reusable-industrial-ci-with-cache.yml

name: Reusable industrial_ci Workflow with Cache
# Reusable action to simplify dealing with ROS/ROS2 industrial_ci builds with cache
# author: Denis Štogl <denis@stoglrobotics.de>

on:
  workflow_call:
    inputs:
      ref_for_scheduled_build:
        description: 'Reference on which the repo should be checkout for scheduled build. Usually is this name of a branch or a tag.'
        default: ''
        required: false
        type: string

      upstream_workspace:
        description: 'UPSTREAM_WORKSPACE variable for industrial_ci. Usually path to local .repos file.'
        required: true
        type: string
      ros_distro:
        description: 'ROS_DISTRO variable for industrial_ci'
        required: true
        type: string
      ros_repo:
        description: 'ROS_REPO to run for industrial_ci. Possible values: "main", "testing"'
        default: 'main'
        required: false
        type: string
      os_code_name:
        description: 'OS_CODE_NAME variable for industrial_ci'
        default: ''
        required: false
        type: string
      before_install_upstream_dependencies:
        description: 'BEFORE_INSTALL_UPSTREAM_DEPENDENCIES variable for industrial_ci'
        default: ''
        required: false
        type: string

      ccache_dir:
        description: 'Local path to store cache (from "github.workspace"). For standard industrial_ci configuration do not have to be changed'
        default: '.ccache'
        required: false
        type: string
      basedir:
        description: 'Local path to workspace base directory to cache (from "github.workspace"). For standard industrial_ci configuration do not have to be changed'
        default: '.work'
        required: false
        type: string


jobs:
  reusable_industrial_ci_with_cache:
    name: ${{ inputs.ros_distro }} ${{ inputs.ros_repo }} ${{ inputs.os_code_name }}
    runs-on: ubuntu-latest
    env:
      CCACHE_DIR: ${{ github.workspace }}/${{ inputs.ccache_dir }}
      BASEDIR: ${{ github.workspace }}/${{ inputs.basedir }}
      CACHE_PREFIX: ${{ inputs.ros_distro }}-${{ inputs.upstream_workspace }}-${{ inputs.ros_repo }}-${{ github.job }}
    steps:
      - name: Checkout ${{ inputs.ref }} when build is not scheduled
        if: ${{ github.event_name != 'schedule' }}
        uses: actions/checkout@v3
      - name: Checkout ${{ inputs.ref }} on scheduled build
        if: ${{ github.event_name == 'schedule' }}
        uses: actions/checkout@v3
        with:
          ref: ${{ inputs.ref_for_scheduled_build }}
      - name: cache target_ws
        if: ${{ ! matrix.env.CCOV }}
        uses: pat-s/always-upload-cache@v3.0.11
        with:
          path: ${{ env.BASEDIR }}/target_ws
          key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
          restore-keys: |
            target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
      - name: cache ccache
        uses: pat-s/always-upload-cache@v3.0.11
        with:
          path: ${{ env.CCACHE_DIR }}
          key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
          restore-keys: |
            ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
            ccache-${{ env.CACHE_PREFIX }}
      - uses: 'ros-industrial/industrial_ci@master'
        env:
          UPSTREAM_WORKSPACE: ${{ inputs.upstream_workspace }}
          ROS_DISTRO: ${{ inputs.ros_distro }}
          ROS_REPO: ${{ inputs.ros_repo }}
          OS_CODE_NAME: ${{ inputs.os_code_name }}
          BEFORE_INSTALL_UPSTREAM_DEPENDENCIES: ${{ inputs.before_install_upstream_dependencies }}
          CMAKE_ARGS: "-DCMAKE_C_FLAGS=-fsanitize=address -DCMAKE_CXX_FLAGS=-fsanitize=address -DCMAKE_BUILD_TYPE=RelWithDebInfo"
          DOCKER_RUN_OPTS='-e ASAN_OPTIONS=new_delete_type_mismatch=0' # This is currently necessary due to some asan issues in ROS core components
      - name: prepare target_ws for cache
        if: ${{ always() && ! matrix.env.CCOV }}
        run: |
          du -sh ${{ env.BASEDIR }}/target_ws
          sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
          sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
          du -sh ${{ env.BASEDIR }}/target_ws