Optimize integrators, Rviz plugin and add usage examples #677
Workflow file for this run
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
| name: Continuous Integration | |
| on: | |
| pull_request: | |
| branches: [ main ] | |
| # NOTE: We do not store the work files under $HOME ("/github/home/") since that | |
| # dir persists between jobs when using self-hosted GitHub Actions runners | |
| # (/github/home is a docker volume mapped to the container's host). | |
| env: | |
| REPOSITORY_NAME: wavemap | |
| DOCKER_FROM_IMAGE: ros:noetic-ros-base-focal | |
| DOCKER_TARGET_ROS_PKG: wavemap_all | |
| DOCKER_CI_REGISTRY: hub.wavemap.vwire.ch | |
| DOCKER_CI_TARGET: workspace-built-deps | |
| ROS_HOME: /home/ci/.ros | |
| CATKIN_WS_PATH: /home/ci/catkin_ws | |
| CCACHE_DIR: /home/ci/ccache | |
| PRE_COMMIT_DIR: /home/ci/pre-commit | |
| jobs: | |
| common-variables: | |
| name: Define common variables | |
| # NOTE: This job is used to pass complex common variables around between jobs, | |
| # as a work-around for ENV variables in GitHub Actions not being composable. | |
| runs-on: [ self-hosted, vwire ] | |
| container: | |
| image: docker:20.10.9-dind | |
| outputs: | |
| docker_cache_image_name: type=registry,ref=${{ env.DOCKER_CI_REGISTRY }}/${{ env.REPOSITORY_NAME }}:buildcache | |
| local_ci_image_name: ${{ env.DOCKER_CI_REGISTRY }}/${{ env.REPOSITORY_NAME }}:${{ env.DOCKER_CI_TARGET }}-${{ github.sha }} | |
| steps: | |
| - name: Empty | |
| run: echo | |
| workspace-container: | |
| name: Build CI workspace container | |
| needs: [ common-variables ] | |
| runs-on: [ self-hosted, vwire ] | |
| container: | |
| image: docker:20.10.9-dind | |
| outputs: | |
| image: ${{ needs.common-variables.outputs.local_ci_image_name }} | |
| env: | |
| CACHE_IMAGE_NAME: ${{ needs.common-variables.outputs.docker_cache_image_name }} | |
| LOCAL_IMAGE_NAME: ${{ needs.common-variables.outputs.local_ci_image_name }} | |
| steps: | |
| - name: Fetch the package's repository | |
| uses: actions/checkout@v3 | |
| with: | |
| path: ${{ env.REPOSITORY_NAME }} | |
| - name: Set up Docker Buildx | |
| uses: docker/setup-buildx-action@v2 | |
| - name: Install dependencies | |
| # NOTE: Installing tar is required for actions/cache@v3 to work properly | |
| # on docker:20.10.9-dind. | |
| run: apk add --no-cache tar git | |
| - name: Prepare ccache to accelerate the build | |
| id: get-date | |
| run: | | |
| mkdir -p ccache | |
| echo "date=$(date -u "+%Y-%m-%d_%H-%M-%S")" >> $GITHUB_OUTPUT | |
| - name: Pull in ccache's cache | |
| uses: actions/cache@v3 | |
| with: | |
| path: ccache | |
| key: ccache-${{ secrets.CCACHE_CACHE_VERSION }}-noetic-gcc-docker-${{ github.sha }}-${{ steps.get-date.outputs.date }} | |
| restore-keys: | | |
| ccache-${{ secrets.CCACHE_CACHE_VERSION }}-noetic-gcc-docker-${{ github.sha }}- | |
| ccache-${{ secrets.CCACHE_CACHE_VERSION }}-noetic-gcc-docker- | |
| - name: Start measuring the build time | |
| id: start-time | |
| run: | | |
| stamp=$(date +%s) | |
| echo "stamp=${stamp}" >> $GITHUB_OUTPUT | |
| - name: Build the ${{ env.DOCKER_CI_TARGET }} image | |
| uses: docker/build-push-action@v3 | |
| with: | |
| context: . | |
| file: ${{ env.REPOSITORY_NAME }}/tooling/docker/full.Dockerfile | |
| target: ${{ env.DOCKER_CI_TARGET }} | |
| build-args: | | |
| FROM_IMAGE=${{ env.DOCKER_FROM_IMAGE }} | |
| CATKIN_WS_PATH=${{ env.CATKIN_WS_PATH }} | |
| CCACHE_DIR=${{ env.CCACHE_DIR }} | |
| ROS_HOME=${{ env.ROS_HOME }} | |
| REPOSITORY_NAME=${{ env.REPOSITORY_NAME }} | |
| PACKAGE_NAME=${{ env.DOCKER_TARGET_ROS_PKG }} | |
| load: true | |
| cache-from: ${{ env.CACHE_IMAGE_NAME }} | |
| cache-to: ${{ env.CACHE_IMAGE_NAME }},mode=max | |
| tags: ${{ env.LOCAL_IMAGE_NAME }} | |
| - name: Determine whether the ccache cache should be updated | |
| id: should-writeback-ccache | |
| run: | | |
| runtime=$(( $(date +%s) - ${{ steps.start-time.outputs.stamp }} )) | |
| threshold=300 # seconds | |
| echo $runtime | |
| answer=false | |
| if [ $threshold -le $runtime ]; then | |
| answer=true | |
| fi | |
| echo "answer=${answer}" >> $GITHUB_OUTPUT | |
| - name: Test the ${{ env.DOCKER_CI_TARGET }} image | |
| run: docker run --rm ${{ env.LOCAL_IMAGE_NAME }} | |
| - name: Push the ${{ env.DOCKER_CI_TARGET }} image | |
| uses: docker/build-push-action@v3 | |
| with: | |
| context: . | |
| file: ${{ env.REPOSITORY_NAME }}/tooling/docker/full.Dockerfile | |
| target: ${{ env.DOCKER_CI_TARGET }} | |
| build-args: | | |
| FROM_IMAGE=${{ env.DOCKER_FROM_IMAGE }} | |
| CATKIN_WS_PATH=${{ env.CATKIN_WS_PATH }} | |
| CCACHE_DIR=${{ env.CCACHE_DIR }} | |
| ROS_HOME=${{ env.ROS_HOME }} | |
| REPOSITORY_NAME=${{ env.REPOSITORY_NAME }} | |
| PACKAGE_NAME=${{ env.DOCKER_TARGET_ROS_PKG }} | |
| push: true | |
| cache-from: ${{ env.CACHE_IMAGE_NAME }} | |
| tags: ${{ env.LOCAL_IMAGE_NAME }} | |
| - name: Write back the build's ccache cache | |
| if: steps.should-writeback-ccache.outputs.answer == 'true' | |
| uses: docker/build-push-action@v3 | |
| with: | |
| context: . | |
| file: ${{ env.REPOSITORY_NAME }}/tooling/docker/full.Dockerfile | |
| target: workspace-deps-builder-ccache-extractor | |
| build-args: | | |
| FROM_IMAGE=${{ env.DOCKER_FROM_IMAGE }} | |
| CATKIN_WS_PATH=${{ env.CATKIN_WS_PATH }} | |
| CCACHE_DIR=${{ env.CCACHE_DIR }} | |
| ROS_HOME=${{ env.ROS_HOME }} | |
| REPOSITORY_NAME=${{ env.REPOSITORY_NAME }} | |
| PACKAGE_NAME=${{ env.DOCKER_TARGET_ROS_PKG }} | |
| cache-from: ${{ env.CACHE_IMAGE_NAME }} | |
| tags: ${{ env.LOCAL_IMAGE_NAME }} | |
| outputs: type=local,dest=ccache | |
| lint: | |
| name: Lint | |
| needs: [ common-variables ] | |
| runs-on: [ self-hosted, vwire ] | |
| container: | |
| # NOTE: Pylint checks if all modules that are marked for import are | |
| # available. At the time of writing, the python scripts in this repo | |
| # only depend on modules that are present on noetic-ros-base-focal | |
| # out of the box. If scripts are added later that depend on custom | |
| # package (e.g. installed through rosdep or pulled in through | |
| # vcstool), it'd make sense to run pre-commit in a full workspace | |
| # container (such as ${{ needs.workspace-container.outputs.image }}) | |
| # at the cost of a longer loading time on the CI actions runner. | |
| image: ros:noetic-ros-base-focal | |
| steps: | |
| - name: Install pre-commit's dependencies | |
| run: | | |
| apt-get update | |
| apt-get install -q -y --no-install-recommends git python3-pip clang-format-11 cppcheck libxml2-utils wget | |
| pip3 install pre-commit cpplint | |
| wget -O /bin/hadolint https://github.com/hadolint/hadolint/releases/download/v2.8.0/hadolint-Linux-x86_64 | |
| chmod +x /bin/hadolint | |
| - name: Fetch the package's repository | |
| uses: actions/checkout@v3 | |
| # NOTE: This has to be done after installing pre-commit, s.t. the | |
| # pre-commit hooks are automatically initialized. | |
| - name: Get python version for pre-commit cache | |
| run: echo "PRE_COMMIT_PYTHON_VERSION=$(python -VV | sha256sum | cut -d' ' -f1)" >> $GITHUB_ENV | |
| - name: Setup pre-commit cache sharing | |
| uses: actions/cache@v3 | |
| with: | |
| path: ${{ env.PRE_COMMIT_DIR }} | |
| key: pre-commit|${{ env.PRE_COMMIT_PYTHON_VERSION }}|${{ hashFiles('.pre-commit-config.yaml') }} | |
| - name: Run the pre-commit hooks | |
| shell: bash | |
| run: | | |
| echo "::add-matcher::./.github/problem-matchers/pre-commit.json" | |
| source /opt/ros/noetic/setup.bash | |
| PRE_COMMIT_HOME=${{ env.PRE_COMMIT_DIR }} SKIP=no-commit-to-branch pre-commit run --all-files | |
| echo "::remove-matcher owner=problem-matcher-pre-commit::" | |
| build-docs: | |
| name: Build docs | |
| needs: [ workspace-container, lint ] | |
| runs-on: [ self-hosted, vwire ] | |
| container: | |
| image: ${{ needs.workspace-container.outputs.image }} | |
| steps: | |
| - name: Fetch the package's repository | |
| uses: actions/checkout@v3 | |
| - name: Install dependencies (doxygen+sphinx+breathe+exhale toolchain) | |
| run: | | |
| apt-get update | |
| apt-get install -q -y --no-install-recommends python3-pip doxygen | |
| pip3 install exhale sphinx-rtd-theme | |
| - name: Build documentation | |
| working-directory: ${{ env.CATKIN_WS_PATH }}/src/${{ env.REPOSITORY_NAME }}/docs | |
| shell: bash | |
| run: make html | |
| - name: Archive pages artifact | |
| shell: bash | |
| run: | | |
| tar \ | |
| --dereference --hard-dereference \ | |
| --directory ${{ env.CATKIN_WS_PATH }}/src/${{ env.REPOSITORY_NAME }}/docs/_build/html/ \ | |
| -cvf ${{ env.CATKIN_WS_PATH }}/src/${{ env.REPOSITORY_NAME }}/docs/artifact.tar \ | |
| --exclude=.git \ | |
| --exclude=.github \ | |
| . | |
| - name: Upload pages artifact | |
| uses: actions/upload-artifact@main | |
| with: | |
| name: github-pages | |
| path: ${{ env.CATKIN_WS_PATH }}/src/${{ env.REPOSITORY_NAME }}/docs/artifact.tar | |
| retention-days: 1 | |
| build: | |
| name: Build | |
| needs: workspace-container | |
| runs-on: [ self-hosted, vwire ] | |
| container: | |
| image: ${{ needs.workspace-container.outputs.image }} | |
| steps: | |
| - name: Fetch the package's repository | |
| uses: actions/checkout@v3 | |
| # NOTE: Even though the repo is already present in the container, we | |
| # also need to check it out at GitHub Actions' preferred location | |
| # for private actions and problem matchers to work. | |
| - name: Setup ccache | |
| uses: ./.github/actions/setup-ccache | |
| with: | |
| cache-group: noetic-gcc-release | |
| cache-version: ${{ secrets.CCACHE_CACHE_VERSION }} | |
| - name: Build all wavemap packages | |
| working-directory: ${{ env.CATKIN_WS_PATH }} | |
| shell: bash | |
| run: | | |
| echo "::add-matcher::./.github/problem-matchers/gcc.json" | |
| catkin build wavemap_all --no-status --force-color | |
| echo "::remove-matcher owner=problem-matcher-gcc::" | |
| - name: Show statistics for ccache | |
| uses: ./.github/actions/log-ccache-stats | |
| install: | |
| name: Catkin install | |
| needs: [ workspace-container, build ] | |
| runs-on: [ self-hosted, vwire ] | |
| container: | |
| image: ${{ needs.workspace-container.outputs.image }} | |
| steps: | |
| - name: Fetch the package's repository | |
| uses: actions/checkout@v3 | |
| # NOTE: Even though the repo is already present in the container, we | |
| # also need to check it out at GitHub Actions' preferred location | |
| # for private actions and problem matchers to work. | |
| - name: Setup ccache | |
| uses: ./.github/actions/setup-ccache | |
| with: | |
| cache-group: noetic-gcc-release | |
| cache-version: ${{ secrets.CCACHE_CACHE_VERSION }} | |
| - name: Enable catkin install | |
| working-directory: ${{ env.CATKIN_WS_PATH }} | |
| shell: bash | |
| run: | | |
| catkin config --install | |
| catkin clean -b -y | |
| - name: Build all wavemap packages | |
| working-directory: ${{ env.CATKIN_WS_PATH }} | |
| shell: bash | |
| run: | | |
| . /opt/ros/noetic/setup.sh | |
| echo "::add-matcher::./.github/problem-matchers/gcc.json" | |
| catkin build wavemap_all --no-status --force-color | |
| echo "::remove-matcher owner=problem-matcher-gcc::" | |
| - name: Show statistics for ccache | |
| uses: ./.github/actions/log-ccache-stats | |
| clang-tidy: | |
| name: Clang tidy | |
| needs: [ workspace-container, build ] | |
| runs-on: [ self-hosted, vwire ] | |
| container: | |
| image: ${{ needs.workspace-container.outputs.image }} | |
| steps: | |
| - name: Fetch the package's repository | |
| uses: actions/checkout@v3 | |
| # NOTE: Even though the repo is already present in the container, we | |
| # also need to check it out at GitHub Actions' preferred location | |
| # for private actions and problem matchers to work. | |
| - name: Setup ccache | |
| uses: ./.github/actions/setup-ccache | |
| with: | |
| cache-group: noetic-gcc-release | |
| cache-version: ${{ secrets.CCACHE_CACHE_VERSION }} | |
| - name: Install clang-tidy | |
| run: | | |
| apt-get update | |
| apt-get install -q -y --no-install-recommends clang-tidy | |
| - name: Build catkin package and dependencies | |
| working-directory: ${{ env.CATKIN_WS_PATH }} | |
| shell: bash | |
| run: catkin build wavemap_all --no-status --force-color --cmake-args -DUSE_CLANG_TIDY=ON | |
| - name: Run clang-tidy for wavemap | |
| working-directory: ${{ env.CATKIN_WS_PATH }}/build/wavemap | |
| run: | | |
| echo "::add-matcher::./.github/problem-matchers/clang-tidy.json" | |
| run-clang-tidy -header-filter="*include/wavemap/*" -quiet | |
| echo "::remove-matcher owner=problem-matcher-clang-tidy::" | |
| - name: Run clang-tidy for wavemap_ros | |
| working-directory: ${{ env.CATKIN_WS_PATH }}/build/wavemap_ros | |
| run: | | |
| echo "::add-matcher::./.github/problem-matchers/clang-tidy.json" | |
| run-clang-tidy -header-filter="*include/wavemap_ros/*" -quiet | |
| echo "::remove-matcher owner=problem-matcher-clang-tidy::" | |
| test: | |
| name: Test | |
| needs: [ workspace-container, build ] | |
| runs-on: [ self-hosted, vwire ] | |
| container: | |
| image: ${{ needs.workspace-container.outputs.image }} | |
| steps: | |
| - name: Fetch the package's repository | |
| uses: actions/checkout@v3 | |
| # NOTE: Even though the repo is already present in the container, we | |
| # also need to check it out at GitHub Actions' preferred location | |
| # for private actions and problem matchers to work. | |
| - name: Setup ccache | |
| uses: ./.github/actions/setup-ccache | |
| with: | |
| cache-group: noetic-gcc-release | |
| cache-version: ${{ secrets.CCACHE_CACHE_VERSION }} | |
| - name: Build regular code | |
| working-directory: ${{ env.CATKIN_WS_PATH }} | |
| shell: bash | |
| run: catkin build wavemap_all --no-status --force-color | |
| - name: Build unit tests | |
| working-directory: ${{ env.CATKIN_WS_PATH }} | |
| shell: bash | |
| run: | | |
| echo "::add-matcher::./.github/problem-matchers/gcc.json" | |
| catkin build wavemap_all --no-status --force-color --no-deps --catkin-make-args tests | |
| echo "::remove-matcher owner=problem-matcher-gcc::" | |
| - name: Run unit tests | |
| working-directory: ${{ env.CATKIN_WS_PATH }} | |
| shell: bash | |
| run: | | |
| all_tests_passed=1 | |
| for f in devel/lib/wavemap*/test_* | |
| do $f --gtest_color=yes || all_tests_passed=0 | |
| done | |
| if [ $all_tests_passed -ne 1 ]; then | |
| echo "Not all tests passed!" | |
| exit 1 | |
| fi | |
| - name: Show statistics for ccache | |
| uses: ./.github/actions/log-ccache-stats | |
| coverage: | |
| name: Coverage | |
| # TODO(victorr): Enable this again once it has been updated to work with the new package structure | |
| if: ${{ false }} | |
| needs: [ workspace-container, test ] | |
| runs-on: [ self-hosted, vwire ] | |
| container: | |
| image: ${{ needs.workspace-container.outputs.image }} | |
| steps: | |
| - name: Fetch the package's repository | |
| uses: actions/checkout@v3 | |
| # NOTE: Even though the repo is already present in the container, we | |
| # also need to check it out at GitHub Actions' preferred location | |
| # for private actions and problem matchers to work. | |
| - name: Setup ccache | |
| uses: ./.github/actions/setup-ccache | |
| with: | |
| cache-group: noetic-gcc-debug | |
| cache-version: ${{ secrets.CCACHE_CACHE_VERSION }} | |
| - name: Install lcov for coverage report generation | |
| run: | | |
| apt-get update | |
| apt-get install -q -y --no-install-recommends lcov | |
| - name: Switch catkin workspace to debug mode | |
| working-directory: ${{ env.CATKIN_WS_PATH }} | |
| shell: bash | |
| run: | | |
| catkin clean -y | |
| catkin config --cmake-args -DCMAKE_BUILD_TYPE=Debug | |
| - name: Rebuild dependencies and build regular code (in debug mode) | |
| working-directory: ${{ env.CATKIN_WS_PATH }} | |
| shell: bash | |
| run: | | |
| source /opt/ros/noetic/setup.bash | |
| catkin build wavemap_all --no-status --force-color | |
| - name: Build unit tests | |
| working-directory: ${{ env.CATKIN_WS_PATH }} | |
| shell: bash | |
| run: catkin build wavemap_all --no-status --force-color --no-deps --cmake-args -DENABLE_COVERAGE_TESTING=ON --catkin-make-args tests | |
| - name: Set coverage counters to zero and create report base | |
| working-directory: ${{ env.CATKIN_WS_PATH }}/build/wavemap | |
| shell: bash | |
| run: | | |
| lcov --zerocounters --directory . | |
| lcov --capture --initial --directory . --output-file wavemap_coverage_base.info | |
| - name: Run all tests while measuring coverage | |
| working-directory: ${{ env.CATKIN_WS_PATH }} | |
| shell: bash | |
| run: | | |
| all_tests_passed=1 | |
| for f in devel/lib/wavemap*/test_* | |
| do | |
| $f --gtest_color=yes || all_tests_passed=0 | |
| done | |
| if [ $all_tests_passed -ne 1 ]; then | |
| echo "Not all tests passed! Note that the code is currently compiled"\ | |
| "in Debug mode, so some additional errors may be caught compared"\ | |
| "to previous test runs in Release mode (e.g. failing DCHECKs)." | |
| exit 1 | |
| fi | |
| - name: Create the coverage report | |
| working-directory: ${{ env.CATKIN_WS_PATH }}/build/wavemap | |
| shell: bash | |
| run: | | |
| lcov --capture --directory . --output-file wavemap_coverage_unit_tests.info | |
| lcov --add-tracefile wavemap_coverage_base.info --add-tracefile wavemap_coverage_unit_tests.info --output-file wavemap_coverage_total.info | |
| lcov --extract wavemap_coverage_total.info '*/wavemap/wavemap*' --output-file wavemap_coverage_filtered_intermediate.info | |
| lcov --remove wavemap_coverage_filtered_intermediate.info '*/wavemap/test/*' '*/wavemap/app/*' '*/wavemap/benchmark/*' --output-file wavemap_coverage.info | |
| rm wavemap_coverage_base.info wavemap_coverage_unit_tests.info wavemap_coverage_total.info wavemap_coverage_filtered_intermediate.info | |
| lcov --list wavemap_coverage.info # Include report in logs for debugging | |
| - name: Upload coverage stats to Codecov | |
| uses: codecov/codecov-action@v2 | |
| with: | |
| token: ${{ secrets.CODECOV_TOKEN }} | |
| directory: ${{ env.CATKIN_WS_PATH }}/build/wavemap | |
| flags: unittests | |
| fail_ci_if_error: true | |
| verbose: true | |
| - name: Show statistics for ccache | |
| uses: ./.github/actions/log-ccache-stats | |
| sanitize: | |
| name: Sanitize ${{ matrix.sanitizer.detects }} | |
| needs: [ workspace-container, test ] | |
| runs-on: [ self-hosted, vwire ] | |
| container: | |
| image: ${{ needs.workspace-container.outputs.image }} | |
| strategy: | |
| matrix: | |
| sanitizer: | |
| - { name: UBSAN, detects: 'undefined behavior' } | |
| - { name: ASAN, detects: 'addressability and leaks' } | |
| # - { name: TSAN, detects: 'data races and deadlocks' } | |
| # NOTE: TSAN is disabled until the following bug is resolved: | |
| # https://bugs.launchpad.net/ubuntu/+source/gcc-10/+bug/2029910. | |
| # NOTE: MSAN is not used for now since it also requires all deps to be | |
| # instrumented (recompiled with clang and the MSan flags, LLVM's | |
| # stdlib instead of GCCs,...). We therefore use Valgrind to | |
| # check for uninitialized memory usage errors instead. | |
| fail-fast: false | |
| steps: | |
| - name: Fetch the package's repository | |
| uses: actions/checkout@v3 | |
| # NOTE: Even though the repo is already present in the container, we | |
| # also need to check it out at GitHub Actions' preferred location | |
| # for private actions and problem matchers to work. | |
| - name: Setup ccache | |
| uses: ./.github/actions/setup-ccache | |
| with: | |
| cache-group: noetic-gcc-release | |
| cache-version: ${{ secrets.CCACHE_CACHE_VERSION }} | |
| - name: Build regular code | |
| working-directory: ${{ env.CATKIN_WS_PATH }} | |
| shell: bash | |
| run: catkin build wavemap_all --no-status --force-color | |
| - name: Build unit tests | |
| working-directory: ${{ env.CATKIN_WS_PATH }} | |
| shell: bash | |
| run: catkin build wavemap_all --no-status --force-color --no-deps --cmake-args -DUSE_${{ matrix.sanitizer.name }}=ON --catkin-make-args tests | |
| - name: Check unit tests with ${{ matrix.sanitizer.name }} | |
| working-directory: ${{ env.CATKIN_WS_PATH }} | |
| env: | |
| UBSAN_OPTIONS: halt_on_error=1:print_stacktrace=1 | |
| ASAN_OPTIONS: halt_on_error=1:detect_leaks=1:detect_stack_use_after_return=1 | |
| TSAN_OPTIONS: halt_on_error=1:second_deadlock_stack=1 | |
| shell: bash | |
| run: | | |
| echo "::add-matcher::./.github/problem-matchers/gcc-sanitizers.json" | |
| all_tests_passed=1 | |
| for f in devel/lib/wavemap*/test_* | |
| do $f --gtest_color=yes || all_tests_passed=0 | |
| done | |
| if [ $all_tests_passed -ne 1 ]; then | |
| echo "Not all tests passed!" | |
| exit 1 | |
| fi | |
| echo "::remove-matcher owner=problem-matcher-gcc-ubsan::" | |
| echo "::remove-matcher owner=problem-matcher-gcc-asan::" | |
| echo "::remove-matcher owner=problem-matcher-gcc-tsan::" | |
| - name: Show statistics for ccache | |
| uses: ./.github/actions/log-ccache-stats | |
| valgrind: | |
| name: Valgrind memcheck | |
| needs: [ workspace-container, test ] | |
| runs-on: [ self-hosted, vwire ] | |
| container: | |
| image: ${{ needs.workspace-container.outputs.image }} | |
| steps: | |
| - name: Fetch the package's repository | |
| uses: actions/checkout@v3 | |
| # NOTE: Even though the repo is already present in the container, we | |
| # also need to check it out at GitHub Actions' preferred location | |
| # for private actions and problem matchers to work. | |
| - name: Setup ccache | |
| uses: ./.github/actions/setup-ccache | |
| with: | |
| cache-group: noetic-gcc-release | |
| cache-version: ${{ secrets.CCACHE_CACHE_VERSION }} | |
| - name: Install Valgrind | |
| run: | | |
| apt-get update | |
| apt-get install -q -y --no-install-recommends valgrind | |
| - name: Build regular code | |
| working-directory: ${{ env.CATKIN_WS_PATH }} | |
| shell: bash | |
| run: catkin build wavemap_all --no-status --force-color | |
| - name: Build unit tests | |
| working-directory: ${{ env.CATKIN_WS_PATH }} | |
| shell: bash | |
| run: catkin build wavemap_all --no-status --force-color --no-deps --catkin-make-args tests | |
| - name: Check unit tests with Valgrind memcheck | |
| working-directory: ${{ env.CATKIN_WS_PATH }} | |
| shell: bash | |
| run: | | |
| echo "::add-matcher::./.github/problem-matchers/valgrind.json" | |
| all_tests_passed=1 | |
| for f in devel/lib/wavemap*/test_* | |
| do valgrind --tool=memcheck --leak-check=full --leak-resolution=high --num-callers=20 --track-origins=yes --show-possibly-lost=no --errors-for-leak-kinds=definite,indirect --error-exitcode=1 --xml=yes --xml-file=valgrind-log.xml $f --gtest_color=yes || all_tests_passed=0 | |
| grep -Poz '(?<=<error>)(.*\n)*.*(?=</error>)' valgrind-log.xml || true | |
| done | |
| if [ $all_tests_passed -ne 1 ]; then | |
| echo "Not all tests passed!" | |
| exit 1 | |
| fi | |
| echo "::remove-matcher owner=problem-matcher-valgrind::" | |
| - name: Show statistics for ccache | |
| uses: ./.github/actions/log-ccache-stats |