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fix: change autoware_node from a static library to a shared library (… #1512

fix: change autoware_node from a static library to a shared library (…

fix: change autoware_node from a static library to a shared library (… #1512

name: build-and-test
on:
push:
branches:
- main
workflow_dispatch:
concurrency:
group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.run_id }}
cancel-in-progress: true
env:
CC: /usr/lib/ccache/gcc
CXX: /usr/lib/ccache/g++
jobs:
build-and-test:
runs-on: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large
container: ${{ matrix.container }}${{ matrix.container-suffix }}
strategy:
fail-fast: false
matrix:
rosdistro:
- humble
container-suffix:
- -cuda
include:
- rosdistro: humble
container: ghcr.io/autowarefoundation/autoware:universe-devel
build-depends-repos: build_depends.repos
steps:
- name: Check out repository
uses: actions/checkout@v4
with:
fetch-depth: 1
- name: Show disk space before the tasks
run: df -h
- name: Show machine specs
run: lscpu && free -h
- 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: Create ccache directory
run: |
mkdir -p ${CCACHE_DIR}
du -sh ${CCACHE_DIR} && ccache -s
shell: bash
- name: Attempt to restore ccache
uses: actions/cache/restore@v4
with:
path: |
/root/.ccache
key: ccache-main-${{ runner.arch }}-${{ matrix.rosdistro }}-${{ github.sha }}
restore-keys: |
ccache-main-${{ runner.arch }}-${{ matrix.rosdistro }}-
- name: Limit ccache size
run: |
rm -f "${CCACHE_DIR}/ccache.conf"
echo -e "# Set maximum cache size\nmax_size = 600MB" >> "${CCACHE_DIR}/ccache.conf"
shell: bash
- name: Show ccache stats before build and reset stats
run: |
du -sh ${CCACHE_DIR} && ccache -s
ccache --zero-stats
shell: bash
- name: Export CUDA state as a variable for adding to cache key
run: |
build_type_cuda_state=nocuda
if [[ "${{ matrix.container-suffix }}" == "-cuda" ]]; then
build_type_cuda_state=cuda
fi
echo "BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" >> "${GITHUB_ENV}"
echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state"
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 }}
cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
build-pre-command: taskset --cpu-list 0-6
- name: Show ccache stats after build
run: du -sh ${CCACHE_DIR} && ccache -s
shell: bash
# Only keep save the -cuda version because cuda packages covers non-cuda packages too
- name: Push the ccache cache
if: matrix.container-suffix == '-cuda'
uses: actions/cache/save@v4
with:
path: |
/root/.ccache
key: ccache-main-${{ runner.arch }}-${{ matrix.rosdistro }}-${{ github.sha }}
- 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 }}
fail_ci_if_error: false
verbose: true
flags: total
token: ${{ secrets.CODECOV_TOKEN }}
- name: Show disk space after the tasks
run: df -h