ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml at 7e95a0a13a04da2ec0bea40169817cc854dfe7f8 · ros-controls/ros2_control_ci · GitHub

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name: Reusable industrial_ci Workflow with Cache
# Reusable action to simplify dealing with ROS/ROS2 industrial_ci builds with cache
# author: Denis Štogl <denis@stoglrobotics.de>

on:
  workflow_call:
    inputs:
      ref_for_scheduled_build:
        description: 'Reference on which the repo should be checkout for scheduled build. Usually is this name of a branch or a tag.'
        default: ''
        required: false
        type: string

      upstream_workspace:
        description: 'UPSTREAM_WORKSPACE variable for industrial_ci. Usually path to local .repos file.'
        required: false
        type: string
      target_workspace:
        description: 'TARGET_WORKSPACE variable for industrial_ci. If not provided, defaults to the current repo.'
        required: false
        default: ""
        type: string
      downstream_workspace:
        description: 'DOWNSTREAM_WORKSPACE variable for industrial_ci. If set, downstream packages will be built and tested against this repo'
        required: false
        default: ''
        type: string
      not_test_downstream:
        description: 'NOT_TEST_DOWNSTREAM variable for industrial_ci. If true, downstream packages will not be tested'
        default: false
        type: boolean
      not_test_build:
        description: 'NOT_TEST_BUILD variable for industrial_ci. If true, tests in build space will not be run.'
        default: false
        type: boolean
      ros_distro:
        description: 'ROS_DISTRO variable for industrial_ci'
        required: true
        type: string
      ros_repo:
        description: 'ROS_REPO to run for industrial_ci. Possible values: "main", "testing"'
        default: 'main'
        required: false
        type: string
      os_code_name:
        description: 'OS_CODE_NAME variable for industrial_ci'
        default: ''
        required: false
        type: string
      rosdep_skip_keys:
        description: 'ROSDEP_SKIP_KEYS variable for industrial_ci'
        default: ''
        required: false
        type: string
      ccache_dir:
        description: 'Local path to store cache (from "github.workspace"). For standard industrial_ci configuration do not have to be changed'
        default: '.ccache'
        required: false
        type: string
      basedir:
        description: 'Local path to workspace base directory to cache (from "github.workspace"). For standard industrial_ci configuration do not have to be changed'
        default: '.work'
        required: false
        type: string
      additional_debs:
        description: 'Additional debs to install for the build'
        default: ''
        required: false
        type: string
      c_compiler:
        description: 'C-compiler; set to clang to use clang as the C compiler'
        default: ''
        required: false
        type: string
      cxx_compiler:
        description: 'C++-compiler; set to clang++ to use clang as the C compiler'
        default: ''
        required: false
        type: string


jobs:
  reusable_industrial_ci_with_cache:
    name: ${{ inputs.ros_distro }} ${{ inputs.ros_repo }} ${{ inputs.os_code_name }}
    runs-on: ubuntu-latest
    env:
      CCACHE_DIR: ${{ github.workspace }}/${{ inputs.ccache_dir }}
      BASEDIR: ${{ github.workspace }}/${{ inputs.basedir }}
      CACHE_PREFIX: ${{ inputs.ros_distro }}-${{ inputs.upstream_workspace }}-${{ inputs.ros_repo }}-${{ github.job }}
    steps:
      - name: Checkout ${{ inputs.ref }} when build is not scheduled
        if: ${{ github.event_name != 'schedule' }}
        uses: actions/checkout@v4
      - name: Checkout ${{ inputs.ref }} on scheduled build
        if: ${{ github.event_name == 'schedule' }}
        uses: actions/checkout@v4
        with:
          ref: ${{ inputs.ref_for_scheduled_build }}
      - name: cache ccache
        uses: pat-s/always-upload-cache@v3.0.11
        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:
          UPSTREAM_WORKSPACE: ${{ inputs.upstream_workspace }}
          TARGET_WORKSPACE: ${{ inputs.target_workspace }}
          NOT_TEST_BUILD: ${{ inputs.not_test_build }}
          DOWNSTREAM_WORKSPACE: ${{ inputs.downstream_workspace }}
          NOT_TEST_DOWNSTREAM: ${{ inputs.not_test_downstream }}
          DOCKER_IMAGE: ghcr.io/sloretz/ros:${{ inputs.ros_distro }}-ros-base
          ROS_REPO: ${{ inputs.ros_repo }}
          OS_CODE_NAME: ${{ inputs.os_code_name }}
          ROSDEP_SKIP_KEYS: ${{ inputs.rosdep_skip_keys }}
          ADDITIONAL_DEBS: ${{ inputs.additional_debs }}
          CC: ${{ inputs.c_compiler }}
          CXX: ${{ inputs.cxx_compiler }}
          CMAKE_ARGS: -DCMAKE_CXX_FLAGS="-isystem /opt/ros/${{ inputs.ros_distro }}/include"
        id: ici
      - name: Download issue template for target failure  # Has to be a local file
        if: ${{ always() && steps.ici.outcome == 'failure' && github.event_name == 'schedule' }}
        run:
          wget https://raw.githubusercontent.com/ros-controls/ros2_control_ci/master/.github/issue_template_failed_ci.md -O .github/issue_template_failed_ci.md
      - name: Download issue template for downstream failure  # Has to be a local file
        if: ${{ always() && steps.ici.outcome == 'failure' && github.event_name == 'schedule' }}
        run:
          wget https://raw.githubusercontent.com/ros-controls/ros2_control_ci/master/.github/issue_template_failed_ci_downstream.md -O .github/issue_template_failed_ci_downstream.md
      - uses: JasonEtco/create-an-issue@v2
        # `make` and so `colcon build` returns 2 on errors, while `colcon test-result` returns 1 on
        # when any test failed.
        if: ${{ always() && (steps.ici.outputs.build_target_workspace == '2' || steps.ici.outputs.target_test_results == '1') && github.event_name == 'schedule'}}
        env:
          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
          ACTION_NAME: ${{ inputs.ros_distro }}/${{ inputs.ros_repo }}
          REF: ${{ inputs.ref_for_scheduled_build }}
          URL: ${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }}
        with:
          update_existing: true
          filename: .github/issue_template_failed_ci.md
      - uses: JasonEtco/create-an-issue@v2
        if: ${{ always() && (steps.ici.outputs.build_downstream_workspace == '2' || steps.ici.outputs.downstream_test_results == '1') && github.event_name == 'schedule'}}
        env:
          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
          ACTION_NAME: ${{ inputs.ros_distro }}/${{ inputs.ros_repo }}
          REF: ${{ inputs.ref_for_scheduled_build }}
          URL: ${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }}
        with:
          update_existing: true
          filename: .github/issue_template_failed_ci_downstream.md
      - 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