main.yml

name: CI

on:
  pull_request:
    branches: [projects/piloting]

concurrency:
  group: ${{ github.head_ref }}
  cancel-in-progress: true

jobs:
  linting:
    runs-on: ubuntu-latest

    steps:
      - uses: actions/checkout@v2

      - name: Set up Python 3.8
        uses: actions/setup-python@v1
        with:
          python-version: 3.8

      - name: Linting
        run: |
          pip install pre-commit
          pre-commit run --all-files

  deps:
    runs-on: ubuntu-latest
    steps:
      - name: Checkout repo
        uses: actions/checkout@v2
        with:
          submodules: "recursive"

      - name: Get changed base dependencies
        id: changed-files
        uses: tj-actions/changed-files@v18.6
        with:
          files: |
            Dockerfile
            moma_core.repos
            moma_piloting.repos
            install_dependencies.sh
            **/requirements.txt
            .github/workflows/**

      - name: Early exit - Image up to date
        if: steps.changed-files.outputs.any_changed == 'false'
        run: echo "No image to be built"

      - name: Set up Docker Buildx
        if: steps.changed-files.outputs.any_changed == 'true'
        uses: docker/setup-buildx-action@v1

      - name: Login to DockerHub
        if: steps.changed-files.outputs.any_changed == 'true'
        uses: docker/login-action@v1
        with:
          username: ${{ secrets.PILOTING_DOCKERHUB_USERNAME }}
          password: ${{ secrets.PILOTING_DOCKERHUB_TOKEN }}

      - name: Get deps and push
        if: steps.changed-files.outputs.any_changed == 'true'
        uses: docker/build-push-action@v2
        with:
          context: .
          builder: ${{ steps.buildx.outputs.name }}
          cache-from: type=registry,ref=${{ secrets.PILOTING_DOCKERHUB_USERNAME }}/noetic-deps:buildcache
          cache-to: type=registry,ref=${{ secrets.PILOTING_DOCKERHUB_USERNAME }}/noetic-deps:buildcache,mode=max
          push: true
          target: deps
          tags: ${{ secrets.PILOTING_DOCKERHUB_USERNAME }}/noetic-deps:${{github.event.number}}

  build:
    needs: deps
    runs-on: ubuntu-latest

    steps:
      - name: Checkout repo
        uses: actions/checkout@v2
        with:
          submodules: "recursive"
          lfs: true

      - name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v1

      - name: Login to DockerHub
        uses: docker/login-action@v1
        with:
          username: ${{ secrets.PILOTING_DOCKERHUB_USERNAME }}
          password: ${{ secrets.PILOTING_DOCKERHUB_TOKEN }}

      - name: Build and push
        uses: docker/build-push-action@v2
        with:
          context: .
          builder: ${{ steps.buildx.outputs.name }}
          cache-from: type=registry,ref=${{ secrets.PILOTING_DOCKERHUB_USERNAME }}/noetic-deps:buildcache
          cache-to: type=registry,ref=${{ secrets.PILOTING_DOCKERHUB_USERNAME }}/noetic-deps:buildcache,mode=max
          push: true
          target: build
          tags: ${{ secrets.PILOTING_DOCKERHUB_USERNAME }}/noetic-dev:${{github.event.number}}

  test:
    needs: build
    runs-on: ubuntu-latest
    steps:
      - name: Run docker test
        run: |
          export DISPLAY=:99
          sudo Xvfb -ac :99 -screen 0 1280x1024x24 > /dev/null 2>&1 &
          docker run -t --network host -e DISPLAY -v /tmp/.X11-unix ${{ secrets.PILOTING_DOCKERHUB_USERNAME }}/noetic-dev:${{github.event.number}} /bin/bash -c "rostest piloting_demo mission.test || (cat /tmp/piloting_mission.log && cat /tmp/piloting_mission.err && false)"

#  test:
#    needs: build
#    runs-on: ubuntu-latest
#    container:
#      image: piloting/noetic-dev:latest
#      options: --user root
#    steps:
#      - run: /ros_entrypoint.sh rostest piloting_demo mission.test

#  test:
#    needs: build
#    runs-on: ubuntu-latest
#
#    steps:
#      - name: Run tests
#        uses: docker://piloting/noetic-dev:latest
#        with:
#          args: rostest piloting_demo mission.test