test.yaml

---
name: Test ROS workspace
# author: "Guillem Gari <ggari@robotnik.es>"
# description: |
#   This workflow tests a ROS (Robot Operating System) workspace. It runs
#   on pushes and PRs to ros2*, humble*, and jazzy* branches, and can be
#   manually triggered. It checks for changes in monitored paths, logs
#   into a private Docker registry, configures Docker files, builds a
#   container image, and runs ROS tests using Docker Compose.

#   Key features:
#   - Runs on self-hosted Kubernetes runners
#   - Monitors specific paths for changes
#   - Uses private Docker registry
#   - Sets version dynamically based on branch name
#   - Configures Docker files and runs setup scripts
#   - Builds container image and runs ROS workspace tests

on:
  push:
    branches:
      - ros2*
  pull_request:
    types: [opened, reopened, synchronize]
    branches:
      - ros2*
  workflow_dispatch:

env:
  MONITORED_PATHS: >-
    daly_bms

jobs:
  test-workspace:
    name: Test ROS workspace
    runs-on: ${{ vars.RUNNERS_TAGS }}
    steps:
      - uses: actions/checkout@v4
        with:
          fetch-depth: 0
      - uses: ./.github/actions/check-changes
        id: check_changes
        with:
          monitored_paths: ${{ env.MONITORED_PATHS }}
      - name: Login to Robotnik Registry
        if: steps.check_changes.outputs.has_changes == 'true'
        uses: docker/login-action@v3
        with:
          registry: registry.robotnik.ws
          username: ${{ secrets.REGISTRY_USER }}
          password: ${{ secrets.REGISTRY_PASSWORD }}
      - name: Transform GITHUB_REF_NAME to VERSION
        if: steps.check_changes.outputs.has_changes == 'true'
        run: echo "VERSION=${GITHUB_REF_NAME//\//-}" >> $GITHUB_ENV
      - name: Configure docker files
        if: steps.check_changes.outputs.has_changes == 'true'
        run: |
          yq e '.images.version = env(VERSION)' -i setup-container.yaml
          setup-container/scripts/setup.sh
      - name: Build container image
        if: steps.check_changes.outputs.has_changes == 'true'
        run: |
          cd container/test
          docker compose build
      - name: Run ROS workspace tests
        if: steps.check_changes.outputs.has_changes == 'true'
        run: |
          cd container/test
          docker compose up --exit-code-from container