Optimize local DX and CI pipeline by bburda · Pull Request #239 · selfpatch/ros2_medkit

bburda · 2026-02-25T15:56:41Z

Summary

Reduces local test cycle from ~20 min to ~1-2 min and optimizes CI wall-clock time by splitting Jazzy into parallel jobs.

Local DX:

Make clang-tidy opt-in locally (-DENABLE_CLANG_TIDY=ON), mandatory in CI
Auto-detect and configure ccache for faster incremental rebuilds
Add precompiled headers for gateway package
Add scripts/test.sh convenience script with presets (unit, integ, lint, tidy, all)
Add incremental clang-tidy pre-push hook (scripts/clang-tidy-diff.sh)
Add ccache with PCH-compatible sloppiness to devcontainer

CI optimizations:

Split Jazzy into 3 jobs: jazzy-build -> jazzy-lint | jazzy-test (parallel after build)
Add ccache to coverage job
Add ccache to build-and-test matrix jobs (Humble, Rolling)

Other:

Centralize ENABLE_CLANG_TIDY into cmake/ROS2MedkitLinting.cmake
Update README with new scripts and CI structure

Issue

closes Reduce local colcon test time #238

Type

Bug fix
New feature or tests
Breaking change
Documentation only

Testing

Local verification (requires ROS 2 Jazzy environment):

./scripts/test.sh - unit tests (~1-2 min with warm ccache)
./scripts/test.sh lint - linters excluding clang-tidy (~30s)
./scripts/test.sh tidy - clang-tidy only (opt-in, ~8-10 min)
./scripts/test.sh unit --packages-select ros2_medkit_gateway - single package
./scripts/merge-compile-commands.sh && ./scripts/clang-tidy-diff.sh - incremental clang-tidy
colcon build 2>&1 | grep "ccache found" - verify ccache auto-detection

CI verification:

build-and-test (Humble + Rolling): build with ccache + unit/integration tests
jazzy-build: build with ccache + clang-tidy enabled
jazzy-lint + jazzy-test: run in parallel after jazzy-build
coverage: build with ccache (separate cache key for Debug builds)

Checklist

Breaking changes are clearly described (and announced in docs / changelog if needed)
Tests were added or updated if needed
Docs were updated if behavior or public API changed

Copilot

Pull request overview

This PR reduces local colcon test time from ~20 minutes to ~1-2 minutes by making clang-tidy opt-in (default OFF), adding ccache support, introducing precompiled headers for the gateway package, adding parallel CTest execution, and providing convenience scripts. The changes enable faster development iteration while maintaining full linting coverage in CI.

Changes:

Made clang-tidy opt-in via ENABLE_CLANG_TIDY CMake option (OFF by default, enabled in CI for Jazzy)
Added ccache integration via new ROS2MedkitCcache.cmake module included in all 5 C++ packages
Added precompiled headers to gateway_lib (rclcpp, nlohmann/json, httplib, common STL headers)
Created test.sh convenience script with presets (unit, integ, lint, tidy, all) and parallel execution
Added incremental clang-tidy support via clang-tidy-diff.sh and pre-push hook
Configured CI ccache with persistent caching across builds

Reviewed changes

Copilot reviewed 11 out of 12 changed files in this pull request and generated 3 comments.

Show a summary per file

File	Description
cmake/ROS2MedkitCcache.cmake	New shared module for auto-detecting and enabling ccache
src/ros2_medkit_serialization/CMakeLists.txt	Add ccache module, gate clang-tidy behind ENABLE_CLANG_TIDY option
src/ros2_medkit_gateway/CMakeLists.txt	Add ccache module, PCH for gateway_lib, gate clang-tidy behind ENABLE_CLANG_TIDY option
src/ros2_medkit_fault_reporter/CMakeLists.txt	Add ccache module, gate clang-tidy behind ENABLE_CLANG_TIDY option
src/ros2_medkit_fault_manager/CMakeLists.txt	Add ccache module, gate clang-tidy behind ENABLE_CLANG_TIDY option
src/ros2_medkit_diagnostic_bridge/CMakeLists.txt	Add ccache module, gate clang-tidy behind ENABLE_CLANG_TIDY option
scripts/test.sh	New convenience script with named presets for fast test execution
scripts/merge-compile-commands.sh	Utility to merge per-package compile_commands.json for project-wide tooling
scripts/clang-tidy-diff.sh	Incremental clang-tidy for pre-push hook (changed .cpp files only)
.pre-commit-config.yaml	Add pre-push hook for incremental clang-tidy
.gitignore	Add git worktrees directory to ignore list
.github/workflows/ci.yml	Install ccache, configure caching, conditionally enable clang-tidy on Jazzy

.github/workflows/ci.yml

scripts/clang-tidy-diff.sh

src/ros2_medkit_serialization/CMakeLists.txt

Copilot

Pull request overview

Copilot reviewed 13 out of 14 changed files in this pull request and generated 3 comments.

scripts/test.sh

cmake/ROS2MedkitCcache.cmake

.pre-commit-config.yaml

scripts/test.sh

src/ros2_medkit_gateway/CMakeLists.txt

cmake/ROS2MedkitCcache.cmake

src/ros2_medkit_diagnostic_bridge/CMakeLists.txt

scripts/merge-compile-commands.sh

.gitignore

scripts/clang-tidy-diff.sh

Provides named presets (unit, integ, lint, tidy, all) with parallel CTest execution to avoid remembering ctest filter flags.

clang-tidy takes 8-10 min on the gateway package alone. Gated behind ENABLE_CLANG_TIDY=OFF (default). CI sets it ON for the Jazzy linter job. Developers can still run it with: colcon build --cmake-args -DENABLE_CLANG_TIDY=ON ./scripts/test.sh tidy

Adds ROS2MedkitCcache.cmake module that enables ccache when found on PATH. All C++ packages include it. No effect when ccache is absent. Set CCACHE_SLOPPINESS=pch_defines,time_macros for PCH compatibility.

PCH for rclcpp, nlohmann/json, httplib, and common STL headers. Reduces full gateway build time by ~30-40%. Can be disabled with -DCMAKE_DISABLE_PRECOMPILE_HEADERS=ON.

ccache with persistent cache reduces CI rebuild times by ~30-50% on subsequent runs. CCACHE_SLOPPINESS set for PCH compatibility.

Runs clang-tidy only on changed C++ source files using a merged compile_commands.json. Typical run: 5-30s vs 8-10 min for full analysis. Registered as pre-push hook (not pre-commit) to avoid slowing normal commits. Run ./scripts/merge-compile-commands.sh after build.

…cmake Extract duplicated option(ENABLE_CLANG_TIDY) and clang-tidy configuration into a shared cmake module. Each package now calls ros2_medkit_clang_tidy() with optional HEADER_FILTER and TIMEOUT parameters.

Adds ccache with persistent GitHub Actions cache to the coverage build. Uses separate cache key (ccache-coverage-) from Release builds since coverage builds with -DCMAKE_BUILD_TYPE=Debug -DENABLE_COVERAGE=ON.

Removes Jazzy from the build-and-test matrix and creates dedicated jazzy-build, jazzy-lint, and jazzy-test jobs. Lint and test run in parallel after the build job completes, reducing wall-clock time by ~3min (previously sequential: build -> lint -> test). Humble and Rolling remain as single build-and-test matrix jobs.

- Replace raw colcon test commands with scripts/test.sh presets - Add pre-push hook section documenting clang-tidy-diff.sh and merge-compile-commands.sh setup - Update CI/CD section to reflect the split Jazzy build/lint/test jobs

Copilot AI review requested due to automatic review settings February 25, 2026 15:56

bburda changed the title ~~Reduce local colcon test from ~20 min to ~1-2 min~~ Reduce local colcon test time Feb 25, 2026

Copilot started reviewing on behalf of bburda February 25, 2026 15:57 View session

bburda self-assigned this Feb 25, 2026

bburda added the enhancement New feature or request label Feb 25, 2026

Copilot AI reviewed Feb 25, 2026

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bburda requested a review from Copilot February 25, 2026 17:43

Copilot started reviewing on behalf of bburda February 25, 2026 17:44 View session

Copilot AI reviewed Feb 25, 2026

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mfaferek93 reviewed Feb 25, 2026

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mfaferek93 approved these changes Feb 26, 2026

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bburda force-pushed the feat/test-optimization branch from c34f805 to 13b6ab6 Compare February 27, 2026 08:45

bburda changed the title ~~Reduce local colcon test time~~ Optimize local DX and CI pipeline Feb 27, 2026

bburda added 12 commits February 27, 2026 16:10

feat(dx): add test.sh convenience script with presets

028c567

Provides named presets (unit, integ, lint, tidy, all) with parallel CTest execution to avoid remembering ctest filter flags.

chore: fix copyright attribution to bburda

70176f6

feat(build): auto-detect ccache for faster incremental rebuilds

8e56f5a

Adds ROS2MedkitCcache.cmake module that enables ccache when found on PATH. All C++ packages include it. No effect when ccache is absent. Set CCACHE_SLOPPINESS=pch_defines,time_macros for PCH compatibility.

perf(build): add precompiled headers for gateway package

d557fd0

PCH for rclcpp, nlohmann/json, httplib, and common STL headers. Reduces full gateway build time by ~30-40%. Can be disabled with -DCMAKE_DISABLE_PRECOMPILE_HEADERS=ON.

perf(ci): add ccache with GitHub Actions cache

d04f7a1

ccache with persistent cache reduces CI rebuild times by ~30-50% on subsequent runs. CCACHE_SLOPPINESS set for PCH compatibility.

feat(devcontainer): add ccache with PCH-compatible sloppiness config

112f30d

refactor(cmake): centralize ENABLE_CLANG_TIDY into ROS2MedkitLinting.…

53f85b1

…cmake Extract duplicated option(ENABLE_CLANG_TIDY) and clang-tidy configuration into a shared cmake module. Each package now calls ros2_medkit_clang_tidy() with optional HEADER_FILTER and TIMEOUT parameters.

perf(ci): add ccache to coverage job

136a016

Adds ccache with persistent GitHub Actions cache to the coverage build. Uses separate cache key (ccache-coverage-) from Release builds since coverage builds with -DCMAKE_BUILD_TYPE=Debug -DENABLE_COVERAGE=ON.

bburda force-pushed the feat/test-optimization branch from 72fd28f to 1e2042f Compare February 27, 2026 15:10

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Optimize local DX and CI pipeline#239

Optimize local DX and CI pipeline#239
bburda wants to merge 12 commits intomainfrom
feat/test-optimization

bburda commented Feb 25, 2026 •

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Summary

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bburda commented Feb 25, 2026 •

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