Don't bother copying build artifacts #14
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| name: Test | |
| on: [ push ] | |
| jobs: | |
| # This job builds the Docker image that will be used in the following test job. | |
| # It also publishes the image to the GitHub Container Registry, so every PR can | |
| # have an up-to-date image by the name of ghcr.io/GITHUB_USERNAME/PROJECT_NAME:BRANCH_NAME | |
| build-image: | |
| runs-on: ubuntu-24.04 | |
| env: | |
| BUILT_IMAGE_NAME: ghcr.io/urbanmachine/node_helpers | |
| PROJECT_NAME: node_helpers | |
| defaults: | |
| run: | |
| shell: bash | |
| steps: | |
| - name: Prepare Build | |
| id: prep | |
| run: | | |
| if [[ "${GITHUB_REF}" == "refs/heads/"* ]] | |
| then | |
| # This is a build on a branch | |
| TAG=${GITHUB_REF#refs/heads/} | |
| elif [[ "${GITHUB_REF}" == "refs/pull/"* ]] | |
| then | |
| # This is a PR build | |
| TAG=${GITHUB_REF#refs/pull/} | |
| elif [[ "${GITHUB_REF}" == "refs/tags/"* ]] | |
| then | |
| # This is a tagged build | |
| TAG=${GITHUB_REF#refs/tags/} | |
| else | |
| echo "Unexpected reference format ${GITHUB_REF}" | |
| exit 1 | |
| fi | |
| # Remove slashes, since they're not allowed in Docker tags | |
| TAG=$(echo "${TAG}" | sed 's#/#-#g') | |
| echo "tagged_image=${BUILT_IMAGE_NAME}:${TAG}" >> $GITHUB_OUTPUT | |
| - name: Set up Docker Buildx | |
| uses: docker/setup-buildx-action@v2 | |
| - name: Load Previous Docker Layers Cache | |
| uses: actions/cache@v4 | |
| with: | |
| path: /tmp/.buildx-cache | |
| # Key is named differently to avoid collision | |
| key: v1-${{ env.PROJECT_NAME }}-${{ runner.os }}-multi-buildx-${{ github.sha }} | |
| restore-keys: v1-${{ env.PROJECT_NAME }}-${{ runner.os }}-multi-buildx | |
| - name: Log in to GitHub Container Registry | |
| run: echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u ${{ github.actor }} --password-stdin | |
| - name: Checkout | |
| uses: actions/checkout@v4 | |
| with: | |
| lfs: true | |
| - name: Get Base Image Name | |
| id: get_base_image | |
| run: | | |
| source .env | |
| echo "base_image=${BASE_IMAGE}" >> $GITHUB_OUTPUT | |
| - name: Build and push | |
| uses: docker/build-push-action@v5 | |
| with: | |
| context: . | |
| file: docker/Dockerfile | |
| push: true | |
| tags: ${{ steps.prep.outputs.tagged_image }} | |
| build-args: | | |
| BASE_IMAGE=${{ steps.get_base_image.outputs.base_image }} | |
| cache-from: type=local,src=/tmp/.buildx-cache | |
| # Note the mode=max here | |
| # More: https://github.com/moby/buildkit#--export-cache-options | |
| # And: https://github.com/docker/buildx#--cache-tonametypetypekeyvalue | |
| cache-to: type=local,mode=max,dest=/tmp/.buildx-cache-new | |
| # This is done to avoid storing outdated build steps in the cache, since | |
| # BuildKit never clears stuff out of the cache itself | |
| - name: Move cache | |
| run: | | |
| rm -rf /tmp/.buildx-cache | |
| mv /tmp/.buildx-cache-new /tmp/.buildx-cache | |
| outputs: | |
| tagged_image: ${{ steps.prep.outputs.tagged_image }} | |
| # This job runs the colcon tests for the project | |
| ros-tests: | |
| needs: build-image | |
| # Run the build on a large runner, since limiting the CPU causes a weird persistent | |
| # race condition which causes flaky tests in any test that uses a robot-state-publisher | |
| # and joint-state-publisher. | |
| runs-on: ubuntu-24.04 | |
| defaults: | |
| run: | |
| shell: bash | |
| timeout-minutes: 40 | |
| container: | |
| image: ${{needs.build-image.outputs.tagged_image}} | |
| credentials: | |
| username: ${{ github.actor }} | |
| password: ${{ secrets.GITHUB_TOKEN }} | |
| env: | |
| GITHUB_WORKSPACE: /repo/ | |
| steps: | |
| - name: Install Git LFS | |
| run: sudo apt-get update && sudo apt-get install git-lfs | |
| - name: Checkout | |
| uses: actions/checkout@v4 | |
| with: | |
| lfs: true | |
| - name: Fix git error in the following line | |
| # Caused by an update to git that dislikes when users of different ID's touch | |
| # the same git directory, which happens when using a docker runner in CI | |
| # This fixes test reporting in the `Generate Test Report` section | |
| # https://github.blog/2022-04-12-git-security-vulnerability-announced/ | |
| # https://github.com/actions/checkout/issues/760 | |
| run: git config --global --add safe.directory ${GITHUB_WORKSPACE} | |
| - name: Copy Python dependencies to github workspace | |
| run: cp -r /robot/install . | |
| - name: Move launch-profile files to /robot/launch-profiles so hardcoded paths work | |
| run: cp -r ${GITHUB_WORKSPACE}/launch-profiles /robot/ | |
| - name: Run tests | |
| run: | | |
| enter-workspaces colcon test \ | |
| --pytest-with-coverage \ | |
| --test-result-base test-results \ | |
| --pytest-args \ | |
| --rootdir $(pwd) \ | |
| --durations=50 | |
| - name: Generate Test Report | |
| uses: dorny/test-reporter@v1 | |
| if: always() | |
| with: | |
| name: "Test report" | |
| path: test-results/**/*.xml | |
| reporter: java-junit | |
| - name: Report Codecov Coverage | |
| uses: codecov/codecov-action@v3.1.0 | |
| with: | |
| token: ${{ secrets.CODECOV_TOKEN }} |