build-and-test.yaml

name: build-and-test

on:
  push:
  schedule:
    - cron: 0 0 * * *
  workflow_dispatch:

jobs:
  build-and-test:
    if: ${{ github.event_name != 'push' || github.ref_name == github.event.repository.default_branch }}
    runs-on: ubuntu-latest
    container: ${{ matrix.container }}
    strategy:
      fail-fast: false
      matrix:
        rosdistro:
          - humble
        include:
          - rosdistro: humble
            container: ros:humble
            build-depends-repos: build_depends.repos
    env:
      CCACHE_DIR: /root/.ccache
      CCACHE_SIZE: 1G  # The GitHub cache action allows for 10G but the runners' disk space is limited
      CC: /usr/lib/ccache/gcc
      CXX: /usr/lib/ccache/g++

    steps:
      - name: Check out repository
        uses: actions/checkout@v3

      - name: Free disk space (Ubuntu)
        uses: jlumbroso/free-disk-space@v1.2.0
        with:
          tool-cache: false
          dotnet: false
          swap-storage: false
          large-packages: false

      - name: Remove exec_depend
        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1

      - name: Get self packages
        id: get-self-packages
        uses: autowarefoundation/autoware-github-actions/get-self-packages@v1

      - name: Install ccache
        run: sudo apt-get update && sudo apt-get install -y ccache
        shell: bash

      - name: Create ccache directory
        run: |
          mkdir -p ${CCACHE_DIR}
          du -sh ${CCACHE_DIR} && ccache -s
        shell: bash

      - name: Limit ccache size
        run: |
          rm -f "${CCACHE_DIR}/ccache.conf"
          echo -e "max_size = ${CCACHE_SIZE}" > "${CCACHE_DIR}/ccache.conf"
        shell: bash

      - name: Attempt to restore ccache
        uses: actions/cache/restore@v4
        with:
          path: ${{ env.CCACHE_DIR }}
          key: ccache-${{ runner.arch }}-${{ matrix.rosdistro }}-${{ github.run_id }}-${{ github.run_attempt }}
          restore-keys: |
            ccache-${{ runner.arch }}-${{ matrix.rosdistro }}-

      - name: Show ccache stats before build and reset stats
        run: |
          du -sh ${CCACHE_DIR} && ccache -s
          ccache --zero-stats
        shell: bash

      - name: Build
        if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
        uses: autowarefoundation/autoware-github-actions/colcon-build@v1
        with:
          rosdistro: ${{ matrix.rosdistro }}
          target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
          build-depends-repos: ${{ matrix.build-depends-repos }}

      - name: Show ccache stats after build
        run: |
          du -sh ${CCACHE_DIR} && ccache -s
        shell: bash

      - name: Upload ccache to cache
        uses: actions/cache/save@v4
        with:
          path: ${{ env.CCACHE_DIR }}
          key: ccache-${{ runner.arch }}-${{ matrix.rosdistro }}-${{ github.run_id }}-${{ github.run_attempt }}

      - name: Test
        if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
        id: test
        uses: autowarefoundation/autoware-github-actions/colcon-test@v1
        with:
          rosdistro: ${{ matrix.rosdistro }}
          target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
          build-depends-repos: ${{ matrix.build-depends-repos }}

      - name: Upload coverage to CodeCov
        if: ${{ steps.test.outputs.coverage-report-files != '' }}
        uses: codecov/codecov-action@v4
        with:
          files: ${{ steps.test.outputs.coverage-report-files }}
          token: ${{ secrets.CODECOV_TOKEN }}
          fail_ci_if_error: false
          verbose: true
          flags: total