ci: add build-and-test-differential action

Signed-off-by: Ryohsuke Mitsudome <[email protected]>

.github/actions/build-and-test-differential/action.yaml

@@ -0,0 +1,111 @@
+name: build-and-test-differential
+description: ""
+
+inputs:
+  rosdistro:
+    description: ""
+    required: true
+  container:
+    description: ""
+    required: true
+  container-suffix:
+    description: ""
+    required: true
+  runner:
+    description: ""
+    required: true
+  build-depends-repos:
+    description: ""
+    required: true
+  build-pre-command:
+    description: ""
+    required: true
+  codecov-token:
+    description: ""
+    required: true
+
+runs:
+  using: composite
+  steps:
+    - name: Show disk space before the tasks
+      run: df -h
+      shell: bash
+
+    - name: Show machine specs
+      run: lscpu && free -h
+      shell: bash
+
+    - 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: Create ccache directory
+      run: |
+        mkdir -p ${CCACHE_DIR}
+        du -sh ${CCACHE_DIR} && ccache -s
+      shell: bash
+
+    - name: Attempt to restore ccache
+      uses: actions/cache/restore@v4
+      with:
+        path: |
+          /root/.ccache
+        key: ccache-main-${{ runner.arch }}-${{ inputs.rosdistro }}-${{ github.event.pull_request.base.sha }}
+        restore-keys: |
+          ccache-main-${{ runner.arch }}-${{ inputs.rosdistro }}-
+
+    - name: Show ccache stats before build and reset stats
+      run: |
+        du -sh ${CCACHE_DIR} && ccache -s
+        ccache --zero-stats
+      shell: bash
+
+    - name: Export CUDA state as a variable for adding to cache key
+      run: |
+        build_type_cuda_state=nocuda
+        if [[ "${{ inputs.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: Build
+      if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+      uses: autowarefoundation/autoware-github-actions/colcon-build@v1
+      with:
+        rosdistro: ${{ inputs.rosdistro }}
+        target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+        build-depends-repos: ${{ inputs.build-depends-repos }}
+        cache-key-element: ${{ env.BUILD_TYPE_CUDA_STATE }}
+        build-pre-command: ${{ inputs.build-pre-command }}
+
+    - name: Show ccache stats after build
+      run: du -sh ${CCACHE_DIR} && ccache -s
+      shell: bash
+
+    - name: Test
+      id: test
+      if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+      uses: autowarefoundation/autoware-github-actions/colcon-test@v1
+      with:
+        rosdistro: ${{ inputs.rosdistro }}
+        target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+        build-depends-repos: ${{ inputs.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
+        token: ${{ inputs.codecov-token }}
+
+    - name: Show disk space after the tasks
+      run: df -h
+      shell: bash