ci.yaml

# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)

name: CI

on:
  workflow_dispatch:
  pull_request:
  push:

permissions:
  contents: read
  pages: write
  id-token: write

jobs:
  default:
    strategy:
      fail-fast: false
      matrix:
        env:
          - IMAGE: iron-release

    env:
      CLANG_TIDY_ARGS: -quiet -export-fixes ${{ github.workspace }}/.work/clang-tidy-fixes.yaml
      DOCKER_IMAGE: moveit/moveit2:${{ matrix.env.IMAGE }}
      UNDERLAY: ${{ endsWith(matrix.env.IMAGE, '-source') && '/root/ws_moveit/install' || ''}}
      # TODO: Port to ROS2
      # DOWNSTREAM_WORKSPACE: "github:ubi-agni/mtc_demos#master github:TAMS-Group/mtc_pour#master"
      TARGET_CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Release
      CCACHE_DIR: ${{ github.workspace }}/.ccache
      BASEDIR: ${{ github.workspace }}/.work
      CACHE_PREFIX: "${{ matrix.env.IMAGE }}${{ contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') && '-ccov' || '' }}"
      # perform full clang-tidy check only on manual trigger (workflow_dispatch), PRs do check changed files, otherwise nothing
      CLANG_TIDY_BASE_REF: ${{ github.event_name != 'workflow_dispatch' && (github.base_ref || github.ref) || '' }}
      CC: ${{ matrix.env.CLANG_TIDY && 'clang' }}
      CXX: ${{ matrix.env.CLANG_TIDY && 'clang++' }}

    name: "${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }}"
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4
        with:
          submodules: recursive

      - name: Cache ccache
        uses: actions/cache@v4
        with:
          save-always: true
          path: ${{ env.CCACHE_DIR }}
          key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
          restore-keys: |
            ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
            ccache-${{ env.CACHE_PREFIX }}

      - id: ici
        name: Run industrial_ci
        uses: rhaschke/industrial_ci@master
        env: ${{ matrix.env }}

      - name: Upload ici's target_ws/install folder
        uses: rhaschke/upload-ici-workspace@main
        if: success() && matrix.env.CLANG_TIDY
        with:
          subdir: target_ws/install

      - name: Upload test artifacts (on failure)
        uses: actions/upload-artifact@v4
        if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results)
        with:
          name: test-results-${{ matrix.env.IMAGE }}${{ matrix.env.NAME && '-' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CLANG_TIDY && '-clang-tidy' || '' }}
          path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml

      - name: Upload clang-tidy fixes (on failure)
        uses: actions/upload-artifact@v4
        if: failure() && steps.ici.outputs.clang_tidy_checks
        with:
          name: clang-tidy-fixes.yaml
          path: ${{ env.BASEDIR }}/clang-tidy-fixes.yaml

      - name: Show clang-tidy warnings
        if: always() && matrix.env.CLANG_TIDY
        uses: asarium/clang-tidy-action@v1
        with:
          fixesFile: ${{ env.BASEDIR }}/clang-tidy-fixes.yaml

      - name: Generate codecov report
        uses: rhaschke/lcov-action@main
        if: contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') && steps.ici.outputs.target_test_results == '0'
        with:
          docker: $DOCKER_IMAGE
          workdir: ${{ env.BASEDIR }}/target_ws
          ignore: '"*/target_ws/build/*" "*/target_ws/install/*" "*/test/*"'
      - name: Upload codecov report
        uses: codecov/codecov-action@v3
        if: contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') && steps.ici.outputs.target_test_results == '0'
        with:
          files: ${{ env.BASEDIR }}/target_ws/coverage.info