Fix threading issue for collision velocity scaling in MoveIt Servo (#… #5
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| # This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git). | |
| # For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst) | |
| name: SonarScan | |
| on: | |
| push: | |
| jobs: | |
| default: | |
| env: | |
| ROS_DISTRO: rolling | |
| CXXFLAGS: >- | |
| -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls | |
| CLANG_TIDY_ARGS: --fix --fix-errors --format-style=file | |
| DOCKER_IMAGE: moveit/moveit2:rolling-ci | |
| UPSTREAM_WORKSPACE: > | |
| moveit2.repos | |
| $(f="moveit2_$(sed 's/-.*$//' <<< "rolling-ci").repos"; test -r $f && echo $f) | |
| # Pull any updates to the upstream workspace (after restoring it from cache) | |
| AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src | |
| AFTER_SETUP_DOWNSTREAM_WORKSPACE: vcs pull $BASEDIR/downstream_ws/src | |
| # Clear the ccache stats before and log the stats after the build | |
| AFTER_SETUP_CCACHE: ccache --zero-stats --max-size=10.0G | |
| BEFORE_BUILD_UPSTREAM_WORKSPACE: ccache -z | |
| AFTER_BUILD_TARGET_WORKSPACE: ccache -s | |
| TARGET_CMAKE_ARGS: > | |
| --no-warn-unused-cli | |
| -DCMAKE_EXPORT_COMPILE_COMMANDS=ON | |
| -DCMAKE_EXE_LINKER_FLAGS=-fuse-ld=lld | |
| -DCMAKE_SHARED_LINKER_FLAGS=-fuse-ld=lld | |
| -DCMAKE_MODULE_LINKER_FLAGS=-fuse-ld=lld | |
| -DCMAKE_BUILD_TYPE='Debug' | |
| -DCMAKE_CXX_FLAGS="-Werror $CXXFLAGS --coverage -O2 -fno-omit-frame-pointer" | |
| UPSTREAM_CMAKE_ARGS: "-DCMAKE_CXX_FLAGS=''" | |
| DOWNSTREAM_CMAKE_ARGS: -DCMAKE_CXX_FLAGS="-Wall -Wextra" | |
| CCACHE_DIR: ${{ github.workspace }}/.ccache | |
| BASEDIR: ${{ github.workspace }}/.work | |
| ADDITIONAL_DEBS: lld | |
| name: rolling-ci-ccov-sonar | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: "Free up disk space" | |
| if: matrix.env.CCOV | |
| run: | | |
| sudo apt-get -qq purge "ghc*" | |
| sudo apt-get clean | |
| # cleanup docker images not used by us | |
| docker system prune -af | |
| # shift ccache folder to /mnt on a separate disk | |
| sudo mkdir /mnt/ccache | |
| mkdir ${{ env.CCACHE_DIR }} | |
| sudo mount --bind ${{ env.CCACHE_DIR }} /mnt/ccache | |
| # free up a lot of stuff from /usr/local | |
| sudo rm -rf /usr/local | |
| df -h | |
| - uses: actions/checkout@v4 | |
| - uses: testspace-com/setup-testspace@v1 | |
| if: github.repository == 'ros-planning/moveit2' | |
| with: | |
| domain: ros-planning | |
| - name: Get latest release date for rosdistro | |
| id: rosdistro_release_date | |
| uses: JafarAbdi/latest-rosdistro-release-date-action@main | |
| with: | |
| rosdistro: ${{ env.ROS_DISTRO }} | |
| - name: Get latest timestamp repos file has been edited | |
| id: repos_edit_timestamp | |
| uses: vatanaksoytezer/latest-file-edit-timestamp-action@main | |
| with: | |
| file: moveit2.repos | |
| - name: Cache upstream workspace | |
| uses: pat-s/[email protected] | |
| with: | |
| path: ${{ env.BASEDIR }}/upstream_ws | |
| key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }} | |
| restore-keys: ${{ env.CACHE_PREFIX }} | |
| env: | |
| CACHE_PREFIX: ${{ steps.rosdistro_release_date.outputs.date }}-upstream_ws-${{ steps.repos_edit_timestamp.outputs.timestamp }}-rolling-ci-${{ hashFiles('moveit2*.repos', '.github/workflows/ci.yaml') }} | |
| - name: Cache ccache | |
| uses: pat-s/[email protected] | |
| with: | |
| path: ${{ env.CCACHE_DIR }} | |
| key: ccache-rolling-ci-ccov-${{ github.sha }}-${{ github.run_id }} | |
| restore-keys: | | |
| ccache-rolling-ci-ccov-${{ github.sha }} | |
| ccache-rolling-ci-ccov | |
| - name: Configure ccache | |
| run: | | |
| mkdir -p ${{ env.CCACHE_DIR }} | |
| cp .github/ccache.conf ${{ env.CCACHE_DIR }}/ccache.conf | |
| - id: ici | |
| name: Run industrial_ci | |
| uses: ros-industrial/industrial_ci@master | |
| - name: Generate codecov report | |
| uses: rhaschke/lcov-action@main | |
| if: steps.ici.outputs.target_test_results == '0' | |
| with: | |
| docker: $DOCKER_IMAGE | |
| workdir: ${{ env.BASEDIR }}/target_ws | |
| ignore: '"*/target_ws/build/*" "*/target_ws/install/*" "*/test/*"' | |
| - name: Install ccache | |
| run: sudo apt install ccache build-essential | |
| - name: Print coverage.info | |
| if: steps.ici.outputs.target_test_results == '0' | |
| run: cat ${{ github.workspace }}/.work/target_ws/coverage.info | |
| - name: Install sonar-scanner | |
| if: steps.ici.outputs.target_test_results == '0' | |
| uses: SonarSource/sonarcloud-github-c-cpp@v2 | |
| - name: Run sonar-scanner | |
| if: steps.ici.outputs.target_test_results == '0' | |
| env: | |
| GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} | |
| SONAR_TOKEN: ${{ secrets.SONAR_TOKEN }} | |
| run: sonar-scanner -X --define project.settings=.work/target_ws/src/moveit2/sonar-project.properties | |
| working-directory: ${{ github.workspace }} |