Improve CI

- Allow downloading of pre-commit + clang-tidy fixes
- Use clang compiler for clang-tidy job
- Adapt to improved lcov-action

Author: rhaschke

.github/workflows/ci.yaml

@@ -36,48 +36,52 @@ jobs:
 
     env:
       CATKIN_LINT: true
+      CLANG_TIDY_ARGS: --fix --fix-errors --format-style=file
+      DOCKER_IMAGE: moveit/moveit:${{ matrix.env.IMAGE }}
       UNDERLAY: /root/ws_moveit/install
       DOWNSTREAM_WORKSPACE: "github:ubi-agni/mtc_demos#master github:TAMS-Group/mtc_pour#master"
       CCACHE_DIR: ${{ github.workspace }}/.ccache
-      BASEDIR: /home/runner/work
-      DOCKER_IMAGE: moveit/moveit:${{ matrix.env.IMAGE }}
+      BASEDIR: ${{ github.workspace }}/.work
       CACHE_PREFIX: "${{ matrix.env.IMAGE }}${{ contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') && '-ccov' || '' }}"
       # perform full clang-tidy check only on manual trigger (workflow_dispatch), PRs do check changed files, otherwise nothing
       CLANG_TIDY_BASE_REF: ${{ github.event_name != 'workflow_dispatch' && (github.base_ref || github.ref) || '' }}
+      CC: ${{ matrix.env.CLANG_TIDY && 'clang' }}
+      CXX: ${{ matrix.env.CLANG_TIDY && 'clang++' }}
 
     name: "${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }}"
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v2
 
       - name: Cache ccache
-        uses: pat-s/[email protected].3
+        uses: pat-s/[email protected].5
         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 }}
 
-      - name: industrial_ci
+      - id: ici
+        name: Run industrial_ci
         uses: ros-industrial/industrial_ci@master
-        env: ${{ matrix.env || env }}
+        env: ${{ matrix.env }}
 
       - name: Upload test artifacts (on failure)
         uses: actions/upload-artifact@v2
-        if: failure()
+        if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results)
         with:
-          name: test-results
+          name: test-results-${{ matrix.env.IMAGE }}
           path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml
-      - name: Collect coverage information
-        uses: rhaschke/lcov-action@master
-        if: ${{ contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') }}
+      - name: Generate codecov report
+        uses: rhaschke/lcov-action@main
+        if: contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') && steps.ici.outputs.target_test_results == '0'
         with:
-          workdir: ${{ env.BASEDIR }}
-          dir: target_ws
-          ignore: '"/usr/*" "/opt/*" "/root/ws_moveit/*" "*/target_ws/build/*" "*/target_ws/install/*" "*/test/*"'
+          docker: $DOCKER_IMAGE
+          workdir: ${{ env.BASEDIR }}/target_ws
+          ignore: '"*/target_ws/build/*" "*/target_ws/install/*" "*/test/*"'
       - name: Upload codecov report
-        uses: codecov/codecov-action@v1
-        if: ${{ contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') }}
+        uses: codecov/codecov-action@v2
+        if: contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') && steps.ici.outputs.target_test_results == '0'
         with:
-          files: ${{ env.BASEDIR }}/coverage.info
+          files: ${{ env.BASEDIR }}/target_ws/coverage.info

.github/workflows/format.yaml

@@ -21,3 +21,9 @@ jobs:
         with:
           distro: noetic
       - uses: pre-commit/[email protected]
+        id: precommit
+      - name: Upload pre-commit changes
+        if: failure() && steps.precommit.outcome == 'failure'
+        uses: rhaschke/upload-git-patch-action@main
+        with:
+          name: pre-commit