Add use_padding flag + deprecate checkCollisionUnpadded() functions (… #763
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| # 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 | |
| # Testspace disabled temporarily: https://github.com/moveit/moveit2/issues/2852 | |
| # - uses: testspace-com/setup-testspace@v1 | |
| # if: github.repository == 'moveit/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: rhaschke/cache@main | |
| with: | |
| path: ${{ env.BASEDIR }}/upstream_ws | |
| key: ${{ env.CACHE_PREFIX }}-${{ github.run_id }} | |
| restore-keys: ${{ env.CACHE_PREFIX }} | |
| env: | |
| GHA_CACHE_SAVE: always | |
| 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: rhaschke/cache@main | |
| 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 | |
| env: | |
| GHA_CACHE_SAVE: always | |
| - 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@v3 | |
| - 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 }} |