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Revamp CI workflow, condense files and jobs down, using matrices where
possible. Main idea: test with {earliest python+OS version, latest python+OS
version}, and assume that if those work then everything in between will work
too.
- Fix subtle nasty bug with pipeline where a nested usage of the
actions/checkout@v3 action caused inner the publish job always to run against
the master branch.
- Fix issue in upload-artifact excluding dotfiles by default (who introduces
breaking changes without major version increment???).
- Add caching for {homebrew, apt} packages and build files to try to get the
pipeline execution time down.- Loading branch information
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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@@ -7,18 +7,26 @@ inputs: | |
| rosdistro: | ||
| description: 'The version of ROS to test with' | ||
| default: 'noetic' | ||
| # outputs: | ||
| # time: # id of output | ||
| # description: 'The time we greeted you' | ||
|
|
||
| runs: | ||
| using: 'composite' | ||
| steps: | ||
| ############################################################################ | ||
| # Common setup | ||
| ############################################################################ | ||
| - name: Setup python (all OSes) | ||
| uses: actions/setup-python@v5 | ||
| with: | ||
| python-version: ${{ matrix.python-version }} | ||
| cache: 'pip' | ||
|
|
||
| - name: Clone sample project | ||
| shell: bash | ||
| working-directory: ../../ | ||
| working-directory: ${{ github.workspace }} # Needed to match with scripts/argos-integration-tests.sh | ||
|
|
||
| run: | | ||
| if [ ! -d sierra-sample-project ]; then | ||
| git clone https://github.com/swarm-robotics/sierra-sample-project.git | ||
| git clone https://github.com/jharwell/sierra-sample-project.git | ||
| cd sierra-sample-project | ||
| else | ||
| cd sierra-sample-project | ||
|
|
@@ -30,90 +38,122 @@ runs: | |
| uses: SimenB/github-actions-cpu-cores@v1 | ||
| id: cpu-cores | ||
|
|
||
| - uses: kenchan0130/actions-system-info@master | ||
| id: system-info | ||
|
|
||
| - name: Cache build files | ||
| uses: hendrikmuhs/[email protected] | ||
| with: | ||
| key: ${{ runner.os }}-${{ steps.system-info.outputs.release }}-build-objects | ||
| verbose: 0 | ||
|
|
||
| ############################################################################ | ||
| # ARGoS setup | ||
| ############################################################################ | ||
| - name: Install ARGoS dependencies | ||
| shell: bash | ||
| working-directory: ../../ | ||
| run: | | ||
| # 2023/01/16: || true needed because homebrew installation of whatever | ||
| # dependencies these packages requires manual intervention to fix, and I | ||
| # don't have a mac. | ||
| if [ "${{ runner.os }}" == "macOS" ]; then | ||
| brew install pkg-config cmake libpng freeimage lua qt \ | ||
| docbook asciidoc graphviz doxygen|| true | ||
| elif [ "${{ runner.os }}" == "Linux" ]; then | ||
| sudo apt-get update | ||
| sudo apt-get install cmake libfreeimage-dev libfreeimageplus-dev \ | ||
| qt5-default freeglut3-dev libxi-dev libxmu-dev liblua5.3-dev \ | ||
| lua5.3 doxygen graphviz libgraphviz-dev asciidoc | ||
| fi | ||
| - uses: nick-fields/retry@v2 | ||
| name: Install ARGoS deps (OSX) | ||
| if: runner.os == 'macOS' | ||
| with: | ||
| timeout_minutes: 10000 | ||
| max_attempts: 3 | ||
| shell: bash | ||
| command: | | ||
| # 2023/01/16: Caching doesn't work reliably, for reasons unknown :-(. | ||
| # | ||
| # The {xquartz, mactex, qt} deps are not required as long as the ARGoS | ||
| # integration tests for OSX don't run stage 4+ or try to do video | ||
| # capture. Installing them takes ~30 min in github actions, so cutting | ||
| # this particular corner saves a TON of time. | ||
| # | ||
| # Note that by omitting Xquartz you MUST also omit Qt, otherwise CI | ||
| # fails (I think ARGoS segfaults). | ||
| brew install pkg-config cmake libpng freeimage lua | ||
| - name: Install and cache ARGoS dependencies (Linux) | ||
| if: runner.os == 'Linux' | ||
| uses: awalsh128/cache-apt-pkgs-action@latest | ||
| with: | ||
| packages: libfreeimage-dev libfreeimageplus-dev qtbase5-dev freeglut3-dev libxi-dev libxmu-dev liblua5.3-dev lua5.3 libgraphviz-dev ccache | ||
| version: ${{ runner.os }} | ||
|
|
||
| - name: Install ARGoS | ||
| if: inputs.platform == 'argos' | ||
| shell: bash | ||
| working-directory: ../../ | ||
| run: | | ||
| git clone https://github.com/ilpincy/argos3.git | ||
| cd argos3 | ||
| mkdir -p build && cd build | ||
| cmake -DARGOS_DOCUMENTATION=OFF ../src | ||
| cmake \ | ||
| -DCMAKE_C_COMPILER_LAUNCHER=ccache \ | ||
| -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \ | ||
| -DARGOS_DOCUMENTATION=OFF \ | ||
| ../src | ||
| make -j ${{ steps.cpu-cores.outputs.count }} | ||
| sudo make install | ||
| - name: Build SIERRA project for ARGoS | ||
| if: inputs.platform == 'argos' | ||
| working-directory: ../../ | ||
| shell: bash | ||
| working-directory: ${{ github.workspace }} # Needed to match with scripts/argos-integration-tests.sh | ||
|
|
||
| run: | | ||
| cd sierra-sample-project/argos | ||
| mkdir -p build && cd build | ||
| cmake -DARGOS_INSTALL_DIR=/usr/local .. | ||
| cmake \ | ||
| -DCMAKE_C_COMPILER_LAUNCHER=ccache \ | ||
| -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \ | ||
| -DARGOS_INSTALL_DIR=/usr/local \ | ||
| .. | ||
| make -j ${{ steps.cpu-cores.outputs.count }} | ||
| ############################################################################ | ||
| # ROS1+Gazebo setup | ||
| ############################################################################ | ||
| - name: Install ROS1 platform dependency | ||
| if: inputs.platform == 'ros1gazebo' | ||
| uses: ros-tooling/setup-ros@v0.3 | ||
| uses: ros-tooling/setup-ros@v0.7 | ||
| with: | ||
| required-ros-distributions: ${{ inputs.rosdistro }} | ||
|
|
||
| - name: Install SIERRA ROSbridge dependencies | ||
| - name: Install SIERRA ROSbridge system dependencies (Linux) | ||
| if: inputs.platform == 'ros1gazebo' | ||
| uses: awalsh128/cache-apt-pkgs-action@latest | ||
| with: | ||
| packages: ros-${{ inputs.rosdistro }}-desktop-full ros-${{ inputs.rosdistro }}-turtlebot3-description ros-${{ inputs.rosdistro }}-turtlebot3-msgs ros-${{ inputs.rosdistro }}-turtlebot3-gazebo ros-${{ inputs.rosdistro }}-turtlebot3-bringup python${{ matrix.python-version }} python${{ matrix.python-version }}-dev python${{ matrix.python-version }}-venv python3-apt python3-cairo intltool python3-wheel python3-rospkg python3-empy | ||
| version: ${{ runner.os }} | ||
|
|
||
| - name: Install SIERRA ROSbridge python dependencies (Linux) | ||
| if: inputs.platform == 'ros1gazebo' | ||
| working-directory: ../.. | ||
| shell: bash | ||
| run: | | ||
| sudo apt-get install ros-${{ inputs.rosdistro }}-desktop-full | ||
| sudo apt-get install ros-${{ inputs.rosdistro }}-turtlebot3-description | ||
| sudo apt-get install ros-${{ inputs.rosdistro }}-turtlebot3-msgs | ||
| sudo apt-get install ros-${{ inputs.rosdistro }}-turtlebot3-gazebo | ||
| sudo apt-get install ros-${{ inputs.rosdistro }}-turtlebot3-bringup | ||
| sudo apt-get install python${{ matrix.python-version }} python${{ matrix.python-version }}-dev | ||
| sudo apt-get install python${{ matrix.python-version }}-venv python3-apt | ||
| sudo apt-get install python3-pip python3-cairo intltool python3-wheel python3-rospkg python3-empy | ||
| # 2023/1/18: You still need install these even after installing stuff | ||
| # with apt AND if the sysem python matches your current python. I don't | ||
| # know why. | ||
| pip3 install empy | ||
| pip3 install rospkg wheel pyparsing pyqt5 | ||
| pip3 install pyqt5 pysip numpy rospkg | ||
| pip3 install matplotlib pyyaml psutil | ||
| pip3 install pysip defusedxml pyparsing pydev | ||
| pip3 install pyopengl opencv-python | ||
| pip3 install empy \ | ||
| rospkg \ | ||
| wheel \ | ||
| pyparsing \ | ||
| pyqt5 \ | ||
| pysip \ | ||
| numpy \ | ||
| matplotlib \ | ||
| pyyaml \ | ||
| psutil \ | ||
| defusedxml \ | ||
| pyparsing \ | ||
| pydev \ | ||
| pyopengl \ | ||
| opencv-python \ | ||
| catkin_tools | ||
| - name: Install SIERRA ROSBridge dependency (ubuntu) | ||
| if: inputs.platform == 'ros1gazebo' | ||
| working-directory: ../.. | ||
| shell: bash | ||
| run: | | ||
| source /opt/ros/${{ inputs.rosdistro }}/setup.bash | ||
| pip3 install catkin_tools | ||
| git clone https://github.com/swarm-robotics/sierra_rosbridge.git | ||
| git clone https://github.com/jharwell/sierra_rosbridge.git | ||
| cd sierra_rosbridge | ||
| git checkout devel | ||
| catkin init | ||
|
|
||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,37 @@ | ||
| name: Analysis Top-level | ||
|
|
||
| # Run: | ||
| # | ||
| # - Every month. Scheduling helps keep drift/issues with updates | ||
| # to runners at bay. | ||
| # - On pushes. | ||
| on: | ||
| push: | ||
| paths: | ||
| - 'sierra/**' | ||
|
|
||
| schedule: | ||
| - cron: '0 0 1 * *' | ||
|
|
||
| concurrency: | ||
| group: ${{ github.workflow }}-${{ github.ref }} | ||
| cancel-in-progress: true | ||
|
|
||
| jobs: | ||
| analyze-ci-ubuntu-2004: | ||
| uses: ./.github/workflows/analyze-nox.yml | ||
| secrets: inherit | ||
| with: | ||
| os: ubuntu-20.04 | ||
|
|
||
| analyze-ci-ubuntu-2204: | ||
| uses: ./.github/workflows/analyze-nox.yml | ||
| secrets: inherit | ||
| with: | ||
| os: ubuntu-22.04 | ||
|
|
||
| analyze-ci-osx: | ||
| uses: ./.github/workflows/analyze-nox.yml | ||
| secrets: inherit | ||
| with: | ||
| os: macos-13 |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,47 @@ | ||
| name: OS Static Analysis | ||
|
|
||
| on: | ||
| workflow_call: | ||
| inputs: | ||
| os: | ||
| required: True | ||
| type: string | ||
|
|
||
| jobs: | ||
| nox: | ||
| runs-on: ${{ inputs.os }} | ||
| strategy: | ||
| matrix: | ||
| os: | ||
| - ${{ inputs.os }} | ||
|
|
||
| # 2024/08/26: Test the earliest and latest supported version, to speed | ||
| # up CI. | ||
| python-version: | ||
| - 3.8 | ||
| - 3.11 | ||
|
|
||
| session: | ||
| - lint | ||
| - docs | ||
| - analyze_pytype | ||
| - analyze_mypy | ||
|
|
||
| exclude: | ||
| - python-version: 3.11 | ||
| os: ubuntu-20.04 | ||
|
|
||
| - python-version: 3.8 | ||
| os: ubuntu-22.04 | ||
|
|
||
| steps: | ||
| - uses: actions/checkout@v3 | ||
| - uses: ./.github/actions/sierra-setup | ||
| - uses: kenchan0130/actions-system-info@master | ||
| id: system-info | ||
|
|
||
| - name: Run nox | ||
| run: | | ||
| nox \ | ||
| --pythons ${{ matrix.python-version }} \ | ||
| --sessions ${{ matrix.session }} |
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