action.yml

name: Test all targets

on: [push, pull_request]

permissions:
  contents: write

jobs:
  quick-tests:
    runs-on: ubuntu-latest
    steps:
    - name: Checkout Repo
      uses: actions/checkout@v3
    - name: Rust setup
      uses: actions-rs/toolchain@v1.0.6
      with:
        toolchain: nightly
        override: true
        components: rustfmt, clippy
    - name: Rust | Cache
      uses: Swatinem/rust-cache@v2
      with:
        prefix-key: "rust-cache"
        shared-key: "quick-tests"
    - name: Check Rust formatting
      run: cargo fmt -- --check
    - name: Check Rust code with Clippy
      run: cargo clippy -- -Dwarnings -A clippy::not_unsafe_ptr_arg_deref
    - name: Run internal tests
      run: cargo test --verbose -- --nocapture
    - name: Build Rust project
      run: cargo build
    - name: Build Python module
      run: |
        pip install --user maturin
        pip install . --user
    - name: Check Python integration
      run: python examples/python/main.py
    - name: Check C++ integration
      run: |
        cd examples/cpp
        cmake -B build -DCMAKE_BUILD_TYPE=Debug
        cmake --build build --config Debug --parallel
        ./build/simple
    - name: Run clang-format style check for C++ example.
      uses: jidicula/clang-format-action@v4.11.0
      with:
        clang-format-version: '16'
        check-path: 'examples/cpp/'
        exclude-regex: 'examples/cpp/build'

  version-manager:
    needs: [quick-tests]
    runs-on: ubuntu-latest
    outputs:
      head_hash: ${{ steps.head-hash.outputs.head_hash }}
    steps:
    - name: Checkout Repo
      uses: actions/checkout@v3
    - name: Rust setup
      uses: actions-rs/toolchain@v1.0.6
      with:
        toolchain: nightly
        override: true
    - name: Modify version if release-tag
      if: startsWith(github.ref, 'refs/tags/')
      run: |
        cargo install cargo-bump --force \
        && cargo bump ${{ github.ref_name }}
    - name: Automatic commit for version upgrade
      if: startsWith(github.ref, 'refs/tags/')
      uses: stefanzweifel/git-auto-commit-action@v4
      with:
        branch: master
        commit_message: "Cargo: Update the navigator-lib version to ${{ github.ref_name }}"
    - name: Store the head actual hash
      id: head-hash
      run: echo "head_hash=$(git rev-parse HEAD)" >> $GITHUB_OUTPUT

  build-cpp:
    needs: version-manager
    runs-on: ubuntu-latest
    strategy:
      fail-fast: false
      matrix:
        include:
        - TARGET: armv7-unknown-linux-gnueabihf
        - TARGET: aarch64-unknown-linux-gnu
        - TARGET: armv7-unknown-linux-musleabihf
        - TARGET: aarch64-unknown-linux-musl
    steps:
    - name: Building ${{ matrix.TARGET }}
      run: echo "${{ matrix.TARGET }}"
    - uses: actions/checkout@v3
      with:
        ref: ${{ needs.version-manager.outputs.head_hash }}
    - name: Rust Setup
      uses: actions-rs/toolchain@v1.0.1
      with:
        toolchain: nightly
        target: ${{ matrix.TARGET }}
        override: true
    - name: Rust Cache
      uses: Swatinem/rust-cache@v2
      with:
        prefix-key: "rust-cache"
        shared-key: "build-cpp-${{ matrix.TARGET }}"
    - name: Rust Cross Build Cpp
      uses: actions-rs/cargo@v1
      with:
        use-cross: true
        command: build
        args: --verbose --release --target=${{ matrix.TARGET }} -Z unstable-options --out-dir output/
    - name: Move to it's target
      run: |
        mkdir dist
        mkdir "dist/${{ matrix.TARGET }}"
        mv output/* "dist/${{ matrix.TARGET }}"
        mv target/release/bindings.h dist/
    - name: Upload bin
      uses: actions/upload-artifact@v3
      with:
        name: cpp
        path: dist

  build-python:
    needs: version-manager
    runs-on: ubuntu-latest
    strategy:
      fail-fast: false
      matrix:
        target: [aarch64, armv7]
        libc: [auto, musllinux_1_1]
    steps:
    - uses: actions/checkout@v3
      with:
        ref: ${{ needs.version-manager.outputs.head_hash }}
    - uses: actions/setup-python@v4
      with:
        python-version: "3.9"
    - name: Build wheels
      uses: PyO3/maturin-action@v1
      with:
        target: ${{ matrix.target }}
        args: --release --out dist
        manylinux: ${{ matrix.libc }}
    - uses: uraimo/run-on-arch-action@master
      if: matrix.libc == 'auto'
      name: Install built wheel manylinux
      with:
        arch: ${{ matrix.target }}
        distro: bullseye
        githubToken: ${{ github.token }}
        install: |
          apt-get update
          apt-get install -y --no-install-recommends python3 python3-pip
          pip3 install -U pip
        run: |
          pip3 install bluerobotics_navigator --no-index --find-links dist/ --force-reinstall
    - uses: uraimo/run-on-arch-action@master
      if: matrix.libc == 'musllinux_1_1'
      name: Install built wheel musl
      with:
        arch: ${{ matrix.target}}
        distro: alpine_latest
        githubToken: ${{ github.token }}
        install: |
          apk add py3-pip
        run: |
          python3 -m venv ./venv
          . ./venv/bin/activate
          pip3 install -U pip
          pip3 install bluerobotics_navigator --no-index --find-links dist/ --force-reinstall
    - name: Upload wheels
      uses: actions/upload-artifact@v3
      with:
        name: python
        path: dist

  raspberry-test-python:
    needs: build-python
    if: ${{ github.repository_owner == 'bluerobotics' }}
    runs-on: raspbian-armv7-kernel-5.10.33
    steps:
    - uses: actions/checkout@v3
      with:
        ref: ${{ needs.version-manager.outputs.head_hash }}
    - name: Download wheels
      uses: actions/download-artifact@v3
      with:
        name: python
        path: dist
    - name: Install built wheel
      run: |
        sudo apt-get update
        sudo apt-get install -y --no-install-recommends python3 python3-pip
        pip3 install -U pip
        pip3 install bluerobotics_navigator --no-index --find-links dist/ --force-reinstall
    - name: Check Python main example
      run: |
        export CI=false
        python examples/python/main.py

  python-release-pypi:
    needs: [raspberry-test-python]
    runs-on: ubuntu-latest
    if: "startsWith(github.ref, 'refs/tags/')"
    permissions:
      id-token: write
    steps:
    - uses: actions/download-artifact@v3
      with:
        name: python
    - name: Publish package distributions to PyPI
      uses: pypa/gh-action-pypi-publish@release/v1
      with:
        packages-dir: .

  release-assets:
    needs: ["build-cpp","raspberry-test-python"]
    runs-on: ubuntu-latest
    if: "startsWith(github.ref, 'refs/tags/')"
    steps:
    - name: Download cpp artifacts
      uses: actions/download-artifact@v2
      with:
        name: cpp
        path: cpp
    - name: Download python artifacts
      uses: actions/download-artifact@v2
      with:
        name: python
        path: python
    - name: Compress artifacts
      run: |
        sudo apt update
        sudo apt install -y zip
        cd cpp
        zip -rT ../cpp.zip *
        cd ../python
        zip -rT ../python.zip *
    - name: Upload assets to release
      uses: svenstaro/upload-release-action@v2
      with:
        repo_token: ${{ secrets.GITHUB_TOKEN }}
        file: ./*.zip
        tag: ${{ github.ref }}
        file_glob: true

  deploy-doc:
    needs: version-manager
    runs-on: ubuntu-latest
    steps:
    - uses: actions/checkout@v3
    - uses: actions-rs/toolchain@v1.0.6
      with:
        toolchain: nightly
        override: true
    - name: Build docs
      run: pip install hatch && hatch run dev:build-doc
    # Move it to its own folder
    - name: Move python documentation
      run: mkdir -p pages/python && mv docs/_build/* pages/python/
    - name: Deploy
      uses: peaceiris/actions-gh-pages@v3
      if: ${{ github.ref == 'refs/heads/master' }}
      with:
        github_token: ${{ secrets.GITHUB_TOKEN }}
        publish_dir: ./pages