ci.yml

name: CI
on:
  pull_request:
    branches:
      - master
      - integration
  push:
    branches:
      - master
jobs:
  ci:
    name: CI
    runs-on: ubuntu-latest
    container:
      image: umrover1/ros:latest
      # GitHub is silly and requires us to be running as root for their checkout action
      # Our docker container exports the user mrover, so we have to specific this explicitly
      options: --user root
    steps:
      - uses: actions/checkout@v4
        with:
          lfs: "true"
          # This makes sure that $GITHUB_WORKSPACE is the catkin workspace path
          path: "src/mrover"
      - name: Style Check
        run: . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && cd $GITHUB_WORKSPACE/src/mrover/ && ./style.sh
      - name: Copy Catkin Profiles
        if: github.event.pull_request.draft == false
        run: rsync -r $GITHUB_WORKSPACE/src/mrover/ansible/roles/build/files/profiles $GITHUB_WORKSPACE/.catkin_tools
      - name: Initialize
        if: github.event.pull_request.draft == false
        run: . /opt/ros/noetic/setup.sh && catkin init && catkin profile set ci
      - name: Build Without Clang Tidy
        if: github.event.pull_request.draft == false && github.event.pull_request.base.ref != 'refs/heads/master'
        run: . /opt/ros/noetic/setup.sh && . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && catkin build
      - name: Build With Clang Tidy
        if: github.event_name == 'push' && github.event.pull_request.base.ref == 'refs/heads/master'
        run: . /opt/ros/noetic/setup.sh && . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && catkin build -DCMAKE_CXX_CLANG_TIDY=clang-tidy-16
      - name: Test
        if: github.event.pull_request.draft == false
        run: . /opt/ros/noetic/setup.sh && . /home/mrover/catkin_ws/src/mrover/venv/bin/activate && . $GITHUB_WORKSPACE/devel/setup.sh && catkin test && rostest mrover integration.test --text