ICI: Use gh action for caching (#392)

Author: christophfroehlich

.github/workflows/humble-binary-build.yml

@@ -9,6 +9,13 @@ on:
       - '.github/workflows/humble-binary-build.yml'
       - '.github/workflows/reusable-industrial-ci-with-cache.yml'
       - 'ros_controls.humble.repos'
+  push:
+    branches:
+      - master
+    paths:
+      - '.github/workflows/humble-binary-build.yml'
+      - '.github/workflows/reusable-industrial-ci-with-cache.yml'
+      - 'ros_controls.humble.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'

.github/workflows/jazzy-binary-build.yml

@@ -9,6 +9,13 @@ on:
       - '.github/workflows/jazzy-binary-build.yml'
       - '.github/workflows/reusable-industrial-ci-with-cache.yml'
       - 'ros_controls.jazzy.repos'
+  push:
+    branches:
+      - master
+    paths:
+      - '.github/workflows/jazzy-binary-build.yml'
+      - '.github/workflows/reusable-industrial-ci-with-cache.yml'
+      - 'ros_controls.jazzy.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'

.github/workflows/kilted-binary-build.yml

@@ -9,6 +9,13 @@ on:
       - '.github/workflows/kilted-binary-build.yml'
       - '.github/workflows/reusable-industrial-ci-with-cache.yml'
       - 'ros_controls.kilted.repos'
+  push:
+    branches:
+      - master
+    paths:
+      - '.github/workflows/kilted-binary-build.yml'
+      - '.github/workflows/reusable-industrial-ci-with-cache.yml'
+      - 'ros_controls.kilted.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'

.github/workflows/reusable-industrial-ci-with-cache.yml

@@ -88,16 +88,16 @@ jobs:
       BASEDIR: ${{ github.workspace }}/${{ inputs.basedir }}
       CACHE_PREFIX: ${{ inputs.ros_distro }}-${{ inputs.upstream_workspace }}-${{ inputs.ros_repo }}-${{ github.job }}
     steps:
-      - name: Checkout ${{ inputs.ref }} when build is not scheduled
+      - name: Checkout ${{ github.ref }} when build is not scheduled
         if: ${{ github.event_name != 'schedule' }}
         uses: actions/checkout@v4
-      - name: Checkout ${{ inputs.ref }} on scheduled build
+      - name: Checkout ${{ inputs.ref_for_scheduled_build }} on scheduled build
         if: ${{ github.event_name == 'schedule' }}
         uses: actions/checkout@v4
         with:
           ref: ${{ inputs.ref_for_scheduled_build }}
-      - name: cache ccache
-        uses: pat-s/always-upload-cache@v3.0.11
+      - name: Restore ccache folder
+        uses: actions/cache/restore@v4
         with:
           path: ${{ env.CCACHE_DIR }}
           key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
@@ -128,10 +128,19 @@ jobs:
           CXX: ${{ inputs.cxx_compiler }}
           CMAKE_ARGS: -DCMAKE_CXX_FLAGS="-isystem /opt/ros/${{ inputs.ros_distro }}/include"
         id: ici
+      - name: Save ccache folder
+        uses: actions/cache/save@v4
+        # save if build step succeeded, but only on default branch to save disk space
+        if: ${{ always() && github.ref == format('refs/heads/{0}', github.event.repository.default_branch) && steps.ici.outputs.build_target_workspace == '0' }}
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
+
       - name: Download issue template for target failure  # Has to be a local file
         if: ${{ always() && steps.ici.outcome == 'failure' && github.event_name == 'schedule' }}
         run:
           wget https://raw.githubusercontent.com/ros-controls/ros2_control_ci/master/.github/issue_template_failed_ci.md -O .github/issue_template_failed_ci.md
+
       - name: Download issue template for downstream failure  # Has to be a local file
         if: ${{ always() && steps.ici.outcome == 'failure' && github.event_name == 'schedule' }}
         run:
@@ -158,10 +167,3 @@ jobs:
         with:
           update_existing: true
           filename: .github/issue_template_failed_ci_downstream.md
-      - name: prepare target_ws for cache
-        if: ${{ always() && ! matrix.env.CCOV }}
-        run: |
-          du -sh ${{ env.BASEDIR }}/target_ws
-          sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
-          sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
-          du -sh ${{ env.BASEDIR }}/target_ws

.github/workflows/rolling-binary-build.yml

@@ -9,6 +9,13 @@ on:
       - '.github/workflows/rolling-binary-build.yml'
       - '.github/workflows/reusable-industrial-ci-with-cache.yml'
       - 'ros_controls.rolling.repos'
+  push:
+    branches:
+      - master
+    paths:
+      - '.github/workflows/rolling-binary-build.yml'
+      - '.github/workflows/reusable-industrial-ci-with-cache.yml'
+      - 'ros_controls.rolling.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'

.github/workflows/rolling-compatibility-humble-binary-build.yml

@@ -9,6 +9,13 @@ on:
       - '.github/workflows/rolling-compatibility-humble-binary-build.yml'
       - '.github/workflows/reusable-industrial-ci-with-cache.yml'
       - 'ros_controls.rolling-on-humble.repos'
+  push:
+    branches:
+      - master
+    paths:
+      - '.github/workflows/rolling-compatibility-humble-binary-build.yml'
+      - '.github/workflows/reusable-industrial-ci-with-cache.yml'
+      - 'ros_controls.rolling-on-humble.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'

.github/workflows/rolling-compatibility-jazzy-binary-build.yml

@@ -9,6 +9,13 @@ on:
       - '.github/workflows/rolling-compatibility-jazzy-binary-build.yml'
       - '.github/workflows/reusable-industrial-ci-with-cache.yml'
       - 'ros_controls.rolling-on-jazzy.repos'
+  push:
+    branches:
+      - master
+    paths:
+      - '.github/workflows/rolling-compatibility-jazzy-binary-build.yml'
+      - '.github/workflows/reusable-industrial-ci-with-cache.yml'
+      - 'ros_controls.rolling-on-jazzy.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'

.github/workflows/rolling-compatibility-kilted-binary-build.yml

@@ -9,6 +9,13 @@ on:
       - '.github/workflows/rolling-compatibility-kilted-binary-build.yml'
       - '.github/workflows/reusable-industrial-ci-with-cache.yml'
       - 'ros_controls.rolling-on-kilted.repos'
+  push:
+    branches:
+      - master
+    paths:
+      - '.github/workflows/rolling-compatibility-kilted-binary-build.yml'
+      - '.github/workflows/reusable-industrial-ci-with-cache.yml'
+      - 'ros_controls.rolling-on-kilted.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'