github/workflows/format.yml b/.github/workflows/format.yml
@@ -0,0 +1,25 @@
+# This is a format job. Pre-commit has a first-party GitHub action, so we use
+# that: https://github.com/pre-commit/action
+
+name: Format
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - ros2-master
+
+jobs:
+  pre-commit:
+    name: Format
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v2
+    - uses: actions/setup-python@v2
+    - name: Install clang-format-10
+      run: sudo apt-get install clang-format-10 cppcheck
+    - uses: pre-commit/[email protected]
+      with:
+        extra_args: --all-files --hook-stage manual
+        token: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml