ci.yml

name: CI

on:
  pull_request:
  push:
    branches:
      - main
  workflow_call:
    secrets:
      CODECOV_TOKEN:
        required: true

permissions:
    contents: write

env:
  # Use docker.io for Docker Hub if empty
  REGISTRY: ghcr.io
  # github.repository as <account>/<repo>
  IMAGE_NAME: bdaiinstitute/spot_ros2_jammy_humble

defaults:
  run:
    shell: bash

concurrency:
  group: ${{ github.repository }}-${{ github.workflow }}-${{ github.ref }}-${{ github.ref == 'refs/heads/main' && github.sha || ''}}
  cancel-in-progress: true

jobs:
  lint:
    name: Lint spot_ros2 packages
    runs-on: ubuntu-latest
    strategy:
      matrix:
        config:
        - { python: "3.10" }
    steps:
      - name: Checkout repository
        uses: actions/checkout@v4
      
      - uses: actions/setup-python@v5
        with:
          python-version: ${{ matrix.config.python }}

      - name: Lint sources
        uses: pre-commit/action@v3.0.1
  prepare_container:
    name: Prepare Humble container for tests
    runs-on: ubuntu-latest
    needs: lint
    permissions:
      contents: read
      packages: write
      # This is used to complete the identity challenge
      # with sigstore/fulcio when running outside of PRs.
      id-token: write
    outputs:
      image: ${{ fromJSON(steps.meta.outputs.json).tags[0] }}
    steps:
      - name: Checkout repository
        uses: actions/checkout@v4
        with:
          submodules: recursive

      - name: Setup Docker buildx  # to workaround: https://github.com/docker/build-push-action/issues/461
        uses: docker/setup-buildx-action@79abd3f86f79a9d68a23c75a09a9a85889262adf
      
      - name: Log into registry ${{ env.REGISTRY }}
        uses: docker/login-action@v3  # https://github.com/docker/login-action
        with:
          registry: ${{ env.REGISTRY }}
          username: ${{ github.actor }}
          password: ${{ secrets.GITHUB_TOKEN }}
      
      - name: Extract metadata (tags, labels) for Docker
        uses: docker/metadata-action@v5  # https://github.com/docker/metadata-action
        with:
          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
        id: meta
      
      - name: Build and push Docker image (may be cached)
        uses: docker/build-push-action@v5  # https://github.com/docker/build-push-action
        with:
          context: .
          file: .devcontainer/Dockerfile
          push: true
          tags: ${{ steps.meta.outputs.tags }}
          labels: ${{ steps.meta.outputs.labels }}
          cache-from: type=gha
          cache-to: type=gha,mode=max
  build_and_test_package_and_docs:
    name: Build and test spot_ros2 packages
    runs-on: ubuntu-latest
    needs: prepare_container
    container:
      image: ${{ needs.prepare_container.outputs.image }}
    steps:
      - name: Checkout repository
        uses: actions/checkout@v4
        with:
          submodules: recursive

      - run: git config --global --add safe.directory $GITHUB_WORKSPACE

      - name: Build packages
        run: |
          source /opt/ros/$ROS_DISTRO/setup.bash
          colcon build --symlink-install --packages-up-to spot_driver spot_description spot_msgs spot_examples spot_ros2_control --cmake-args -DCMAKE_CXX_FLAGS="--coverage"
        working-directory: ${{ github.workspace }}/../../

      - name: Test non-spot-driver packages
        run: |
          source install/setup.bash
          colcon test --event-handlers console_direct+ --packages-select spot_description spot_examples spot_msgs
        working-directory: ${{ github.workspace }}/../../
      
      # Per https://github.com/colcon/colcon-ros/issues/151, `pytest-args` cannot be used in an ament_cmake package, so in order to pass arguments to pytest we have to run pytest directly
      - name: Test python part of spot-driver package
        run: |
          source install/setup.bash
          pytest -n auto --cov-report xml --cov-config=$GITHUB_WORKSPACE/.coveragerc --cov-report term --cov=spot_driver $GITHUB_WORKSPACE/spot_driver/test/pytests/
        working-directory: ${{ github.workspace }}/../../

      - name: Test c++ part of spot-driver packages
        run: |
          source install/setup.bash
          colcon test --event-handlers console_direct+ --packages-select spot_driver
        working-directory: ${{ github.workspace }}/../../

      - name: Generate coverage report
        run: lcov -c -d build/spot_driver/ -o coverage_spot_driver.info --include "*/spot_driver/*" --exclude "*/test/*"
        working-directory: ${{ github.workspace }}/../../

      - name: Upload python coverage to Coveralls
        uses: coverallsapp/github-action@v2
        with:
          github-token: ${{ secrets.GITHUB_TOKEN }}
          fail-on-error: true
          flag-name: unittests-python
          parallel: true
          debug: true
          files: $(find ../../ -name "coverage.xml" -type f)

      - name: Upload cpp coverage to Coveralls
        uses: coverallsapp/github-action@v2
        with:
          github-token: ${{ secrets.GITHUB_TOKEN }}
          fail-on-error: true
          flag-name: unittests-cpp
          debug: true
          files: ../../coverage_spot_driver.info
          format: lcov

      - name: Aggregate coverage
        uses: coverallsapp/github-action@v2
        with:
          parallel-finished: true
          carryforward: "unittests-python, unittests-cpp"

      - if: always()
        name: Report on test results
        run: colcon test-result --all --verbose
        working-directory: ${{ github.workspace }}/../../

      - name: Build packages documentation
        run: |
          source /opt/ros/$ROS_DISTRO/setup.bash
          pip install -r docs/requirements.txt
          # go to documentation folder and build the .rst files
          cd docs
          # we don't use the --implicit-namespaces flag
          sphinx-apidoc -f -o source/ ../ ../*setup* ../examples ../*launch.py ../*command_spot_driver.py
          cd ..
          sphinx-build docs _build -v