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