industrial_ci_action.yml

# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
# For troubleshooting, see README (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)

name: Continuous Integration

on: # this determines when this workflow is run
  push:
  #   branches: [ master, melodic-devel ] #  when master or melodic-devel branch is pushed to
  #   pull_request:
  #   branches: [ master ] # when there is a pull request against master
  # schedule: # uncomment to run periodically
  #  - cron: '0 4 * * *' # every day at 4 AM (UTC)
  workflow_dispatch: # allow manually starting this workflow

jobs:
  industrial_ci:
    name: ROS ${{ matrix.ROS_DISTRO }} (${{ matrix.ROS_REPO }})
    runs-on: ubuntu-latest
    strategy:
      fail-fast: false # uncomment if failing jobs should not cancel the others immediately
      matrix: # matrix is the product of entries
        ROS_DISTRO: [iron, jazzy]
        ROS_REPO: [main]
        # exclude: # specific configuration can be excludes
        #   - {ROS_DISTRO: melodic, ROS_REPO: testing}
        # include: # add additional configurations
        #   - {ROS_DISTRO: kinetic, ROS_REPO: testing}
    env:
      CCACHE_DIR: "${{ github.workspace }}/.ccache" # directory for ccache (and how we enable ccache in industrial_ci)
    steps:
      - uses: actions/checkout@v4 # clone target repository
      - uses: actions/cache@v4 # fetch/store the directory used by ccache before/after the ci run
        with:
          path: ${{ env.CCACHE_DIR }}
          # This configuration will always create a new ccache cache starting off from the previous one (if any).
          # In this simple version it will be shared between all builds of the same ROS_REPO and ROS_REPO
          # and might need some fine-tuning to match the use case
          key: ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-${{github.run_id}}
          restore-keys: |
            ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-
  
      - uses: 'ros-industrial/industrial_ci@master' # run industrial_ci
        # Only pulls docker for iron since jazzy one is not built yet
        if: matrix.ROS_DISTRO == 'iron'
        env: # either pass all entries explicitly
          DOCKER_IMAGE: ghcr.io/cwrurobotics/rov-25:${{matrix.ROS_DISTRO}}
          ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
          # Done to avoid permssion errors in the ros-industrial ci.
          DOCKER_RUN_OPTS: -u root
          ROS_REPO: ${{ matrix.ROS_REPO }}
          # Install missing libxcb-cursor0 xvfb for PyQt unit testing
          # https://pytest-qt.readthedocs.io/en/latest/troubleshooting.html
          ADDITIONAL_DEBS: 'libxcb-cursor0 xvfb'
          # Crazy one liner for install python dependencies
          AFTER_INSTALL_TARGET_DEPENDENCIES_EMBED: 'pip install --upgrade pip && pip install /root/target_ws/src/rov-25 --user && rm -r /root/target_ws/src/rov-25/build'
          # Used for running our CI but don't necessarily want to run others failing unit tests (ej. ament_pep257)
          UPSTREAM_WORKSPACE: 'github:InvincibleRMC/ament_pep257#main'

      # Once a :jazzy exists we can remove this section
      - uses: 'ros-industrial/industrial_ci@master' # run industrial_ci
        if: matrix.ROS_DISTRO != 'iron'
        env: # either pass all entries explicitly
            # DOCKER_IMAGE: ghcr.io/cwrurobotics/rov-25:${{matrix.ROS_DISTRO}}
            ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
            # Done to avoid permssion errors in the ros-industrial ci.
            # DOCKER_RUN_OPTS: -u root
            ROS_REPO: ${{ matrix.ROS_REPO }}
            # Install missing libxcb-cursor0 xvfb for PyQt unit testing
            # https://pytest-qt.readthedocs.io/en/latest/troubleshooting.html
            ADDITIONAL_DEBS: 'libxcb-cursor0 xvfb'
            # Crazy one liner for install python dependencies
            AFTER_INSTALL_TARGET_DEPENDENCIES_EMBED: 'pip install --upgrade pip && pip install /root/target_ws/src/rov-25 --user && rm -r /root/target_ws/src/rov-25/build'
            # Used for running our CI but don't necessarily want to run others failing unit tests (ej. ament_pep257)
            UPSTREAM_WORKSPACE: 'github:InvincibleRMC/ament_pep257#main'