Dtingdahl/ci script2

.github/actions/build-and-test/action.yml

@@ -0,0 +1,92 @@
+name: 'Build and Test'
+description: 'Build nvblox Docker image and run tests'
+inputs:
+  platform:
+    description: 'Platform to build for'
+    required: true
+  cuda-arch:
+    description: 'CUDA architecture'
+    required: true
+  cuda-version:
+    description: 'CUDA version'
+    required: true
+  ubuntu-version:
+    description: 'Ubuntu version'
+    required: true
+  gcc-sanitizer:
+    description: 'Build in debug mode with gcc sanitizers enabled'
+    required: false
+    default: 0
+  ngc-api-key:
+    description: 'NGC API Key for authentication'
+    required: true
+  run-cpp-tests:
+    description: 'Run C++ unit tests'
+    required: false
+    default: 'true'
+  run-python-tests:
+    description: 'Run Python unit tests'
+    required: false
+    default: 'true'
+  run-cuda-sanitizer:
+    description: 'Run CUDA sanitizer tests'
+    required: false
+    default: 'true'
+  run-realsense-tests:
+    description: 'Run Realsense example tests'
+    required: false
+    default: 'true'
+runs:
+  using: 'composite'
+  steps:
+    - name: NGC Login
+      uses: ./.github/actions/ngc-login
+      with:
+        ngc-api-key: ${{ inputs.ngc-api-key }}
+    - name: Set COMMON_PREMERGE_ARGS env
+      shell: bash
+      run: |
+        # Store arguments used for all jobs in an environment variable.
+        echo "COMMON_PREMERGE_ARGS=--platform ${{ inputs.platform }} --cuda-arch ${{ inputs.cuda-arch }} --cuda-version ${{ inputs.cuda-version }} --ubuntu-version ${{ inputs.ubuntu-version }} --gcc-sanitizer ${{ inputs.gcc-sanitizer }}" >> $GITHUB_ENV
+    # Note that the two build-image steps could be omitted since the build-and-test steps also build necessary images.
+    # However, we separate the steps to get cleaner logs and better timing granularity.
+    - name: Build dependency image
+      shell: bash
+      run: |
+        echo "::group::BUILD DEPENDENCY IMAGE"
+        time python3 ci/premerge.py $COMMON_PREMERGE_ARGS --build-image deps
+        echo "::endgroup::"
+    - name: Build build image
+      shell: bash
+      run: |
+        echo "::group::BUILD BINARIES IMAGE"
+        time python3 ci/premerge.py $COMMON_PREMERGE_ARGS --build-image build
+        echo "::endgroup::"
+    - name: Run CPP unit tests
+      if: inputs.run-cpp-tests == 'true'
+      shell: bash
+      run: |
+        echo "::group::RUN CPP UNIT TESTS"
+        time python3 ci/premerge.py $COMMON_PREMERGE_ARGS --build-and-test cpp
+        echo "::endgroup::"
+    - name: Run Python unit tests
+      if: inputs.run-python-tests == 'true'
+      shell: bash
+      run: |
+        echo "::group::RUN PYTHON UNIT TESTS"
+        time python3 ci/premerge.py $COMMON_PREMERGE_ARGS --build-and-test python
+        echo "::endgroup::"
+    - name: Run CUDA Sanitizer
+      if: inputs.run-cuda-sanitizer == 'true'
+      shell: bash
+      run: |
+        echo "::group::RUN CUDA SANITIZER"
+        time python3 ci/premerge.py $COMMON_PREMERGE_ARGS --build-and-test cuda-sanitizer
+        echo "::endgroup::"
+    - name: Run Realsense example test
+      if: inputs.run-realsense-tests == 'true'
+      shell: bash
+      run: |
+        echo "::group::RUN REALSENSE EXAMPLE TEST"
+        time python3 ci/premerge.py $COMMON_PREMERGE_ARGS --build-and-test realsense
+        echo "::endgroup::"

.github/actions/ngc-login/action.yml

@@ -0,0 +1,21 @@
+name: 'NGC Login'
+description: 'Login to NVIDIA NGC Container Registry'
+inputs:
+  ngc-api-key:
+    description: 'NGC API Key for authentication'
+    required: false
+runs:
+  using: 'composite'
+  steps:
+    - name: NGC Login
+      shell: bash
+      run: |
+        # Only attempt NGC login if API key is available
+        if [ -n "${{ inputs.ngc-api-key }}" ]; then
+          echo "Logging into NGC registry..."
+          docker login -u \$oauthtoken -p ${{ inputs.ngc-api-key }} nvcr.io
+          echo "✅ Successfully logged into NGC registry"
+        else
+          echo "⚠️ NGC_API_KEY not available - skipping NGC login"
+          echo "This is normal for PRs from forks or when secrets are not configured"
+        fi

.github/workflows/premerge.yml

@@ -0,0 +1,132 @@
+name: nvblox premerge
+on:
+  pull_request:
+jobs:
+  ## ------------------------------------------
+  ## Linting and formatting
+  ## ------------------------------------------
+  lint_precommit:
+    name: pre-commit
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout Code
+        uses: actions/checkout@v4
+        with:
+          lfs: false
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.10'
+      - name: Install pre-commit
+        run: |
+          python -m pip install --upgrade pip
+          pip install pre-commit clang-format==14.0.6
+      - name: Run pre-commit
+        run: pre-commit run --all-files --show-diff-on-failure
+  ## ------------------------------------------
+  ## Build and test x86/CU11/U22
+  ## ------------------------------------------
+  premerge_x86_cu11_u22:
+    name: Build&Test x86-CU11-U22
+    needs: [lint_precommit]
+    runs-on: [self-hosted, gpu] # GPU jobs will run on AWS
+    steps:
+      - name: Checkout Code
+        uses: actions/checkout@v4
+        with:
+          lfs: true
+      - name: premerge_x86_cu11_u22 - Unit tests
+        uses: ./.github/actions/build-and-test
+        with:
+          platform: x86_64
+          cuda-arch: 'native'
+          cuda-version: '11'
+          ubuntu-version: '22'
+          ngc-api-key: ${{ secrets.NGC_API_KEY }}
+  ## ------------------------------------------
+  ## Build and test x86/CU12/U22
+  ## ------------------------------------------
+  premerge_x86_cu12_u22:
+    name: Build&Test x86-CU12-U22
+    needs: [lint_precommit]
+    runs-on: [self-hosted, gpu] # GPU jobs will run on AWS
+    steps:
+      - name: Checkout Code
+        uses: actions/checkout@v4
+        with:
+          lfs: true
+      - name: premerge_x86_cu12_u22 - Unit tests
+        uses: ./.github/actions/build-and-test
+        with:
+          platform: x86_64
+          cuda-arch: 'native'
+          cuda-version: '12'
+          ubuntu-version: '22'
+          ngc-api-key: ${{ secrets.NGC_API_KEY }}
+  ## ------------------------------------------
+  ## Build and test x86/CU13/U24
+  ## ------------------------------------------
+  premerge_x86_cu13_u24:
+    name: Build&Test x86-CU13-U24
+    needs: [lint_precommit]
+    runs-on: [self-hosted, gpu] # GPU jobs will run on AWS
+    steps:
+      - name: Checkout Code
+        uses: actions/checkout@v4
+        with:
+          lfs: true
+      - name: premerge_x86_cu13_u24 - Unit tests
+        uses: ./.github/actions/build-and-test
+        with:
+          platform: x86_64
+          cuda-arch: 'native'
+          cuda-version: '13'
+          ubuntu-version: '24'
+          ngc-api-key: ${{ secrets.NGC_API_KEY }}
+          run-realsense-tests: false # TODO(dtingahl) make realsense docker build for cuda13
+  ## --------------------------------------------------------
+  ## Build and test x86/CU12/U22/gcc-sanitizer
+  ## --------------------------------------------------------
+  premerge_x86_cu12_u22_debug:
+    name: Build&Test x86-gcc-sanitizer
+    needs: [lint_precommit]
+    runs-on: [self-hosted, gpu] # GPU jobs will run on AWS
+    steps:
+      - name: Checkout Code
+        uses: actions/checkout@v4
+        with:
+          lfs: true
+      - name: premerge_x86_cu12_u22_debug - Unit tests
+        uses: ./.github/actions/build-and-test
+        with:
+          platform: x86_64
+          cuda-arch: 'native'
+          cuda-version: '12'
+          ubuntu-version: '22'
+          gcc-sanitizer: 1
+          ngc-api-key: ${{ secrets.NGC_API_KEY }}
+          run-python-tests: false # TODO(dtingdahl) Enable these tests
+          run-realsense-tests: false #
+          run-cuda-sanitizer: false #
+  ## ------------------------------------------
+  ## Build and test Orin
+  ## ------------------------------------------
+  premerge_orin_jetpack6:
+    name: Build&Test orin-jetpack6
+    needs: [lint_precommit]
+    runs-on: [self-hosted, jetson-orin, jetpack-6.2]
+    steps:
+      - name: Checkout Code
+        uses: actions/checkout@v4
+        with:
+          lfs: true
+      - name: premerge_orin_jetpack6 - Unit tests
+        uses: ./.github/actions/build-and-test
+        with:
+          platform: jetpack6
+          cuda-version: '12' # unused
+          ubuntu-version: '22' # unused
+          cuda-arch: '87' # Native detection of sm-arch not supported on orin.
+          ngc-api-key: ${{ secrets.NGC_API_KEY }}
+          run-realsense-tests: false
+          run-cuda-sanitizer: false

.github/workflows/sonar.yml

@@ -0,0 +1,28 @@
+name: SonarQube SA
+on:
+  push:
+    branches:
+      - dtingdahl/ci_script2
+      - main
+  pull_request:
+    types: [opened, synchronize, reopened]
+jobs:
+  build:
+    name: Build and analyze
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0 # Shallow clones should be disabled for a better relevancy of analysis
+      - uses: SonarSource/sonarqube-scan-action@v4
+        env:
+          SONAR_TOKEN: ${{ secrets.SONAR_TOKEN }}
+          SONAR_HOST_URL: ${{ secrets.SONAR_HOST_URL }}
+    # If you wish to fail your job when the Quality Gate is red, uncomment the
+    # following lines. This would typically be used to fail a deployment.
+    # We do not recommend to use this in a pull request. Prefer using pull request
+    # decoration instead.
+    # - uses: SonarSource/sonarqube-quality-gate-action@v1
+    #   timeout-minutes: 5
+    #   env:
+    #     SONAR_TOKEN: ${{ secrets.SONAR_TOKEN }}

.pre-commit-config.yaml

@@ -20,8 +20,7 @@ repos:
   - repo: https://github.com/doublify/pre-commit-clang-format
     rev: 62302476d0da01515660132d76902359bed0f782
     hooks:
-      - id: clang-format
-        entry: clang-format-14 -i
+      - id: clang-format # See premerge.yml for the clang-format version used.
         files: \.(c|cc|cpp|cxx|cu|cuh|h|hh|hpp|hxx|inl|proto|pb\.h|pb\.cc)$
   - repo: https://github.com/pylint-dev/pylint
     rev: v3.0.3