ci.yaml

# the "if" flag with event.json is for running the workflow locally with `act`.
name: CI

on:
  push:
  pull_request:
    branches:
      - ros2
      - master
  schedule: # Trigger a job on master at midnight UTC every day
    - cron: '0 0 * * *'

env:
  PACKAGES_TO_TEST: # This limits the packages that are checked in CI. This is to avoid testing upstream packages passed in via .repos files.
    uwrt_mars_rover
    uwrt_mars_rover_drivetrain
    uwrt_mars_rover_drivetrain_description
    uwrt_mars_rover_drivetrain_hw
  ROS_DISTRO: galactic
  IMAGE: "rostooling/setup-ros-docker:ubuntu-focal-ros-galactic-desktop-latest"

jobs:
  prepare-actions-environment:
    if: ${{ !github.event.act }}

    # workaround to use variable for IMAGE. Based off of: https://github.community/t/how-to-use-env-with-container-image/17252/25
    runs-on: ubuntu-latest
    outputs:
      image: ${{ steps.export_variable.outputs.image }}
    steps:
      - id: export_variable
        run: echo "::set-output name=image::${{ env.IMAGE }}"

  linters:
    if: ${{ !github.event.act }}
    name: ament-${{ matrix.linter }}
    needs: prepare-actions-environment
    runs-on: ubuntu-latest
    container:
      image: ${{ needs.prepare-actions-environment.outputs.image }}
      options: -u root
    strategy:
      fail-fast: false # We want all the linters to run even if one fails
      matrix:
        linter: [ cppcheck, xmllint ]

    steps:
      - name: Checkout Repository
        uses: actions/checkout@v3
    
      - name: ROS2 Linter - [ament-${{ matrix.linter }}]
        uses: ros-tooling/action-ros-lint@master
        with:
          distribution: ${{ env.ROS_DISTRO }}
          linter: ${{ matrix.linter }}
          package-name: ${{ env.PACKAGES_TO_TEST }}

  linters-clang-format:
    if: ${{ !github.event.act }}
    name: ament-clang-format
    needs: prepare-actions-environment
    runs-on: ubuntu-latest
    container:
      image: ${{ needs.prepare-actions-environment.outputs.image }}
      options: -u root

    steps:
      - name: Checkout Repository
        uses: actions/checkout@v3

      - name: ROS2 Linter - [ament-clang-format]
        uses: ros-tooling/action-ros-lint@master
        with:
          distribution: ${{ env.ROS_DISTRO }}
          linter: clang-format
          arguments: "--config .clang-format"
          package-name: ${{ env.PACKAGES_TO_TEST }}

  linters-flake8:
    if: ${{ !github.event.act }}
    name: ament-flake8
    needs: prepare-actions-environment
    runs-on: ubuntu-latest
    container:
      image: ${{ needs.prepare-actions-environment.outputs.image }}
      options: -u root

    steps:
      - name: Checkout Repository
        uses: actions/checkout@v3

      - name: ROS2 Linter - [ament-flake8]
        uses: ros-tooling/action-ros-lint@master
        with:
          distribution: ${{ env.ROS_DISTRO }}
          linter: flake8
          arguments: "--config .flake8"
          package-name: ${{ env.PACKAGES_TO_TEST }}

  linux-amd64-build-and-test:
    needs: prepare-actions-environment
    runs-on: ubuntu-latest
    container:
      image: ${{ needs.prepare-actions-environment.outputs.image }}
      

    steps:

      - name: Build ROS2 Packages and Run Tests
        uses: ros-tooling/action-ros-ci@v0.2
        with:
          colcon-defaults: |
            {
              "build": {
                "mixin": ["asan-gcc"]
              }
            }
          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/3e627e0fa30db85aea05a50e2c61a9832664d236/index.yaml
          target-ros2-distro: ${{ env.ROS_DISTRO }}
          vcs-repo-file-url: |
            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/common_upstream_dependencies.repos
          package-name: ${{ env.PACKAGES_TO_TEST }}

  linux-arm64-build-and-test:
    runs-on: ubuntu-latest

    # Cannot use action-ros-ci since cant trigger action steps from within the docker container. Must use `docker exec`
    # to run actions within docker container since we cannot directly use arm64v8/ros:${{ env.ROS_DISTRO }} container because there
    # exists no way of setting up Docker to work with Qemu before loading a docker image onto the Github Action runner.
    # Possibly resolveable with https://github.com/actions/runner/issues/320
    steps:
      - name: Checkout Repository
        uses: actions/checkout@v3

      - name: Install Docker/QEMU dependencies
        id: qemu
        uses: docker/setup-qemu-action@v2
        with:
          image: tonistiigi/binfmt:latest
          platforms: arm64

      - name: Setup Docker to Run ARM64 Containers in QEMU
        run: |
          docker run --privileged --rm multiarch/qemu-user-static --reset --credential yes --persistent yes

      - name: Start ARM64 ROS2 Container
        run: |
          docker run --name arm64-ros --mount type=bind,source=$(pwd),target=/rosws/src/$(basename $(pwd)) --workdir /rosws --detach -i --rm arm64v8/ros:${{ env.ROS_DISTRO }}

      - name: Download ROS Source Dependencies
        run: |
          docker exec --workdir /rosws/src arm64-ros vcs import --input uwrt_mars_rover/common_upstream_dependencies.repos
        # TODO: add linux_arm64_upstream_dependencies.repos

      - name: Install ROS Binary Package Dependencies
        run: |
          docker exec arm64-ros sudo apt update
          docker exec arm64-ros rosdep install -r --from-paths . --ignore-src --rosdistro ${{ env.ROS_DISTRO }} -y

      - name: Build ROS2 Packages and Run Tests
        run: >
          docker exec arm64-ros bash -c "source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash &&
            colcon build --event-handlers console_cohesion+ && 
            colcon test --packages-select ${{ env.PACKAGES_TO_TEST }} --return-code-on-test-failure --event-handlers console_cohesion+"