ci.yml

name: CI

on:
  push:
   branches:
    - develop

  pull_request:
    branches:
    - melodic-devel
    - noetic-devel
    - develop

jobs:
  CI:
    runs-on: ubuntu-latest
    strategy:
      matrix:
        ros_distro: [ melodic, noetic ]
    steps:
    - name: Prepare
      # Keep the compilation outputs persitant outside the docker container to use for the other steps
      run: |
        mkdir -p ${{github.workspace}}/src       # where the repo will be cloned into
        mkdir -p ${{github.workspace}}/build     # compilation cache for formatter & linter
        mkdir -p ${{github.workspace}}/devel     # compilation cache for formatter & linter

    - name: Checkout
      uses: actions/checkout@v3
      with:
        path: src/franka_ros

    - name: Parse ROS Distro
      run:  echo "FLAVOR=$(echo ${{ github.event.pull_request.base.ref }} | sed 's/-devel//')" >> $GITHUB_ENV

    - name: Build Docker Image
      if:   github.ref == 'refs/heads/develop' || ${{env.FLAVOR == matrix.ros_distro}}
      uses: docker/build-push-action@v2
      with:
        tags: franka_ros:${{matrix.ros_distro}}
        file: .ci/Dockerfile.${{matrix.ros_distro}}
        push: false

    - name: Compile with Catkin Tools
      if:   github.ref == 'refs/heads/develop' || ${{env.FLAVOR == matrix.ros_distro}}
      uses: addnab/docker-run-action@v3
      with:
        image:    franka_ros:${{matrix.ros_distro}}
        options:  -v ${{github.workspace}}/src:/ros/src/  # only mount source here
        run: |
          catkin config --workspace /ros/ --init --extend /opt/ros/${{matrix.ros_distro}} --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
          catkin build --workspace /ros/ --interleave-output --verbose

    - name: Compile with Catkin Make
      if:   github.ref == 'refs/heads/develop' || ${{env.FLAVOR == matrix.ros_distro}}
      uses: addnab/docker-run-action@v3
      with:
        image:    franka_ros:${{matrix.ros_distro}}
        options:  -v ${{github.workspace}}:/ros
        shell:    bash
        run: |
          source /opt/ros/${{matrix.ros_distro}}/setup.bash
          catkin_init_workspace /ros/src
          cd /ros
          catkin_make -DCMAKE_EXPORT_COMPILE_COMMANDS=ON

    - name: Check C++ Format
      if:   github.ref == 'refs/heads/develop' || ${{env.FLAVOR == matrix.ros_distro}}
      uses: addnab/docker-run-action@v3
      with:
        image:    franka_ros:${{matrix.ros_distro}}
        options:  -v ${{github.workspace}}:/ros/
        shell:    bash
        run: |
          source /ros/devel/setup.bash
          cmake --build /ros/build --target check-format
    
    - name: Check Python Format
      if:   github.ref == 'refs/heads/develop' || ${{env.FLAVOR == matrix.ros_distro}}
      uses: addnab/docker-run-action@v3
      with:
        image:    franka_ros:${{matrix.ros_distro}}
        options:  -v ${{github.workspace}}:/ros/
        shell:    bash
        run: |
          source /ros/devel/setup.bash
          cmake --build /ros/build --target check-pyformat

    - name: Check Linting
      if:   github.ref == 'refs/heads/develop' || ${{env.FLAVOR == matrix.ros_distro}}
      uses: addnab/docker-run-action@v3
      with:
        image:    franka_ros:${{matrix.ros_distro}}
        options:  -v ${{github.workspace}}:/ros/
        shell:    bash
        run: |
          source /ros/devel/setup.bash
          cmake --build /ros/build --target check-tidy

    - name: Run Tests
      if:   github.ref == 'refs/heads/develop' || ${{env.FLAVOR == matrix.ros_distro}}
      uses: addnab/docker-run-action@v3
      with:
        image:    franka_ros:${{matrix.ros_distro}}
        options:  -v ${{github.workspace}}:/ros/
        shell:    bash
        run: |
          source /ros/devel/setup.bash
          cd /ros
          catkin_make run_tests -j1 # gazebo tests cannot run in parallel
          catkin_test_results

    - name: Upload Tests to Artifacts
      uses: actions/upload-artifact@v2
      if:   github.ref == 'refs/heads/develop' || ${{env.FLAVOR == matrix.ros_distro}}
      with:
        name: test-results
        path: build/test_results/*/rosunit-*.xml