From 75b7aae2db7f47bcdb3cd379c52ded2ba35f29ec Mon Sep 17 00:00:00 2001
From: Levi Armstrong <levi.armstrong@gmail.com>
Date: Fri, 10 Nov 2023 15:29:20 -0600
Subject: [PATCH] Update code quality CI build

---
 .github/workflows/code_quality.yml | 71 ++++++++++++++++++++----------
 1 file changed, 47 insertions(+), 24 deletions(-)

diff --git a/.github/workflows/code_quality.yml b/.github/workflows/code_quality.yml
index 5e30675bf57..704ebb26058 100644
--- a/.github/workflows/code_quality.yml
+++ b/.github/workflows/code_quality.yml
@@ -24,33 +24,33 @@ jobs:
         include:
           - job_type: clang-tidy
             env:
-              TARGET_CMAKE_ARGS: "-DTESSERACT_ENABLE_CLANG_TIDY=ON -DTESSERACT_ENABLE_TESTING=ON"
-              NOT_TEST_BUILD: true
+              TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_CLANG_TIDY=ON -DTESSERACT_ENABLE_TESTING=ON"
           - job_type: codecov
             env:
               TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_CODE_COVERAGE=ON -DTESSERACT_WARNINGS_AS_ERRORS=OFF"
-              AFTER_SCRIPT: 'ici_with_unset_variables source ${HOME}/${PREFIX}target_ws/install/setup.bash && cd ${HOME}/${PREFIX}target_ws && colcon build --cmake-target ccov-all --packages-select tesseract_collision tesseract_common tesseract_environment tesseract_geometry tesseract_kinematics tesseract_srdf tesseract_state_solver tesseract_scene_graph tesseract_urdf && cd src/tesseract && git config --global --add safe.directory ${HOME}/${PREFIX}target_ws/src/tesseract && bash <(curl -s https://codecov.io/bash) -t 758610a6-d851-4185-a01a-5b9465889b62 -s ${HOME}/${PREFIX}target_ws/build -f *all-merged.info'
-    env:
-      DOCKER_IMAGE: ubuntu:20.04
-      ROS_DISTRO: false
-      PREFIX: ${{ github.repository }}_
-      ADDITIONAL_DEBS: 'curl lsb-release liboctomap-dev clang-tidy'
-      AFTER_INIT: './.github/workflows/add_ros_apt_sources.sh'
-      UPSTREAM_WORKSPACE: 'dependencies.repos'
-      ROSDEP_SKIP_KEYS: "fcl opw_kinematics ros_industrial_cmake_boilerplate iwyu octomap catkin"
-      CCACHE_DIR: "${{ github.workspace }}/${{ matrix.job_type }}/.ccache"
-      UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
+    container:
+      image: ubuntu:20.04
+      env:
+        CCACHE_DIR: "$GITHUB_WORKSPACE/${{ matrix.job_type }}/.ccache"
+        DEBIAN_FRONTEND: noninteractive
+        TZ: Etc/UTC
     steps:
-      - uses: actions/checkout@v2
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          path: target_ws/src
 
-      - name: Free Disk Space
-        continue-on-error: true
+      - name: Install Depends
+        shell: bash
         run: |
-          sudo swapoff -a
-          sudo rm -f /swapfile
-          sudo apt clean
-          docker rmi $(docker image ls -aq)
-          df -h
+          apt update
+          apt upgrade -y
+          apt install -y cmake curl lsb-release ca-certificates gnupg python3 python3-distutils python3-pip ccache git
+          python3 -m pip install vcstool -q
+          python3 -m pip install colcon-common-extensions -q
+          cd $GITHUB_WORKSPACE/target_ws/src
+          ./.github/workflows/add_ros_apt_sources.sh
+          apt install -y liboctomap-dev libfcl-dev libconsole-bridge-dev libbullet-dev libbullet-extras-dev libyaml-cpp-dev libtinyxml2-dev libassimp-dev liborocos-kdl-dev libpcl-dev liblapack-dev libboost-dev libboost-filesystem-dev libboost-serialization-dev libboost-program-options-dev libboost-graph-dev libbenchmark-dev libccd-dev libgtest-dev clang-tidy
 
       - name: Prepare ccache timestamp
         id: ccache_cache_timestamp
@@ -68,7 +68,30 @@ jobs:
           restore-keys: |
             ${{ matrix.job_type }}-ccache-
 
-      - name: Build repository
-        uses: 'tesseract-robotics/industrial_ci@0109bf3523050402490b56e19c9554e7d7c5379f'
-        env: ${{ matrix.env }}
+      - name: Build Upstream Workspace
+        shell: bash
+        run: |
+          mkdir -p $GITHUB_WORKSPACE/upstream_ws/src
+          vcs import --input "$GITHUB_WORKSPACE/target_ws/src/dependencies.repos" $GITHUB_WORKSPACE/upstream_ws/src/
+          cd $GITHUB_WORKSPACE/upstream_ws
+          colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Release
+
+      - name: Build Target Workspace
+        shell: bash
+        run: |
+          cd $GITHUB_WORKSPACE/target_ws
+          source $GITHUB_WORKSPACE/upstream_ws/install/setup.bash
+          colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_CXX_COMPILER_LAUNCHER=ccache ${{ env.TARGET_CMAKE_ARGS }}
+          if [ $? -ge 1 ]; then return 1; fi
+
+      - name: Upload CodeCov Results
+        if: ${{ matrix.job_type }} == codecov
+        shell: bash
+        run: |
+          source $GITHUB_WORKSPACE/target_ws/install/setup.bash
+          cd $GITHUB_WORKSPACE/target_ws
+          colcon build --cmake-target ccov-all --packages-select tesseract_collision tesseract_common tesseract_environment tesseract_geometry tesseract_kinematics tesseract_srdf tesseract_state_solver tesseract_scene_graph tesseract_urdf
+          cd src/tesseract
+          git config --global --add safe.directory $GITHUB_WORKSPACE/target_ws/src/tesseract
+          bash <(curl -s https://codecov.io/bash) -t 758610a6-d851-4185-a01a-5b9465889b62 -s $GITHUB_WORKSPACE/target_ws/build -f *all-merged.info'