Ci.yml

# GitHub Actions triggers based on the PR's and each commits on develop and master
name: "CI: Run tests"
on:
  pull_request:
    types: [opened, synchronize, reopened]
  push:
    branches: [develop, master, feature/add_gha]
  workflow_dispatch:

jobs:
  build:
    defaults:
      run:
        shell: bash
        working-directory: "/opt/carma/"
    runs-on: ubuntu-latest
    container:
      image: usdotfhwastoldev/carma-base:develop
      env:
        INIT_ENV: "/home/carma/.base-image/init-env.sh"
        ROS_2_ENV: "/opt/ros/foxy/setup.bash"
        TERM: xterm
      options: "--user root"  
    steps:    
    - name: Checkout ${{ github.event.repository.name }}
      uses: actions/checkout@v3.3.0
      with:
        path: src/${{ github.event.repository.name }}
        fetch-depth: 0
    - name: Move source code
      run: |
        mv $GITHUB_WORKSPACE/src /opt/carma/  
    - name: Checkout Dependencies
      run: |
        ./src/${{ github.event.repository.name }}/docker/checkout.bash -r /opt/carma
    - name: Build ROS1
      run: |
        source "$INIT_ENV"
        cd /opt/carma/src/${{ github.event.repository.name }}
        export ROS_PARALLEL_JOBS='-j4 -l4'
        export AUTOWARE_COMPILE_WITH_CUDA=1
        PACKAGES=$(find . -maxdepth 2 -type f -name package.xml | sed 's/\.\///' | cut -d/ -f1)
        sed -i '/colcon build/ s/$/ --packages-up-to $PACKAGES/' /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
        make_with_coverage.bash -m -e /opt/carma/ -o ./coverage_reports/gcov
    - name: Run ROS1 C++ Tests
      continue-on-error: true
      run: |
        source "$INIT_ENV"
        cd /opt/carma/src/${{ github.event.repository.name }}
        export ROS_PARALLEL_JOBS='-j4 -l4'
        sed -i '/colcon test/ s/$/ --packages-above $PACKAGES/' /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
        make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov
    - name: Build ROS2
      continue-on-error: true
      run: |
        source "$INIT_ENV"
        source "$ROS_2_ENV"
        cd /opt/carma/src/${{ github.event.repository.name }}
        export ROS_PARALLEL_JOBS='-j4 -l4'
        export AUTOWARE_COMPILE_WITH_CUDA=1
        PACKAGES=$(find . -maxdepth 2 -type f -name package.xml | sed 's/\.\///' | cut -d/ -f1)
        sed -i '/colcon build/ s/$/ --packages-up-to $PACKAGES/' /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
        make_with_coverage.bash -m -e /opt/carma/ -o ./coverage_reports/gcov    
    - name: Run ROS2 C++ Tests
      continue-on-error: true
      run: |
        source "$INIT_ENV"
        source "$ROS_2_ENV"
        cd /opt/carma/src/${{ github.event.repository.name }}
        export ROS_PARALLEL_JOBS='-j4 -l4'
        sed -i '/colcon test/ s/$/ --packages-above $PACKAGES/' /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
        make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov  

    - name: Combine ROS1 and ROS2 compile_commands.json files
      # Combine the ROS1 and ROS2 compile_commands.json files for sonarscan
      run: |
        mv /opt/carma/build/compile_commands.json /opt/carma/compile_commands.ros2.json
        jq -s add /opt/carma/compile_commands.ros1.json /opt/carma/compile_commands.ros2.json > /opt/carma/build/compile_commands.json

    - name: Upload Coverage Reports
      uses: actions/upload-artifact@v2
      with:
        name: coverage-reports
        path: /opt/carma/src/${{ github.event.repository.name }}/coverage_reports/
    
    - name: Run SonarScanner
      uses: usdot-fhwa-stol/actions/sonar-scanner@main
      with:
        sonar-token: ${{ secrets.SONAR_TOKEN }}
        working-dir: "/opt/carma/src/${{ github.event.repository.name }}"