feat: use new srv to capture screen shot and movie

.github/actions/build-and-test-differential/action.yaml

@@ -0,0 +1,111 @@
+name: build-and-test-differential
+description: ""
+
+inputs:
+ rosdistro:
+ description: ""
+ required: true
+ container:
+ description: ""
+ required: true
+ container-suffix:
+ description: ""
+ required: true
+ runner:
+ description: ""
+ required: true
+ build-depends-repos:
+ description: ""
+ required: true
+ build-pre-command:
+ description: ""
+ required: true
+ codecov-token:
+ description: ""
+ required: true
+
+runs:
+ using: composite
+ steps:
+ - name: Show disk space before the tasks
+ run: df -h
+ shell: bash
+
+ - name: Show machine specs
+ run: lscpu && free -h
+ shell: bash
+
+ - name: Remove exec_depend
+ uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
+
+ - name: Get modified packages
+ id: get-modified-packages
+ uses: autowarefoundation/autoware-github-actions/get-modified-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 }}-${{ inputs.rosdistro }}-${{ github.event.pull_request.base.sha }}
+ restore-keys: |
+ ccache-main-${{ runner.arch }}-${{ inputs.rosdistro }}-
+
+ - name: Show ccache stats before build and reset stats
+ run: |
+ du -sh ${CCACHE_DIR} && ccache -s
+ ccache --zero-stats
+ shell: bash
+
+ - name: Export CUDA state as a variable for adding to cache key
+ run: |
+ build_type_cuda_state=nocuda
+ if [[ "${{ inputs.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-modified-packages.outputs.modified-packages != '' }}
+ uses: autowarefoundation/autoware-github-actions/colcon-build@v1
+ with:
+ rosdistro: ${{ inputs.rosdistro }}
+ target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+ build-depends-repos: ${{ inputs.build-depends-repos }}
+ cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
+ build-pre-command: ${{ inputs.build-pre-command }}
+
+ - name: Show ccache stats after build
+ run: du -sh ${CCACHE_DIR} && ccache -s
+ shell: bash
+
+ - name: Test
+ id: test
+ if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+ uses: autowarefoundation/autoware-github-actions/colcon-test@v1
+ with:
+ rosdistro: ${{ inputs.rosdistro }}
+ target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+ build-depends-repos: ${{ inputs.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: differential
+ token: ${{ inputs.codecov-token }}
+
+ - name: Show disk space after the tasks
+ run: df -h
+ shell: bash

.github/workflows/build-and-test-differential.yaml

@@ -5,18 +5,32 @@ on:
  types:
  - opened
  - synchronize
+ - reopened
  - labeled
 
+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:
- prevent-no-label-execution:
- uses: autowarefoundation/autoware-github-actions/.github/workflows/prevent-no-label-execution.yaml@v1
+ make-sure-label-is-present:
+ uses: autowarefoundation/autoware-github-actions/.github/workflows/make-sure-label-is-present.yaml@v1
  with:
  label: tag:run-build-and-test-differential
 
+ make-sure-require-cuda-label-is-present:
+ uses: autowarefoundation/autoware-github-actions/.github/workflows/make-sure-label-is-present.yaml@v1
+ with:
+ label: tag:require-cuda-build-and-test
+
  build-and-test-differential:
- needs: prevent-no-label-execution
- if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}
- runs-on: ubuntu-latest
+ needs: [make-sure-label-is-present, make-sure-require-cuda-label-is-present]
+ if: ${{ needs.make-sure-label-is-present.outputs.result == 'true' }}
+ runs-on: ${{ matrix.runner }}
  container: ${{ matrix.container }}${{ matrix.container-suffix }}
  strategy:
  fail-fast: false
@@ -28,8 +42,41 @@ jobs:
  - -cuda
  include:
  - rosdistro: humble
- container: ghcr.io/autowarefoundation/autoware:latest-prebuilt
+ container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe
  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
+ build-pre-command: taskset --cpu-list 0-6
+ - container-suffix: ""
+ runner: ubuntu-latest
+ build-pre-command: ""
+ steps:
+ - name: Set PR fetch depth
+ run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
+ shell: bash
+
+ - name: Checkout PR branch and all PR commits
+ uses: actions/checkout@v4
+ with:
+ ref: ${{ github.event.pull_request.head.sha }}
+ fetch-depth: ${{ env.PR_FETCH_DEPTH }}
+
+ - name: Run build-and-test-differential action
+ if: ${{ !(matrix.container-suffix == '-cuda') || needs.make-sure-require-cuda-label-is-present.outputs.result == 'true' }}
+ uses: ./.github/actions/build-and-test-differential
+ with:
+ rosdistro: ${{ matrix.rosdistro }}
+ container: ${{ matrix.container }}
+ container-suffix: ${{ matrix.container-suffix }}
+ runner: ${{ matrix.runner }}
+ build-depends-repos: ${{ matrix.build-depends-repos }}
+ build-pre-command: ${{ matrix.build-pre-command }}
+ codecov-token: ${{ secrets.CODECOV_TOKEN }}
+
+ clang-tidy-differential:
+ needs: build-and-test-differential
+ runs-on: ubuntu-latest
+ container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe-cuda
  steps:
  - name: Set PR fetch depth
  run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
@@ -50,31 +97,22 @@ jobs:
  id: get-modified-packages
  uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
 
- - name: Build
- if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
- uses: autowarefoundation/autoware-github-actions/colcon-build@v1
- with:
- rosdistro: ${{ matrix.rosdistro }}
- target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
- build-depends-repos: ${{ matrix.build-depends-repos }}
+ - name: Get changed files (existing files only)
+ id: get-changed-files
+ run: |
+ echo "changed-files=$(git diff --name-only "origin/${{ github.base_ref }}"...HEAD | grep -E '\.(cpp|hpp)$' | while read -r file; do [ -e "$file" ] && echo -n "$file "; done)" >> $GITHUB_OUTPUT
+ shell: bash
 
- - name: Test
- id: test
- if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
- uses: autowarefoundation/autoware-github-actions/colcon-test@v1
+ - name: Run clang-tidy
+ if: ${{ steps.get-changed-files.outputs.changed-files != '' }}
+ uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
  with:
- rosdistro: ${{ matrix.rosdistro }}
+ rosdistro: humble
  target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
- build-depends-repos: ${{ matrix.build-depends-repos }}
-
- - name: Upload coverage to CodeCov
- if: ${{ steps.test.outputs.coverage-report-files != '' }}
- uses: codecov/codecov-action@v3
- with:
- files: ${{ steps.test.outputs.coverage-report-files }}
- fail_ci_if_error: false
- verbose: true
- flags: differential
+ target-files: ${{ steps.get-changed-files.outputs.changed-files }}
+ clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy-ci
+ build-depends-repos: build_depends.repos
+ cache-key-element: cuda
 
  - name: Show disk space after the tasks
  run: df -h

common/tier4_screen_capture_rviz_plugin/CMakeLists.txt

@@ -13,17 +13,31 @@ include_directories(
  ${OpenCV_INCLUDE_DIRS}
 )
 
-ament_auto_add_library(${PROJECT_NAME} SHARED
+ament_auto_find_build_dependencies()
+rosidl_generate_interfaces(${PROJECT_NAME}
+ "srv/Capture.srv"
+ DEPENDENCIES
+ std_msgs
+ ADD_LINTER_TESTS
+)
+
+ament_auto_add_library(${PROJECT_NAME}_lib SHARED
  src/screen_capture_panel.hpp
  src/screen_capture_panel.cpp
 )
-target_link_libraries(${PROJECT_NAME}
+
+rosidl_get_typesupport_target(
+ cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
+target_link_libraries(${PROJECT_NAME}_lib "${cpp_typesupport_target}")
+
+target_link_libraries(${PROJECT_NAME}_lib
  ${QT_LIBRARIES}
  ${OpenCV_LIBRARIES}
 )
+
 pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml)
 
 ament_auto_package(
  INSTALL_TO_SHARE
-  plugins
+ plugins
 )

common/tier4_screen_capture_rviz_plugin/package.xml

@@ -12,6 +12,8 @@
  <buildtool_depend>ament_cmake_auto</buildtool_depend>
  <buildtool_depend>autoware_cmake</buildtool_depend>
 
+ <build_depend>rosidl_default_generators</build_depend>
+
  <depend>libopencv-dev</depend>
  <depend>libqt5-core</depend>
  <depend>libqt5-gui</depend>
@@ -24,6 +26,10 @@
  <test_depend>ament_lint_auto</test_depend>
  <test_depend>autoware_lint_common</test_depend>
 
+ <exec_depend>rosidl_default_runtime</exec_depend>
+
+ <member_of_group>rosidl_interface_packages</member_of_group>
+
  <export>
  <build_type>ament_cmake</build_type>
  <rviz plugin="${prefix}/plugins/plugin_description.xml"/>

common/tier4_screen_capture_rviz_plugin/plugins/plugin_description.xml

@@ -1,7 +1,8 @@
-<library path="tier4_screen_capture_rviz_plugin">
+<library path="tier4_screen_capture_rviz_plugin_lib">
 
  <class
- type="AutowareScreenCapturePanel"
+ name="rviz_plugins/AutowareScreenCapturePanel"
+ type="rviz_plugins::AutowareScreenCapturePanel"
  base_class_type="rviz_common::Panel">
  <description>AutowareScreenCapturePanel</description>
  </class>