Build Documentation #146
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| name: Build Documentation | |
| on: | |
| workflow_run: | |
| workflows: [Build and test] | |
| types: [completed] | |
| branches: [main] | |
| pull_request: | |
| branches: | |
| - main | |
| workflow_dispatch: | |
| env: | |
| WORKSPACE_PATH: ros_ws/src/reference_system | |
| DOXYGEN_ARTIFACT: doxygen_xml | |
| DOXYBOOK_ARTIFACT: api_reference | |
| DOXYBOOK_VERSION: v1.4.0 | |
| # only run one build doc workflow at a time, cancel any running ones | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.ref }} | |
| cancel-in-progress: true | |
| jobs: | |
| generate-doxygen: | |
| runs-on: ubuntu-latest | |
| container: | |
| image: rostooling/setup-ros-docker:ubuntu-focal-ros-galactic-ros-base-latest | |
| steps: | |
| - name: Make sure output directory exists | |
| run: mkdir -p ${{ env.WORKSPACE_PATH }} | |
| - name: Checkout repository | |
| uses: actions/checkout@v2 | |
| with: | |
| path: ${{ env.WORKSPACE_PATH }} | |
| - name: Generate doxygen and upload as artifact | |
| # TODO: figure out way to use WORKSPACE_PATH var here | |
| uses: ./ros_ws/src/reference_system/.github/actions/generate-doxygen | |
| with: | |
| working-directory: ${{ env.WORKSPACE_PATH }} | |
| doxyfile-path: '.doxygen/Doxyfile' | |
| artifact-path: ${{ env.WORKSPACE_PATH }}/docs/xml | |
| artifact-name: ${{ env.DOXYGEN_ARTIFACT }} | |
| artifact-retention-days: 30 | |
| generate-doxybook2: | |
| runs-on: ubuntu-latest | |
| needs: generate-doxygen | |
| steps: | |
| - name: Make sure output directory exists | |
| run: mkdir -p ${{ env.WORKSPACE_PATH }} | |
| - name: Checkout repository | |
| uses: actions/checkout@v2 | |
| with: | |
| path: ${{ env.WORKSPACE_PATH }} | |
| - name: Generate API reference and upload as artifact | |
| # TODO: figure out way to use WORKSPACE_PATH var here | |
| uses: ./ros_ws/src/reference_system/.github/actions/generate-doxybook | |
| with: | |
| input-doxygen-artifact: ${{ env.DOXYGEN_ARTIFACT }} | |
| doxygen-artifact-extraction-path: ${{ env.WORKSPACE_PATH }}/docs/xml | |
| doxybook2-version: ${{ env.DOXYBOOK_VERSION }} | |
| doxybook2-config-path: ${{ env.WORKSPACE_PATH }}/docs/doxybook2_config.json | |
| output-path: ${{ env.WORKSPACE_PATH }}/docs/api-reference | |
| base-url: /reference-system/latest/api-reference/ | |
| artifact-path: ${{ env.WORKSPACE_PATH }}/docs/api-reference | |
| artifact-name: ${{ env.DOXYBOOK_ARTIFACT }} | |
| artifact-retention-days: 30 | |
| build-mkdocs: | |
| runs-on: ubuntu-latest | |
| if: github.ref != 'refs/heads/main' | |
| needs: generate-doxybook2 | |
| steps: | |
| - name: Make sure output directory exists | |
| run: mkdir -p ${{ env.WORKSPACE_PATH }} | |
| - name: Checkout repository | |
| uses: actions/checkout@v2 | |
| with: | |
| path: ${{ env.WORKSPACE_PATH }} | |
| - name: Download API Reference | |
| uses: actions/download-artifact@v3 | |
| with: | |
| name: ${{ env.DOXYBOOK_ARTIFACT }} | |
| path: ${{ env.WORKSPACE_PATH }}/docs/api-reference | |
| - name: Build mkdocs site | |
| run: | | |
| cd ${{ env.WORKSPACE_PATH }} | |
| # ensure gh-pages git history is fetched | |
| git fetch origin gh-pages --depth=1 | |
| sudo apt-get update -y | |
| # install mkdocs dependencies | |
| python3 -m pip install -r docs/requirements.txt | |
| # build site | |
| mkdocs build | |
| - name: Upload docs site | |
| uses: actions/upload-artifact@v3 | |
| with: | |
| name: reference_system_site | |
| path: ${{ env.WORKSPACE_PATH }}/site | |
| run_benchmarks: | |
| runs-on: ubuntu-latest | |
| if: github.ref == 'refs/heads/main' # Only run benchmarks on `main` | |
| continue-on-error: true | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| ros_distribution: | |
| - humble | |
| - iron | |
| - rolling | |
| include: | |
| # Humble Hawksbill (May 2022 - May 2027) | |
| - ros_distribution: humble | |
| docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest | |
| # Iron Irwini (May 2023 - November 2024) | |
| - ros_distribution: iron | |
| docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-iron-ros-base-latest | |
| # Rolling Ridley (June 2020 - Present) | |
| - ros_distribution: rolling | |
| docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-rolling-ros-base-latest | |
| container: | |
| image: ${{ matrix.docker_image }} | |
| # if: github.ref == 'refs/heads/main' # Only run benchmarks on `main` | |
| steps: | |
| - name: Make sure output directory exists | |
| run: mkdir -p ${{ env.WORKSPACE_PATH }} | |
| - name: Checkout repository | |
| uses: actions/checkout@v2 | |
| with: | |
| path: ${{ env.WORKSPACE_PATH }} | |
| - name: Install benchmark dependencies | |
| shell: bash | |
| run: | | |
| sudo apt-get update -y | |
| python3 -m pip install -r ${{ env.WORKSPACE_PATH }}/requirements.txt | |
| - name: Build and run benchmarks | |
| uses: ros-tooling/[email protected] | |
| with: | |
| package-name: autoware_reference_system reference_system reference_interfaces | |
| target-ros2-distro: ${{ matrix.ros_distribution }} | |
| vcs-repo-file-url: "" | |
| colcon-defaults: | | |
| { | |
| "build": { | |
| "cmake-args": [ | |
| "-DRUN_BENCHMARK=ON", | |
| "-DALL_RMWS=ON" | |
| ] | |
| } | |
| } | |
| - name: Upload Autoware Benchmark Reports | |
| continue-on-error: true # continue even if report gen failsS | |
| uses: actions/upload-artifact@v3 | |
| with: | |
| name: autoware_benchmark_reports_${{ matrix.ros_distribution }} | |
| path: '~/.ros/benchmark_autoware_reference_system' | |
| retention-days: 60 | |
| deploy_docs: | |
| runs-on: ubuntu-latest | |
| # only run on main branch after jobs listed in `needs` have finished (successful or not) | |
| if: github.ref == 'refs/heads/main' && always() | |
| needs: [build-mkdocs, run_benchmarks] | |
| steps: | |
| - name: Make sure output directory exists | |
| run: mkdir -p ${{ env.WORKSPACE_PATH }} | |
| - name: Checkout repository | |
| uses: actions/checkout@v2 | |
| with: | |
| path: ${{ env.WORKSPACE_PATH }} | |
| - name: Download API reference | |
| uses: actions/download-artifact@v3 | |
| with: | |
| name: ${{ env.DOXYBOOK_ARTIFACT }} | |
| path: ${{ env.WORKSPACE_PATH }}/docs/api-reference | |
| - name: Download Foxy reports | |
| continue-on-error: true # Still publish docs even if reports are not available | |
| uses: actions/download-artifact@v3 | |
| with: | |
| name: autoware_benchmark_reports_foxy | |
| path: ${{ env.WORKSPACE_PATH }}/docs/reports/foxy | |
| - name: Download Galactic reports | |
| continue-on-error: true # Still publish docs even if reports are not available | |
| uses: actions/download-artifact@v3 | |
| with: | |
| name: autoware_benchmark_reports_galactic | |
| path: ${{ env.WORKSPACE_PATH }}/docs/reports/galactic | |
| - name: Download Humble reports | |
| continue-on-error: true # Still publish docs even if reports are not available | |
| uses: actions/download-artifact@v3 | |
| with: | |
| name: autoware_benchmark_reports_humble | |
| path: ${{ env.WORKSPACE_PATH }}/docs/reports/humble | |
| - name: Download Rolling reports | |
| continue-on-error: true # Still publish docs even if reports are not available | |
| uses: actions/download-artifact@v3 | |
| with: | |
| name: autoware_benchmark_reports_rolling | |
| path: ${{ env.WORKSPACE_PATH }}/docs/reports/rolling | |
| - name: Deploy mkdocs site | |
| shell: bash | |
| run: | | |
| cd ${{ env.WORKSPACE_PATH }} | |
| # ensure gh-pages git history is fetched | |
| git fetch origin gh-pages --depth=1 | |
| sudo apt-get update -y | |
| # install docs dependencies | |
| python3 -m pip install -r docs/requirements.txt | |
| # TODO: mike rebuilds entire site, instead we should | |
| # skip the build and download site artifact from previous workflow | |
| if [ -z ${{ github.event.release.tag_name }}]; then | |
| export NEW_VERSION=main | |
| else | |
| export NEW_VERSION=${{ github.event.release.tag_name }} | |
| fi | |
| git config user.name doc-bot | |
| git config user.email [email protected] | |
| mike deploy --push --update-aliases $NEW_VERSION latest | |