chore: better maintainability #1
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| name: CI/CD | |
| on: | |
| push: | |
| branches: [ main, master, develop ] | |
| pull_request: | |
| branches: [ main, master, develop ] | |
| workflow_dispatch: | |
| env: | |
| BUILD_TYPE: Release | |
| jobs: | |
| build-and-test: | |
| name: Build and Test - ${{ matrix.os }} (${{ matrix.arch }}) | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| include: | |
| # Linux x86_64 (主要测试平台) | |
| - os: ubuntu-latest | |
| arch: x86_64 | |
| cmake_build_type: Release | |
| use_ros2: false | |
| use_qemu: false | |
| # Linux x86_64 Debug 构建 | |
| - os: ubuntu-latest | |
| arch: x86_64 | |
| cmake_build_type: Debug | |
| use_ros2: false | |
| use_qemu: false | |
| # Linux x86_64 with ROS2 | |
| - os: ubuntu-22.04 | |
| arch: x86_64 | |
| cmake_build_type: Release | |
| use_ros2: true | |
| ros2_distro: humble | |
| use_qemu: false | |
| # Linux aarch64 Release 构建 (使用 QEMU 模拟) | |
| - os: ubuntu-latest | |
| arch: aarch64 | |
| cmake_build_type: Release | |
| use_ros2: false | |
| use_qemu: true | |
| steps: | |
| - name: 检出代码 | |
| uses: actions/checkout@v4 | |
| - name: 设置 QEMU (aarch64) | |
| if: matrix.use_qemu == true | |
| uses: docker/setup-qemu-action@v3 | |
| with: | |
| platforms: arm64 | |
| - name: 缓存 CMake 构建 | |
| uses: actions/cache@v4 | |
| with: | |
| path: | | |
| build | |
| install | |
| log | |
| ~/.cmake | |
| key: ${{ runner.os }}-cmake-${{ matrix.arch }}-${{ matrix.cmake_build_type }}-${{ matrix.use_ros2 }}-${{ hashFiles('**/CMakeLists.txt') }} | |
| restore-keys: | | |
| ${{ runner.os }}-cmake-${{ matrix.arch }}-${{ matrix.cmake_build_type }}-${{ matrix.use_ros2 }}- | |
| - name: 安装构建依赖 | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install -y \ | |
| build-essential \ | |
| cmake \ | |
| git \ | |
| libpthread-stubs0-dev \ | |
| can-utils | |
| # 对于 aarch64，安装交叉编译工具链或 QEMU 用户模式 | |
| if [ "${{ matrix.arch }}" = "aarch64" ]; then | |
| sudo apt-get install -y \ | |
| gcc-aarch64-linux-gnu \ | |
| g++-aarch64-linux-gnu \ | |
| qemu-user-static \ | |
| binfmt-support | |
| fi | |
| - name: 安装 ROS2 (如果需要) | |
| if: matrix.use_ros2 == true | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install -y \ | |
| locales \ | |
| software-properties-common | |
| sudo locale-gen en_US en_US.UTF-8 | |
| sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 | |
| export LANG=en_US.UTF-8 | |
| sudo apt-get install -y \ | |
| curl \ | |
| gnupg2 \ | |
| lsb-release | |
| sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add - | |
| sudo sh -c 'echo "deb http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list' | |
| sudo apt-get update | |
| sudo apt-get install -y \ | |
| ros-${{ matrix.ros2_distro }}-desktop \ | |
| python3-colcon-common-extensions \ | |
| python3-rosdep | |
| - name: 初始化 ROS2 (如果需要) | |
| if: matrix.use_ros2 == true | |
| run: | | |
| source /opt/ros/${{ matrix.ros2_distro }}/setup.bash | |
| sudo rosdep init || true | |
| rosdep update | |
| - name: 验证工具链版本 | |
| run: | | |
| echo "=== CMake 版本 ===" | |
| cmake --version | |
| echo "" | |
| echo "=== 编译器版本 ===" | |
| if [ "${{ matrix.arch }}" = "aarch64" ]; then | |
| aarch64-linux-gnu-gcc --version | |
| aarch64-linux-gnu-g++ --version | |
| else | |
| gcc --version | |
| g++ --version | |
| fi | |
| echo "" | |
| echo "=== 系统信息 ===" | |
| uname -a | |
| echo "目标架构: ${{ matrix.arch }}" | |
| echo "实际架构: $(uname -m)" | |
| if [ "${{ matrix.use_ros2 }}" = "true" ]; then | |
| echo "=== ROS2 版本 ===" | |
| source /opt/ros/${{ matrix.ros2_distro }}/setup.bash | |
| ros2 --version || echo "ROS2 not available" | |
| fi | |
| - name: 创建构建目录 | |
| run: mkdir -p build | |
| - name: 配置 CMake (非 ROS2) | |
| if: matrix.use_ros2 == false | |
| working-directory: build | |
| run: | | |
| if [ "${{ matrix.arch }}" = "aarch64" ]; then | |
| # 使用交叉编译工具链 | |
| cmake ../src/linkerta \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.cmake_build_type }} \ | |
| -DCMAKE_SYSTEM_NAME=Linux \ | |
| -DCMAKE_SYSTEM_PROCESSOR=aarch64 \ | |
| -DCMAKE_C_COMPILER=aarch64-linux-gnu-gcc \ | |
| -DCMAKE_CXX_COMPILER=aarch64-linux-gnu-g++ \ | |
| -DCMAKE_FIND_ROOT_PATH=/usr/aarch64-linux-gnu | |
| else | |
| cmake ../src/linkerta \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.cmake_build_type }} | |
| fi | |
| - name: 配置 ROS2 构建 | |
| if: matrix.use_ros2 == true | |
| working-directory: ${{ github.workspace }} | |
| run: | | |
| source /opt/ros/${{ matrix.ros2_distro }}/setup.bash | |
| colcon build \ | |
| --cmake-args \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.cmake_build_type }} \ | |
| -DUSE_ROS2=ON \ | |
| --packages-select linkerta | |
| - name: 构建项目 (非 ROS2) | |
| if: matrix.use_ros2 == false | |
| working-directory: build | |
| run: | | |
| cmake --build . \ | |
| --config ${{ matrix.cmake_build_type }} \ | |
| --parallel $(nproc) \ | |
| --verbose | |
| - name: 验证构建产物 (非 ROS2) | |
| if: matrix.use_ros2 == false | |
| working-directory: build | |
| run: | | |
| echo "=== 验证构建产物 ===" | |
| if [ -f linkerta ]; then | |
| echo "✓ linkerta 构建成功" | |
| file linkerta | |
| ls -lh linkerta | |
| else | |
| echo "✗ linkerta 未找到" | |
| exit 1 | |
| fi | |
| - name: 验证 ROS2 构建 | |
| if: matrix.use_ros2 == true | |
| working-directory: ${{ github.workspace }} | |
| run: | | |
| source /opt/ros/${{ matrix.ros2_distro }}/setup.bash | |
| source install/setup.bash | |
| echo "=== 验证 ROS2 包 ===" | |
| ros2 pkg list | grep linkerta || exit 1 | |
| echo "✓ linkerta ROS2 包构建成功" | |
| code-quality: | |
| name: Code Quality Checks | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: 检出代码 | |
| uses: actions/checkout@v4 | |
| - name: 检查文件编码和换行符 | |
| run: | | |
| echo "检查文件编码和换行符..." | |
| # 检查是否有 Windows 换行符 | |
| CRLF_FILES=$(find . -type f \ | |
| \( -name "*.cpp" -o -name "*.h" -o -name "*.cmake" -o -name "CMakeLists.txt" -o -name "*.py" -o -name "*.yaml" -o -name "*.yml" \) \ | |
| -exec file {} \; | grep -i "CRLF" || true) | |
| if [ -n "$CRLF_FILES" ]; then | |
| echo "错误: 发现 Windows 换行符 (CRLF)" | |
| echo "" | |
| echo "以下文件需要修复：" | |
| echo "$CRLF_FILES" | |
| echo "" | |
| echo "修复方法（Linux/macOS）：" | |
| echo " find . -type f \\( -name '*.cpp' -o -name '*.h' -o -name '*.cmake' -o -name 'CMakeLists.txt' \\) -exec sed -i 's/\\r$//' {} \\;" | |
| exit 1 | |
| fi | |
| echo "✓ 文件编码检查通过" | |
| - name: 检查 CMake 语法 | |
| run: | | |
| echo "检查 CMake 语法..." | |
| cmake --version | |
| # 尝试解析 CMakeLists.txt | |
| mkdir -p /tmp/cmake-check | |
| cd /tmp/cmake-check | |
| cmake ${{ github.workspace }}/src/linkerta -Wno-dev > /dev/null 2>&1 || true | |
| echo "✓ CMake 语法检查完成" | |
| - name: 检查代码格式 (可选) | |
| continue-on-error: true | |
| run: | | |
| echo "检查代码格式..." | |
| if command -v clang-format &> /dev/null; then | |
| sudo apt-get update | |
| sudo apt-get install -y clang-format | |
| fi | |
| if command -v clang-format &> /dev/null; then | |
| find src -name "*.cpp" -o -name "*.h" | head -5 | xargs clang-format --dry-run --Werror || echo "代码格式检查完成（部分文件可能需要格式化）" | |
| else | |
| echo "clang-format 不可用，跳过格式检查" | |
| fi | |
| summary: | |
| name: CI Summary | |
| runs-on: ubuntu-latest | |
| needs: [build-and-test, code-quality] | |
| if: always() | |
| steps: | |
| - name: 生成 CI 摘要 | |
| run: | | |
| echo "## CI/CD 构建摘要" >> $GITHUB_STEP_SUMMARY | |
| echo "" >> $GITHUB_STEP_SUMMARY | |
| echo "### 构建状态" >> $GITHUB_STEP_SUMMARY | |
| echo "- 构建和测试: ${{ needs.build-and-test.result }}" >> $GITHUB_STEP_SUMMARY | |
| echo "- 代码质量: ${{ needs.code-quality.result }}" >> $GITHUB_STEP_SUMMARY | |
| echo "" >> $GITHUB_STEP_SUMMARY | |
| echo "### 详细信息" >> $GITHUB_STEP_SUMMARY | |
| echo "查看上方的作业详情以获取更多信息。" >> $GITHUB_STEP_SUMMARY |