build-and-test-differential-arm64.yaml

name: build-and-test-differential-arm64

on:
  pull_request:
    types:
      - opened
      - synchronize
      - reopened
      - labeled

concurrency:
  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.run_id }}
  cancel-in-progress: true

jobs:
  make-sure-label-is-present:
    uses: autowarefoundation/autoware-github-actions/.github/workflows/make-sure-label-is-present.yaml@v1
    with:
      label: type:arm64

  build-and-test-differential-arm64:
    needs: make-sure-label-is-present
    if: ${{ needs.make-sure-label-is-present.outputs.result == 'true' }}
    runs-on: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-arm-3.0-large
    container: ${{ matrix.container }}${{ matrix.container-suffix }}
    strategy:
      fail-fast: false
      matrix:
        rosdistro:
          - humble
        container-suffix:
          - ""
          - -cuda
        include:
          - rosdistro: humble
            container: ghcr.io/autowarefoundation/autoware:universe-devel
    steps:
      - name: Set PR fetch depth
        run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"

      - name: Checkout PR branch and all PR commits
        uses: actions/checkout@v4
        with:
          ref: ${{ github.event.pull_request.head.sha }}
          fetch-depth: ${{ env.PR_FETCH_DEPTH }}

      - name: Show disk space before the tasks
        run: df -h

      - name: Show machine specs
        run: lscpu && free -h

      - name: Remove exec_depend
        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1

      - name: Get modified packages
        id: get-modified-packages
        uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1

      - name: Export CUDA state as a variable for adding to cache key
        run: |
          build_type_cuda_state=nocuda
          if [[ "${{ matrix.container-suffix }}" == "-cuda" ]]; then
            build_type_cuda_state=cuda
          fi
          echo "BUILD_TYPE_CUDA_STATE=$build_type_cuda_state" >> "${GITHUB_ENV}"
          echo "::notice::BUILD_TYPE_CUDA_STATE=$build_type_cuda_state"
        shell: bash

      - name: Prepare build_depends.repos file (main branch)
        if: ${{ github.event.pull_request.base.ref == 'main' }}
        uses: ./.github/actions/combine-repos-action
        with:
          base_file: build_depends_humble.repos
          overlay_file: build_depends_nightly.repos
          output_file: build_depends.repos

      - name: Prepare build_depends.repos file (humble branch)
        if: ${{ github.event.pull_request.base.ref == 'humble' }}
        run: cp build_depends_humble.repos build_depends.repos
        shell: bash

      - name: Build
        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
        uses: autowarefoundation/autoware-github-actions/colcon-build@v1
        with:
          rosdistro: ${{ matrix.rosdistro }}
          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
          build-depends-repos: build_depends.repos
          cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
          build-pre-command: taskset --cpu-list 0-5

      - name: Test
        id: test
        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
        uses: autowarefoundation/autoware-github-actions/colcon-test@v1
        with:
          rosdistro: ${{ matrix.rosdistro }}
          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
          build-depends-repos: build_depends.repos

      - name: Upload coverage to CodeCov
        if: ${{ steps.test.outputs.coverage-report-files != '' }}
        uses: codecov/codecov-action@v4
        with:
          files: ${{ steps.test.outputs.coverage-report-files }}
          fail_ci_if_error: false
          verbose: true
          flags: differential-arm64
          token: ${{ secrets.CODECOV_TOKEN }}

      - name: Show disk space after the tasks
        run: df -h