From 3eee8f6dcd064410c8b0a1c301388e9fedf5e0b9 Mon Sep 17 00:00:00 2001 From: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Date: Thu, 14 Nov 2024 20:58:03 +0900 Subject: [PATCH] ci: update build-and-test workflows (#95) Signed-off-by: Ryohsuke Mitsudome --- .github/workflows/build-and-test-daily.yaml | 79 +++++++++++++++++ .../build-and-test-differential.yaml | 4 +- .github/workflows/build-and-test.yaml | 85 +++++++++++++++++-- 3 files changed, 160 insertions(+), 8 deletions(-) create mode 100644 .github/workflows/build-and-test-daily.yaml diff --git a/.github/workflows/build-and-test-daily.yaml b/.github/workflows/build-and-test-daily.yaml new file mode 100644 index 00000000..63822f8b --- /dev/null +++ b/.github/workflows/build-and-test-daily.yaml @@ -0,0 +1,79 @@ +name: build-and-test-daily + +on: + schedule: + - cron: 0 0 * * * + workflow_dispatch: + +jobs: + build-and-test-daily: + runs-on: [self-hosted, linux, X64, gpu] + 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: 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: 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 }} + + - 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: ${{ secrets.CODECOV_TOKEN }} + + - name: Show disk space after the tasks + run: df -h diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml index cda16666..e77aae16 100644 --- a/.github/workflows/build-and-test-differential.yaml +++ b/.github/workflows/build-and-test-differential.yaml @@ -42,7 +42,7 @@ jobs: - -cuda include: - rosdistro: humble - container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe + container: ghcr.io/autowarefoundation/autoware:universe-devel build-depends-repos: build_depends.repos - container-suffix: -cuda runner: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large @@ -76,7 +76,7 @@ jobs: clang-tidy-differential: needs: build-and-test-differential runs-on: ubuntu-22.04 - container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe-cuda + container: ghcr.io/autowarefoundation/autoware:universe-devel-cuda steps: - name: Set PR fetch depth run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}" diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml index 228b547e..a9274804 100644 --- a/.github/workflows/build-and-test.yaml +++ b/.github/workflows/build-and-test.yaml @@ -2,27 +2,44 @@ name: build-and-test on: push: - schedule: - - cron: 0 0 * * * + 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: - if: ${{ github.event_name != 'push' || github.ref_name == github.event.repository.default_branch }} - runs-on: ubuntu-latest - container: ${{ matrix.container }} + runs-on: codebuild-autoware-us-east-1-${{ 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: ros: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 @@ -31,6 +48,43 @@ jobs: 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 @@ -38,6 +92,21 @@ jobs: 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 != '' }} @@ -56,3 +125,7 @@ jobs: fail_ci_if_error: false verbose: true flags: total + token: ${{ secrets.CODECOV_TOKEN }} + + - name: Show disk space after the tasks + run: df -h