Merge remote-tracking branch 'origin/RJD-1057-remove-functions-forwar…

…ded-to-entity-base-refactor' into ref/RJD-1057-improve-responsibility-simulator-core-api
tier4 · Oct 14, 2024 · 6fe1268 · 6fe1268
2 parents 98c1866 + 508e3f0
commit 6fe1268
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diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml
@@ -18,6 +18,9 @@ on:
   push:
     branches:
       - master
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 jobs:
   job1:
     name: BuildAndRun
@@ -31,6 +34,7 @@ jobs:
       matrix:
         rosdistro: [humble]
         runs_on: [ubuntu-22.04] # macos-14 is added for arm support. See also https://x.com/github/status/1752458943245189120?s=20
+        cmake_build_type: [RelWithDebInfo, Release] # Debug build type is currently unavailable. @TODO Fix problem and add Debug build.
     steps:
       - name: Suppress warnings
         run: git config --global --add safe.directory '*'
@@ -61,27 +65,45 @@ jobs:
         run: |
           vcs import src < src/scenario_simulator_v2/dependency_${{ matrix.rosdistro }}.repos
 
-      - name: Resolve rosdep
+      - name: Resolve rosdep and install colcon mixin
         run: |
           apt-get update
-          apt-get install -y python3-pip
+          apt-get install -y python3-pip python3-colcon-lcov-result lcov unzip
           rosdep update --include-eol-distros
           rosdep install -iy --from-paths src --rosdistro ${{ matrix.rosdistro }}
+          colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+          colcon mixin update default
         shell: bash
 
-      - name: Build packages
+      - name: Install sonar-scanner and build-wrapper
+        uses: sonarsource/sonarcloud-github-c-cpp@v3
+        env:
+          SONAR_HOST_URL: ${{ secrets.SONAR_HOST_URL }} 
+
+      - name: Build with SonarCloud Build Wrapper
         run: |
           source /opt/ros/${{ matrix.rosdistro }}/setup.bash
-          colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_CPP_MOCK_SCENARIOS=ON --packages-up-to ${{ steps.list_packages.outputs.package_list }}
+          build-wrapper-linux-x86-64 --out-dir src/scenario_simulator_v2/bw-output \
+          colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=${{ matrix.cmake_build_type }} -DBUILD_CPP_MOCK_SCENARIOS=ON -DBUILD_TESTING=true -DCMAKE_CXX_FLAGS='-fprofile-arcs -ftest-coverage' -DCMAKE_C_FLAGS='-fprofile-arcs -ftest-coverage' --packages-up-to ${{ steps.list_packages.outputs.package_list }}
         shell: bash
 
       - name: Colcon test
         run: |
           source /opt/ros/${{ matrix.rosdistro }}/setup.bash
           source install/local_setup.bash
-          colcon test --packages-select ${{ steps.list_packages.outputs.package_list }}
+          colcon test --event-handlers console_cohesion+ --packages-select ${{ steps.list_packages.outputs.package_list }}
+          colcon lcov-result --packages-select ${{ steps.list_packages.outputs.package_list }}
         shell: bash
 
+      - name: Collect and run gcov on coverage data
+        run: |
+          mkdir -p ./gcov && \
+          find ./build -name "*.gcda" -o -name "*.gcno" | \
+          while read -r line; do \
+            gcov -o $(dirname "$line") $(echo "$line" | sed 's/\.gcda$/.cpp/;s/\.gcno$/.cpp/;s/\.gcda$/.hpp/;s/\.gcno$/.hpp/'); \
+          done && mv *.gcov ./gcov/
+    
+
       - name: Show test result
         if: always()
         run: |
@@ -97,6 +119,21 @@ jobs:
           ./src/scenario_simulator_v2/.github/workflows/workflow.sh ./src/scenario_simulator_v2/test_runner/scenario_test_runner/config/workflow.txt global_frame_rate:=20
         shell: bash
 
+      - name: Upload Lcov result
+        uses: actions/upload-artifact@v4
+        with:
+          name: lcov-${{ matrix.cmake_build_type }}
+          path: lcov
+          retention-days: 1
+
+      - name: Run SonarCloud scan
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          SONAR_TOKEN: ${{ secrets.SONAR_TOKEN }}
+          SONAR_HOST_URL: https://sonarcloud.io/
+        working-directory: src/scenario_simulator_v2/
+        run: sonar-scanner --define sonar.cfamily.compile-commands="bw-output/compile_commands.json"
+
 #      - name: Basic test
 #        run: |
 #          source install/setup.bash

diff --git a/.github/workflows/Docker.yaml b/.github/workflows/Docker.yaml
@@ -0,0 +1,81 @@
+name: Docker
+on:
+  pull_request:
+    paths:
+      - "**"
+      - "!docs/**"
+      - "!README.md"
+      - "!CONTRIBUTING.md"
+      - "!.github/**"
+      - ".github/workflows/Docker.yaml"
+      - "!mkdocs.yml"
+      - "!pyproject.toml"
+      - "!poetry.lock"
+  workflow_dispatch:
+    inputs:
+      version:
+        description: version of the scenario_simulator_v2
+        required: true
+
+jobs:
+  push_docker:
+    name: Push Docker Image
+    runs-on: ubuntu-22.04
+    timeout-minutes: 720
+    strategy:
+      matrix:
+        rosdistro: [humble]
+        arch: [amd64]
+        # Build test for arm64 CPU is broken.
+        # This is a temporary solution and will be repaired in the future.
+        # See also https://github.com/tier4/scenario_simulator_v2/pull/1295
+        # arch: [amd64, arm64]
+    steps:
+      - name: Free Disk Space (Ubuntu)
+        uses: jlumbroso/free-disk-space@main
+        with:
+          tool-cache: false
+
+      - name: Install docker for ubuntu runner
+        uses: docker/setup-buildx-action@v3
+
+      - name: Install QEMU
+        uses: docker/setup-qemu-action@v3
+
+      - uses: actions/checkout@v4
+
+      - name: Login to GitHub Container Registry
+        uses: docker/login-action@v2
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Build (${{ matrix.arch }})
+        if: github.event_name == 'pull_request'
+        uses: docker/bake-action@v3
+        with:
+          files: |
+            ./docker-bake.hcl
+          workdir: .
+          set: |
+            *.cache-to=type=gha,mode=max
+            *.cache-from=type=gha
+          push: false
+          targets: |
+            ${{ matrix.rosdistro }}_base_${{ matrix.arch }}
+
+      - name: Build and push (${{ matrix.arch }})
+        if: github.event_name == 'workflow_dispatch'
+        uses: docker/bake-action@v3
+        with:
+          files: |
+            ./docker-bake.hcl
+          workdir: .
+          set: |
+            *.cache-to=type=gha,mode=max
+            *.cache-from=type=gha
+            *.tags=ghcr.io/tier4/scenario_simulator_v2:humble-${{ github.event.inputs.version }}
+          push: true
+          targets: |
+            ${{ matrix.rosdistro }}_base_${{ matrix.arch }}
diff --git a/.github/workflows/Release.yaml b/.github/workflows/Release.yaml
@@ -36,7 +36,7 @@ jobs:
         uses: levonet/action-restore-branch@master
 
       - name: Install bloom
-        run: apt update && apt install -y python3-bloom git
+        run: apt update && apt install -y python3-bloom git curl
 
       - name: Checkout
         uses: actions/checkout@v4
@@ -50,7 +50,7 @@ jobs:
           git config --global user.name  "Release Bot"
           git config --global user.email "[email protected]"
           git config --global --add safe.directory /__w/scenario_simulator_v2/scenario_simulator_v2
-          git config --global credential.helper ${{ secrets.GITHUB_TOKEN }}
+          git config --global credential.helper ${{ secrets.BLOOM_GITHUB_TOKEN }}
           git config pull.rebase false
 
       - name: Get old version
@@ -142,50 +142,14 @@ jobs:
               repo: context.repo.repo,
               ref: `heads/${context.payload.pull_request.head.ref}`,
             })
-  push_docker:
-    needs: release
-    name: Push Docker Image
-    runs-on: ubuntu-22.04
-    timeout-minutes: 720
-    strategy:
-      matrix:
-        rosdistro: [humble]
-        arch: [amd64]
-        # Build test for arm64 CPU is broken.
-        # This is a temporary solution and will be repaired in the future.
-        # See also https://github.com/tier4/scenario_simulator_v2/pull/1295
-        # arch: [amd64, arm64]
-    steps:
-      - name: Free Disk Space (Ubuntu)
-        uses: jlumbroso/free-disk-space@main
-        with:
-          tool-cache: false
-
-      - name: Install docker for ubuntu runner
-        uses: docker/setup-buildx-action@v3
-
-      - name: Install QEMU
-        uses: docker/setup-qemu-action@v3
-
-      - uses: actions/checkout@v3
 
-      - name: Login to GitHub Container Registry
-        uses: docker/login-action@v2
-        with:
-          registry: ghcr.io
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Build and push (${{ matrix.arch }})
-        uses: docker/bake-action@v3
-        with:
-          files: |
-            ./docker-bake.hcl
-          workdir: .
-          set: |
-            *.cache-to=type=gha,mode=max
-            *.cache-from=type=gha
-            *.tags=ghcr.io/tier4/scenario_simulator_v2:humble-${{ needs.release.outputs.new_version }}
-          push: ${{ github.event.pull_request.merged == true }}
-          targets: |
-            ${{ matrix.rosdistro }}_base_${{ matrix.arch }}
+      - name: Kick docker build action
+        if: github.event.pull_request.merged == true
+        run: |
+          curl -L \
+            -X POST \
+            -H "Accept: application/vnd.github+json" \
+            -H "Authorization: token ${{ secrets.BLOOM_GITHUB_TOKEN }}" \
+            -H "X-GitHub-Api-Version: 2022-11-28" \
+            https://api.github.com/repos/tier4/scenario_simulator_v2/actions/workflows/Docker.yaml/dispatches \
+            -d '{"ref":"master","inputs":{"version":"${{ steps.new_version.outputs.new_version }}"}}'
diff --git a/.github/workflows/custom_spell.json b/.github/workflows/custom_spell.json
@@ -5,7 +5,9 @@
     "AUTORCC",
     "Canonicalized",
     "canonicalizing",
+    "cfamily",
     "classname",
+    "Cmyk",
     "Dawid",
     "DBOOST",
     "DBUILD",
@@ -14,11 +16,10 @@
     "DWITH_INTEGRATION_TEST",
     "engageable",
     "euclidian",
-    "hakuturu",
-    "Kataoka",
+    "gcda",
+    "gcno",
     "libunwind",
     "linelint",
-    "Masaya",
     "Mersenne",
     "Monic",
     "Moszynski",
@@ -40,8 +41,8 @@
     "TESTRANDOMIZER",
     "travelling",
     "Tschirnhaus",
+    "walltime",
     "xerces",
-    "xercesc",
-    "yamacir-kit"
+    "xercesc"
   ]
 }
diff --git a/Dockerfile b/Dockerfile
@@ -4,15 +4,11 @@ SHELL ["/bin/bash", "-c"]
 ENV DEBIAN_FRONTEND=noninteractive
 ENV DEBCONF_NOWARNINGS=yes
 
-RUN --mount=type=cache,id=apt-cache-amd64,target=/var/cache/apt,sharing=locked \
-    --mount=type=cache,id=apt-lib-amd64,target=/var/lib/apt,sharing=locked \
-    apt-get update && apt-get -y install python3-pip python3-rospkg python3-rosdep software-properties-common ccache
 # cspell: ignore kisak
 RUN --mount=type=cache,id=apt-cache-amd64,target=/var/cache/apt,sharing=locked \
     --mount=type=cache,id=apt-lib-amd64,target=/var/lib/apt,sharing=locked \
-    add-apt-repository ppa:kisak/kisak-mesa -y
-RUN --mount=type=cache,id=apt-cache-amd64,target=/var/cache/apt,sharing=locked \
-    --mount=type=cache,id=apt-lib-amd64,target=/var/lib/apt,sharing=locked \
+    apt-get update && apt-get -y install python3-pip python3-rospkg python3-rosdep software-properties-common ccache && \
+    add-apt-repository ppa:kisak/kisak-mesa -y && \
     apt-get update && apt-get install libegl-mesa0 -y
 
 RUN rm -f /etc/apt/apt.conf.d/docker-clean && \