ci.yml

name: CI

on:
  push:
    branches:
      - master

  pull_request:
    branches:
      - master

jobs:

  Shell:
    runs-on: ubuntu-20.04
    name: Setup Tools Tests
    steps:
      - uses: actions/checkout@v3
      # ${{github.workspace}} is the root folder of the cloned repo
      - run: |
          ${{github.workspace}}/misc/setup_tools.sh

  CI:
    runs-on: ubuntu-latest
    strategy:
      matrix:
        ros_distro: [ noetic ]
    steps:
      - name: Prepare
        # Keep the compilation outputs persistent outside the docker container to use for the other steps
        run: |
          mkdir -p ${{github.workspace}}/src       # where the repo will be cloned into
          mkdir -p ${{github.workspace}}/build     # compilation cache for formatter & linter
          mkdir -p ${{github.workspace}}/devel     # compilation cache for formatter & linter

      - name: Checkout
        uses: actions/checkout@v3
        with:
          path: src/rotools

      - name: Parse ROS Distro
        run: |
          echo "FLAVOR=$(echo ${{ github.event.pull_request.base.ref }} | sed 's/-devel//')" >> $GITHUB_ENV

      - name: Build Docker Image
        if: github.ref == 'refs/heads/develop' || ${{env.FLAVOR == matrix.ros_distro}}
        uses: docker/build-push-action@v2
        with:
          tags: rotools:${{matrix.ros_distro}}
          file: .ci/Dockerfile.${{matrix.ros_distro}}
          push: false

      - name: Compile with Catkin Tools
        if: github.ref == 'refs/heads/develop' || ${{env.FLAVOR == matrix.ros_distro}}
        uses: addnab/docker-run-action@v3
        with:
          image: rotools:${{matrix.ros_distro}}
          options: -v ${{github.workspace}}/src:/ros/src/  # only mount source here
          run: |
            catkin config --workspace /ros/ --init --extend /opt/ros/${{matrix.ros_distro}} --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
            catkin build --workspace /ros/ --interleave-output --verbose

      - name: Compile with Catkin Make
        if: github.ref == 'refs/heads/develop' || ${{env.FLAVOR == matrix.ros_distro}}
        uses: addnab/docker-run-action@v3
        with:
          image: rotools:${{matrix.ros_distro}}
          options: -v ${{github.workspace}}:/ros
          shell: bash
          run: |
            source /opt/ros/${{matrix.ros_distro}}/setup.bash
            catkin_init_workspace /ros/src
            cd /ros
            catkin_make -DCMAKE_EXPORT_COMPILE_COMMANDS=ON

      - name: Run Python Tests
        if: github.ref == 'refs/heads/develop' || ${{env.FLAVOR == matrix.ros_distro}}
        uses: addnab/docker-run-action@v3
        with:
          image:    rotools:${{matrix.ros_distro}}
          options:  -v ${{github.workspace}}:/ros/
          shell:    bash
          run: |
            source /ros/devel/setup.bash
            if [ $ROS_DISTRO == "noetic" ]; then \
            pip install pytest; \
            pip install -r /ros/src/rotools/requirements.txt; \
            pytest /ros/src/rotools/src/rotools/tests/test_*.py; \
            fi

      - name: Check C++ Format
        if: github.ref == 'refs/heads/develop' || ${{env.FLAVOR == matrix.ros_distro}}
        uses: addnab/docker-run-action@v3
        with:
          image: rotools:${{matrix.ros_distro}}
          options: -v ${{github.workspace}}:/ros/
          shell: bash
          run: |
            source /ros/devel/setup.bash
            cmake --build /ros/build --target check-format

      - name: Check Python Format
        if: github.ref == 'refs/heads/develop' || ${{env.FLAVOR == matrix.ros_distro}}
        uses: addnab/docker-run-action@v3
        with:
          image: rotools:${{matrix.ros_distro}}
          options: -v ${{github.workspace}}:/ros/
          shell: bash
          run: |
            source /ros/devel/setup.bash
            cmake --build /ros/build --target check-pyformat

      - name: Check Linting
        if: github.ref == 'refs/heads/develop' || ${{env.FLAVOR == matrix.ros_distro}}
        uses: addnab/docker-run-action@v3
        with:
          image: rotools:${{matrix.ros_distro}}
          options: -v ${{github.workspace}}:/ros/
          shell: bash
          run: |
            source /ros/devel/setup.bash
            cmake --build /ros/build --target check-tidy

#    - name: Upload Tests to Artifacts
#      uses: actions/upload-artifact@v2
#      if:   github.ref == 'refs/heads/develop' || ${{env.FLAVOR == matrix.ros_distro}}
#      with:
#        name: test-results
#        path: build/test_results/*/rosunit-*.xml