ci: use caching from docker to run test in CI (#169)

.github/workflows/build-test.yml

@@ -1,6 +1,5 @@
 name: Build and Test
 
-# Run workflow on pushes to main and develop branches, on any pull request, or by manual dispatch
 on:
   push:
     branches:
@@ -9,15 +8,14 @@ on:
   pull_request:
   workflow_dispatch:
 
-# Define the build test jobs for each configuration
 jobs:
 
   check-contribution:
     name: Check if changelog and version have been updated
     runs-on: ubuntu-latest
     steps:
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Check contributions
         if: ${{ github.event.pull_request.base.sha }}
@@ -39,7 +37,6 @@ jobs:
           fi
         shell: bash
 
-  # check if jobs can be skipped
   check-skippable-changes:
     name: Check skippable changes
     runs-on: ubuntu-latest
@@ -54,62 +51,30 @@ jobs:
           paths_ignore: '["**.md", ".**/**", "**.gitignore"]'
           skip_after_successful_duplicate: 'true'
 
-  build-test-debug:
+  build-test:
     needs: check-skippable-changes
     if: ${{ needs.check-skippable-changes.outputs.skip != 'true' }}
     runs-on: ubuntu-latest
-    name: Debug configuration test
+    name: Run tests
     steps:
-      # First check out the repository
       - name: Checkout
-        uses: actions/checkout@v3
-      # Load the repository build-test action
-      - name: Build and Test
-        uses: ./.github/actions/build-test
+        uses: actions/checkout@v4
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+      - name: Build Cache for Docker
+        uses: actions/cache@v3
         with:
-          configuration: Debug
-
-  build-test-release:
-    needs: check-skippable-changes
-    if: ${{ needs.check-skippable-changes.outputs.skip != 'true' }}
-    runs-on: ubuntu-latest
-    name: Release configuration test
-    steps:
-      # First check out the repository
-      - name: Checkout
-        uses: actions/checkout@v3
-      # Load the repository build-test action
+          path: build-cache
+          key: ${{ runner.os }}-build-cache-${{ hashFiles('./') }}
+      - name: Inject build-cache into docker
+        uses: reproducible-containers/buildkit-cache-dance@v2.1.2
+        with:
+          cache-source: build-cache
+          cache-target: /build
       - name: Build and Test
-        uses: ./.github/actions/build-test
+        uses: docker/build-push-action@v5
         with:
-          configuration: Release
-
-  build-test-python:
-    needs:
-      - check-skippable-changes
-      - build-test-release
-    if: ${{ needs.check-skippable-changes.outputs.skip != 'true' }}
-    runs-on: ubuntu-latest
-    name: Python bindings test
-    steps:
-      # First check out the repository
-      - name: Checkout
-        uses: actions/checkout@v3
-      # Load the repository build-test-python action
-      - name: Build and Test Python
-        uses: ./.github/actions/build-test-python
-
-  build-test-protocol:
-    needs:
-      - check-skippable-changes
-      - build-test-release
-    if: ${{ needs.check-skippable-changes.outputs.skip != 'true' }}
-    runs-on: ubuntu-latest
-    name: Protocol library test
-    steps:
-      # First check out the repository
-      - name: Checkout
-        uses: actions/checkout@v3
-      # Load the repository build-test-python action
-      - name: Build and Test Protocol
-        uses: ./.github/actions/build-test-protocol
+          context: .
+          target: python-test
+          cache-from: type=gha
+          cache-to: type=gha,mode=max

CHANGELOG.md

@@ -13,6 +13,7 @@ Release Versions:
 
 ## Upcoming changes (in development)
 
+- ci: use caching from docker to run tests in CI (#429)
 - feat: add IO states to state representation (proto) (#172)
 - feat: add IO states to state representation (cpp) (#158)
 - build: add missing licenses (#170)

Dockerfile

@@ -76,16 +76,16 @@ xargs -a /tmp/new-packages.txt dpkg-query -L \
 # this root can then be copied to / to install everything globally or use LD_LIBRARY_PATH to use it locally
 HEREDOC
 
-FROM base as dep-base
+FROM base as base-dependencies
 ARG TARGETPLATFORM
 ARG CACHEID
 COPY dependencies/base_dependencies.cmake CMakeLists.txt
-RUN --mount=type=cache,target=./build,id=cmake-osqp-${TARGETPLATFORM}-${CACHEID},uid=1000 \
+RUN --mount=type=cache,target=/build,id=cmake-base-deps-${TARGETPLATFORM}-${CACHEID},uid=1000 \
   cmake -B build -DCMAKE_BUILD_TYPE=Release && cmake --build build && cmake --install build --prefix /tmp/deps
 
-FROM base as dep-pinocchio
+FROM base as pinocchio-dependencies
 COPY --from=apt-dependencies /tmp/apt /
-COPY --from=dep-base /tmp/deps /usr
+COPY --from=base-dependencies /tmp/deps /usr
 ARG TARGETPLATFORM
 ARG CACHEID
 ARG PINOCCHIO_TAG=v2.9.0
@@ -94,13 +94,13 @@ ARG HPP_FCL_TAG=v1.8.1
 #  * `pinocchio` doesn't provide an include directory we can easily plug into `target_include_directories` and thus needs to be installed first
 #  * `pinocchio` uses hacks relying on undocumented CMake quirks which break if you use `FetchContent`
 # FIXME: it needs `CMAKE_INSTALL_PREFIX` and `--prefix` because it doesn't install to the right place otherwise
-RUN --mount=type=cache,target=./hpp-fcl,id=cmake-hpp-fcl-src-${HPP_FCL_TAG}-${TARGETPLATFORM}-${CACHEID},uid=1000 \
-  --mount=type=cache,target=./build,id=cmake-hpp-fcl-${HPP_FCL_TAG}-${TARGETPLATFORM}-${CACHEID},uid=1000 \
+RUN --mount=type=cache,target=/hpp-fcl,id=cmake-hpp-fcl-src-${HPP_FCL_TAG}-${TARGETPLATFORM}-${CACHEID},uid=1000 \
+  --mount=type=cache,target=/build,id=cmake-hpp-fcl-${HPP_FCL_TAG}-${TARGETPLATFORM}-${CACHEID},uid=1000 \
   if [ ! -f hpp-fcl/CMakeLists.txt ]; then rm -rf hpp-fcl/* && git clone --depth 1 -b ${HPP_FCL_TAG} --recursive https://github.com/humanoid-path-planner/hpp-fcl; fi \
   && cmake -B build -S hpp-fcl -DBUILD_TESTING=OFF -DCMAKE_BUILD_TYPE=Release -DBUILD_PYTHON_INTERFACE=OFF -DCMAKE_INSTALL_PREFIX=/tmp/deps \
   && cmake --build build --target all install
-RUN --mount=type=cache,target=./pinocchio,id=cmake-pinocchio-src-${PINOCCHIO_TAG}-${TARGETPLATFORM}-${CACHEID},uid=1000 \
-  --mount=type=cache,target=./build,id=cmake-pinocchio-${PINOCCHIO_TAG}-${TARGETPLATFORM}-${CACHEID},uid=1000 \
+RUN --mount=type=cache,target=/pinocchio,id=cmake-pinocchio-src-${PINOCCHIO_TAG}-${TARGETPLATFORM}-${CACHEID},uid=1000 \
+  --mount=type=cache,target=/build,id=cmake-pinocchio-${PINOCCHIO_TAG}-${TARGETPLATFORM}-${CACHEID},uid=1000 \
   if [ ! -f pinocchio/CMakeLists.txt ]; then rm -rf pinocchio/* && git clone --depth 1 -b ${PINOCCHIO_TAG} --recursive https://github.com/stack-of-tasks/pinocchio; fi \
   && cmake -B build -S pinocchio -DBUILD_TESTING=OFF -DCMAKE_BUILD_TYPE=Release -DBUILD_PYTHON_INTERFACE=OFF -DBUILD_WITH_COLLISION_SUPPORT=ON -DCMAKE_INSTALL_PREFIX=/tmp/deps \
   && cmake --build build --target all install
@@ -111,20 +111,16 @@ FROM base as dependencies
 ARG TARGETPLATFORM
 ARG CACHEID
 # Needed to build `osqp-eigen`
-COPY --from=dep-base /tmp/deps /usr
+COPY --from=base-dependencies /tmp/deps /usr
 COPY dependencies/dependencies.cmake CMakeLists.txt
-RUN --mount=type=cache,target=./build,id=cmake-deps-${TARGETPLATFORM}-${CACHEID},uid=1000 \
-  cmake -B build -DCMAKE_BUILD_TYPE=Release \
-  && cmake --build build \
-  && cmake --install build --prefix /tmp/deps
-COPY --from=dep-base /tmp/deps /tmp/deps
-COPY --from=dep-pinocchio /tmp/deps /tmp/deps
+RUN --mount=type=cache,target=/build,id=cmake-deps-${TARGETPLATFORM}-${CACHEID},uid=1000 \
+  cmake -B build -Dprotobuf_BUILD_TESTS=OFF -DCMAKE_BUILD_TYPE=Release && cmake --build build && cmake --install build --prefix /tmp/deps
+COPY --from=base-dependencies /tmp/deps /tmp/deps
+COPY --from=pinocchio-dependencies /tmp/deps /tmp/deps
 
 FROM base as code
-WORKDIR /src
 COPY --from=apt-dependencies /tmp/apt /
 COPY --from=dependencies /tmp/deps /usr
-COPY . /src
 
 FROM code as development
 # create and configure a new user
@@ -152,61 +148,60 @@ RUN ( \
 COPY ./docker/sshd_entrypoint.sh /sshd_entrypoint.sh
 RUN chmod 744 /sshd_entrypoint.sh
 
-RUN chown -R ${USER}:${USER} /src
 RUN mkdir /guidelines && cd /guidelines \
   && wget https://raw.githubusercontent.com/aica-technology/.github/v0.9.0/guidelines/.clang-format
 
 USER ${USER}
+WORKDIR /src
+COPY --chown=${USER}:${USER} . .
 
 FROM code as build
 ARG TARGETPLATFORM
 ARG CACHEID
-RUN --mount=type=cache,target=./build,id=cmake-${TARGETPLATFORM}-${CACHEID},uid=1000 \
+COPY licenses licenses
+COPY protocol protocol
+COPY source source
+COPY CMakeLists.txt CMakeLists.txt
+RUN --mount=type=cache,target=/build,id=cmake-build-${TARGETPLATFORM}-${CACHEID},uid=1000 \
   cmake -B build -DCMAKE_BUILD_TYPE=Release && cmake --build build
 
 FROM build as cpp-test
 ARG TARGETPLATFORM
 ARG CACHEID
-RUN --mount=type=cache,target=./build,id=cmake-${TARGETPLATFORM}-${CACHEID},uid=1000 \
+RUN --mount=type=cache,target=/build,id=cmake-build-${TARGETPLATFORM}-${CACHEID},uid=1000 \
   cmake -B build -DBUILD_TESTING=ON && cd build && make && CTEST_OUTPUT_ON_FAILURE=1 make test
 
 FROM build as install
 ARG TARGETPLATFORM
 ARG CACHEID
-RUN --mount=type=cache,target=./build,id=cmake-${TARGETPLATFORM}-${CACHEID},uid=1000 \
+RUN --mount=type=cache,target=/build,id=cmake-build-${TARGETPLATFORM}-${CACHEID},uid=1000 \
   cmake --install build --prefix /tmp/cl
 
-FROM base as python
+FROM code as python
 ARG TARGETPLATFORM
 ARG CACHEID
-COPY --from=apt-dependencies /tmp/apt /
-COPY --from=dependencies /tmp/deps /usr
 COPY --from=install /tmp/cl /usr
-COPY --chown=${USER}:${USER} ./python/include /python/include
-COPY --chown=${USER}:${USER} ./python/source /python/source
-COPY --chown=${USER}:${USER} ./python/pyproject.toml ./python/setup.py /python/
-RUN --mount=type=cache,target=${HOME}/.cache,id=pip-${TARGETPLATFORM}-${CACHEID},uid=1000 \
+COPY ./python/include /python/include
+COPY ./python/source /python/source
+COPY ./python/pyproject.toml ./python/setup.py /python/
+RUN --mount=type=cache,target=/.cache,id=pip-${TARGETPLATFORM}-${CACHEID},uid=1000 \
   python3 -m pip install --prefix=/tmp/python /python
 RUN mv /tmp/python/local /tmp/python-usr
 
 FROM cpp-test as python-test
-ARG TARGETPLATFORM
-ARG CACHEID
 RUN pip install pytest
 COPY --from=install /tmp/cl /usr
 COPY --from=python /tmp/python-usr /usr
-COPY --chown=${USER}:${USER} ./python/test /test
+COPY ./python/test /test
 RUN pytest /test
 
-FROM base as python-stubs
+FROM code as python-stubs
 ARG TARGETPLATFORM
 ARG CACHEID
-COPY --from=apt-dependencies /tmp/apt /
-COPY --from=dependencies /tmp/deps /usr
 COPY --from=install /tmp/cl /usr
 COPY --from=python /tmp/python-usr /usr
 RUN pip install pybind11-stubgen
-RUN --mount=type=cache,target=${HOME}/.cache,id=pip-${TARGETPLATFORM}-${CACHEID},uid=1000 \
+RUN --mount=type=cache,target=/.cache,id=pip-${TARGETPLATFORM}-${CACHEID},uid=1000 \
 <<HEREDOC
 for PKG in state_representation dynamical_systems robot_model controllers clproto; do
   python3 -c "import ${PKG}"

VERSION

@@ -1 +1 @@
-7.3.7
+7.3.8

demos/CMakeLists.txt

@@ -15,7 +15,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-find_package(control_libraries 7.3.7 CONFIG REQUIRED)
+find_package(control_libraries 7.3.8 CONFIG REQUIRED)
 
 set(DEMOS_SCRIPTS
   task_space_control_loop