ci.yaml

name: CI

on:
  workflow_dispatch:
  pull_request:
  push:
    branches: [ main ]
    paths-ignore:
      - '*.repos'
      - rosdep.yaml
      - README.md
      - .github/workflows/docker*.yaml
      - .github/docker/*

env:
  DEBS_PATH: ${{ vars.DEBS_PATH || '~/debs' }}
  TERM: xterm  # needed for colored output of unittests

concurrency:
  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
  cancel-in-progress: true

jobs:
  sanity:
    runs-on: ubuntu-22.04
    steps:
      - uses: actions/checkout@v4
        with:
          submodules: recursive
      - name: Install shellcheck
        run: sudo apt-get install shellcheck
      - uses: pre-commit/action@v3.0.1
        id: precommit
      - name: Upload pre-commit changes
        if: failure() && steps.precommit.outcome == 'failure'
        uses: rhaschke/upload-git-patch-action@main
        with:
          name: pre-commit

  unittests:
    runs-on: ubuntu-22.04
    steps:
      - uses: actions/checkout@v4
        with:
          submodules: recursive
      - run: ./test/bats/bin/bats --formatter pretty test/*.bats
      - run: test/redirect.sh

  build:
    needs: unittests
    name: "${{ matrix.DEB_DISTRO }}, ${{ matrix.ROS_SOURCES }}\
           ${{ matrix.VERBOSE && format(', verbose={0}', matrix.VERBOSE) || '' }}\
           ${{ matrix.BUILD_TIMEOUT && format(', timeout={0}', matrix.BUILD_TIMEOUT) || '' }}\
           ${{ matrix.CONTINUE_ON_ERROR && ', cont-on-err' || '' }}"

    strategy:
      fail-fast: false
      matrix:
        DEB_DISTRO: [ bookworm, jammy, noble ]
        BUILD_TIMEOUT: [ 0 ]
        include:
          # defaults (can be overriden with values from include w/o adding jobs)
          - { ROS_SOURCES: 'good', DEBS: false, VERBOSE: false }
          # override/add settings for specific distros
          - { DEB_DISTRO: bookworm, DEBS: true, VERBOSE: bloom }
          - { DEB_DISTRO: noble, VERBOSE: true }
          - { DEB_DISTRO: jammy, BUILD_TIMEOUT: 3, ROS_SOURCES: 'good', DEBS: true, EXPECT_EXIT_CODE: 143 }
          # add failing jobs
          - { DEB_DISTRO: focal, ROS_SOURCES: broken, EXPECT_EXIT_CODE: 2, CONTINUE_ON_ERROR: false, DEBS: true }
          - { DEB_DISTRO: focal, ROS_SOURCES: broken, EXPECT_EXIT_CODE: 1, CONTINUE_ON_ERROR: true, COLCON_PKG_SELECTION: '--packages-up-to rostime' }

    uses: ./.github/workflows/build.yaml
    with:
      DEB_DISTRO: ${{ matrix.DEB_DISTRO }}
      ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
      ROS_SOURCES: .github/workflows/${{ matrix.ROS_SOURCES }}.repos
      INSTALL_TO_CHROOT: ${{ matrix.BUILD_TIMEOUT > 0 }}  # slow down for timeout test
      VERBOSE: ${{ matrix.VERBOSE && matrix.VERBOSE || false }}
      BUILD_TIMEOUT: ${{ matrix.BUILD_TIMEOUT && matrix.BUILD_TIMEOUT || 10 }}
      CONTINUE_ON_ERROR: ${{ matrix.CONTINUE_ON_ERROR && matrix.CONTINUE_ON_ERROR || false }}
      DOWNLOAD_DEBS: false
      DEBS_ARTIFACT_NAME: ${{ matrix.DEBS && matrix.DEB_DISTRO || 'skip' }}
      EXPECT_EXIT_CODE: ${{ matrix.EXPECT_EXIT_CODE || 0 }}

  deploy:
    needs: build
    name: "${{ matrix.NAME }} ${{ matrix.PUSH_MODE }}"
    strategy:
      fail-fast: false
      matrix:
        include:
          # Having more than two jobs will cause the 2nd queued to be cancelled if the 3rd arrives
          # https://github.com/orgs/community/discussions/41518
          # - { NAME: focal, PUSH_MODE: push, CONTENT_MODE: replace }
          - { NAME: bookworm, PUSH_MODE: squash, CONTENT_MODE: newer }
          - { NAME: jammy, PUSH_MODE: push, CONTENT_MODE: newer }
    if: ${{ !cancelled() }}
    uses: ubi-agni/ros-builder-action/.github/workflows/deploy.yaml@main
    with:
      DEBS_ARTIFACT_NAME: skip
      DEPLOY_URL: self#ci
      PUSH_MODE: ${{ matrix.PUSH_MODE }}
      MESSAGE: "ci: ${{ matrix.NAME }} ${{ matrix.PUSH_MODE }}"