ci.yml

name: CI

on:
  push:
    branches: [main]
    tags: ["releases/**", "go/mcap/*"]
  pull_request:
    branches: ["*"]

jobs:
  spellcheck:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v3
        with:
          lfs: true
      - run: corepack enable
      - uses: actions/setup-node@v4
        with:
          node-version: 20.x
          cache: yarn
      - run: yarn install --immutable
      - run: echo '::add-matcher::.github/cspell-problem-matcher.json'
      - run: yarn spellcheck --no-progress

  conformance-lint:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v3
        with:
          lfs: true
      - run: corepack enable
      - uses: actions/setup-node@v4
        with:
          node-version: 20.x
          cache: yarn
      - run: yarn install --immutable
      - run: yarn workspace @foxglove/mcap-conformance lint:ci
      - run: yarn workspace @foxglove/mcap-conformance build

  conformance-cpp:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v3
        with:
          lfs: true
      - run: corepack enable
      - uses: actions/setup-node@v4
        with:
          node-version: 20.x
          cache: yarn
      - uses: actions/cache@v4
        with:
          path: ~/.conan/data
          key: ${{ runner.os }}-${{ hashFiles('cpp/**/conanfile.py') }}
      - run: cd cpp && make ci
      - run: yarn install --immutable
      - run: yarn test:conformance:generate-inputs --verify
      - run: yarn test:conformance --runner cpp-

  conformance-go:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v3
        with:
          lfs: true
      - run: corepack enable
      - uses: actions/setup-node@v4
        with:
          node-version: 20.x
          cache: yarn
      - uses: actions/setup-go@v5
        with:
          go-version-file: go/go.work
      - run: cd go && make build-conformance-binaries
      - run: yarn install --immutable
      - run: yarn test:conformance:generate-inputs --verify
      - run: yarn test:conformance --runner go-

  conformance-python:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v3
        with:
          lfs: true
      - run: corepack enable
      - uses: actions/setup-node@v4
        with:
          node-version: 20.x
          cache: yarn
      - uses: actions/setup-python@v5
        with:
          python-version: 3.7
      - run: cd python && pip install -e mcap
      - run: yarn install --immutable
      - run: yarn test:conformance:generate-inputs --verify
      - run: yarn test:conformance --runner py-

  conformance-typescript:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v3
        with:
          lfs: true
      - run: corepack enable
      - uses: actions/setup-node@v4
        with:
          node-version: 20.x
          cache: yarn
      - run: yarn install --immutable
      - run: yarn test:conformance:generate-inputs --verify
      - run: yarn test:conformance --runner ts-

  conformance-kaitai-struct:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v3
        with:
          lfs: true
      - run: corepack enable
      - uses: actions/setup-node@v4
        with:
          node-version: 20.x
          cache: yarn
      - run: yarn install --immutable
      - run: yarn test:conformance:generate-inputs --verify
      - run: yarn test:conformance --runner ksy-

  conformance-swift:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v3
        with:
          lfs: true
      - run: corepack enable
      - uses: actions/setup-node@v4
        with:
          node-version: 20.x
          cache: yarn
      - uses: swift-actions/setup-swift@v2
        with:
          swift-version: "5.7"
      - run: swift build
      - run: yarn install --immutable
      - run: yarn test:conformance:generate-inputs --verify
      - run: yarn test:conformance --runner swift-

  conformance-rust:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v3
        with:
          lfs: true
      - run: corepack enable
      - uses: actions/setup-node@v4
        with:
          node-version: 20.x
          cache: yarn
      - uses: actions-rs/toolchain@v1
        with:
          toolchain: stable
          default: true
      - run: cd rust && cargo build --example=conformance_reader
      - run: yarn install --immutable
      - run: yarn test:conformance:generate-inputs --verify
      - run: yarn test:conformance --runner rust-

  cpp:
    runs-on: ubuntu-latest
    defaults:
      run:
        working-directory: cpp
    steps:
      - uses: actions/checkout@v3
        with:
          lfs: true
      - uses: actions/cache@v4
        with:
          path: ~/.conan/data
          key: ${{ runner.os }}-${{ hashFiles('cpp/**/conanfile.py') }}
      - run: make ci-format-check
      - run: make ci
      - run: make test-host
      - run: make test-examples-host
      - run: make run-examples-host

  cpp-windows:
    runs-on: windows-latest
    defaults:
      run:
        working-directory: cpp
    steps:
      - uses: actions/checkout@v3
        with:
          lfs: true
      - uses: actions/cache@v4
        with:
          path: ~/.conan/data
          key: ${{ runner.os }}-${{ hashFiles('cpp/**/conanfile.py') }}
      - uses: actions/setup-python@v5
        with:
          python-version: 3.7
      - run: pip install conan~=1.0
      - run: bash build.sh --build-tests-only
      - run: ./test/build/Debug/bin/unit-tests

  typescript:
    runs-on: ubuntu-latest

    permissions:
      # https://docs.npmjs.com/generating-provenance-statements#publishing-packages-with-provenance-via-github-actions
      id-token: write

    steps:
      - uses: actions/checkout@v3
        with:
          lfs: true
      - run: corepack enable
      - uses: actions/setup-node@v4
        with:
          node-version: 20.x
          cache: yarn
          registry-url: https://registry.npmjs.org
      - run: yarn install --immutable
      - run: yarn dedupe --check
      - run: yarn prettier:check
      - run: yarn workspace @mcap/core lint:ci
      - run: yarn workspace @mcap/core build
      - run: yarn workspace @mcap/support lint:ci
      - run: yarn workspace @mcap/support build
      - run: yarn workspace @mcap/nodejs lint:ci
      - run: yarn workspace @mcap/nodejs build
      - run: yarn workspace @mcap/browser lint:ci
      - run: yarn workspace @mcap/browser build
      - run: yarn typescript:test

      - run: yarn workspace @mcap/core pack
      - name: Publish @mcap/core to NPM
        if: ${{ startsWith(github.ref, 'refs/tags/releases/typescript/core/v') }}
        # `yarn npm publish` does not currently support --provenance: https://github.com/yarnpkg/berry/issues/5430
        run: npm publish typescript/core/package.tgz --provenance --access public
        env:
          NODE_AUTH_TOKEN: ${{ secrets.NPM_PUBLISH_TOKEN }}

      - run: yarn workspace @mcap/support pack
      - name: Publish @mcap/support to NPM
        if: ${{ startsWith(github.ref, 'refs/tags/releases/typescript/support/v') }}
        # `yarn npm publish` does not currently support --provenance: https://github.com/yarnpkg/berry/issues/5430
        run: npm publish typescript/support/package.tgz --provenance --access public
        env:
          NODE_AUTH_TOKEN: ${{ secrets.NPM_PUBLISH_TOKEN }}

      - run: yarn workspace @mcap/nodejs pack
      - name: Publish @mcap/nodejs to NPM
        if: ${{ startsWith(github.ref, 'refs/tags/releases/typescript/nodejs/v') }}
        # `yarn npm publish` does not currently support --provenance: https://github.com/yarnpkg/berry/issues/5430
        run: npm publish typescript/nodejs/package.tgz --provenance --access public
        env:
          NODE_AUTH_TOKEN: ${{ secrets.NPM_PUBLISH_TOKEN }}

      - run: yarn workspace @mcap/browser pack
      - name: Publish @mcap/browser to NPM
        if: ${{ startsWith(github.ref, 'refs/tags/releases/typescript/browser/v') }}
        # `yarn npm publish` does not currently support --provenance: https://github.com/yarnpkg/berry/issues/5430
        run: npm publish typescript/browser/package.tgz --provenance --access public
        env:
          NODE_AUTH_TOKEN: ${{ secrets.NPM_PUBLISH_TOKEN }}

  typescript-examples:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v3
        with:
          lfs: true
      - run: corepack enable
      - uses: actions/setup-node@v4
        with:
          node-version: 20.x
          cache: yarn
      - run: yarn install --immutable
      - run: yarn workspace @foxglove/mcap-benchmarks lint:ci
      - run: yarn workspace @foxglove/mcap-benchmarks typecheck
      - run: yarn workspace @foxglove/mcap-example-validate lint:ci
      - run: yarn workspace @foxglove/mcap-example-validate typecheck
      - run: yarn workspace @foxglove/mcap-example-bag2mcap lint:ci
      - run: yarn workspace @foxglove/mcap-example-bag2mcap typecheck
      - run: yarn workspace @foxglove/mcap-example-basicwriter lint:ci
      - run: yarn workspace @foxglove/mcap-example-basicwriter typecheck
      - run: yarn workspace @foxglove/mcap-example-flatbufferswriter lint:ci
      - run: yarn workspace @foxglove/mcap-example-flatbufferswriter typecheck
      - run: yarn workspace @foxglove/mcap-example-text-annotation-demo lint:ci
      - run: yarn workspace @foxglove/mcap-example-text-annotation-demo typecheck

  python:
    runs-on: ubuntu-latest
    defaults:
      run:
        working-directory: python
    permissions:
      id-token: write
    steps:
      - uses: actions/checkout@v3
        with:
          lfs: true
      - uses: actions/setup-python@v5
        with:
          python-version: 3.8
      - run: pip install pipenv==2023.2.4
      - run: make lint
      - run: make test
      - run: make examples
      - run: make build
      - name: Publish mcap to TestPyPI
        uses: pypa/gh-action-pypi-publish@release/v1
        if: ${{ !github.event.pull_request.head.repo.fork && github.actor != 'dependabot[bot]' }}
        with:
          packages_dir: python/mcap/dist
          repository_url: https://test.pypi.org/legacy/
          skip_existing: true

      - name: Publish mcap-protobuf-support to TestPyPI
        uses: pypa/gh-action-pypi-publish@release/v1
        if: ${{ !github.event.pull_request.head.repo.fork && github.actor != 'dependabot[bot]' }}
        with:
          repository_url: https://test.pypi.org/legacy/
          skip_existing: true
          packages_dir: python/mcap-protobuf-support/dist

      - name: Publish mcap-ros1-support to TestPyPI
        uses: pypa/gh-action-pypi-publish@release/v1
        if: ${{ !github.event.pull_request.head.repo.fork && github.actor != 'dependabot[bot]' }}
        with:
          repository_url: https://test.pypi.org/legacy/
          skip_existing: true
          packages_dir: python/mcap-ros1-support/dist

      - name: Publish mcap-ros2-support to TestPyPI
        uses: pypa/gh-action-pypi-publish@release/v1
        if: ${{ !github.event.pull_request.head.repo.fork && github.actor != 'dependabot[bot]' }}
        with:
          repository_url: https://test.pypi.org/legacy/
          skip_existing: true
          packages_dir: python/mcap-ros2-support/dist

      - name: Publish mcap to PyPI
        if: |
          !github.event.pull_request.head.repo.fork &&
          startsWith(github.ref, 'refs/tags/releases/python/mcap/v')
        uses: pypa/gh-action-pypi-publish@release/v1
        with:
          packages_dir: python/mcap/dist

      - name: Publish mcap-protobuf-support to PyPI
        if: |
          !github.event.pull_request.head.repo.fork &&
          startsWith(github.ref, 'refs/tags/releases/python/mcap-protobuf-support/v')
        uses: pypa/gh-action-pypi-publish@release/v1
        with:
          packages_dir: python/mcap-protobuf-support/dist

      - name: Publish mcap-ros1-support to PyPI
        if: |
          !github.event.pull_request.head.repo.fork &&
          startsWith(github.ref, 'refs/tags/releases/python/mcap-ros1-support/v')
        uses: pypa/gh-action-pypi-publish@release/v1
        with:
          packages_dir: python/mcap-ros1-support/dist

      - name: Publish mcap-ros2-support to PyPI
        if: |
          !github.event.pull_request.head.repo.fork &&
          startsWith(github.ref, 'refs/tags/releases/python/mcap-ros2-support/v')
        uses: pypa/gh-action-pypi-publish@release/v1
        with:
          packages_dir: python/mcap-ros2-support/dist

  go:
    runs-on: ubuntu-latest
    defaults:
      run:
        working-directory: go
    steps:
      - uses: actions/checkout@v3
        with:
          lfs: true
      - uses: actions/setup-go@v5
        with:
          go-version-file: go/go.work
      - name: install golangci-lint
        run: go install github.com/golangci/golangci-lint/cmd/golangci-lint@v1.59.1
      - run: make lint
      - run: make test
      - name: Check library version
        if: |
          !github.event.pull_request.head.repo.fork &&
          startsWith(github.ref, 'refs/tags/go/mcap/v')
        run: make -C cli/mcap build && ./check_tag.sh cli/mcap/bin/mcap

  go-release-cli:
    permissions:
      contents: write
    needs:
      - go
    if: github.event_name == 'push' && startsWith(github.ref, 'refs/tags/releases/mcap-cli/v')
    defaults:
      run:
        working-directory: go/cli/mcap
    strategy:
      fail-fast: false
      matrix:
        include:
          - os: linux
            image: ubuntu-latest
            arch: amd64
            env: {}
          - os: linux
            image: ubuntu-latest
            arch: arm64
            setup: sudo apt-get update && sudo apt-get install -qq gcc-aarch64-linux-gnu
            env:
              CC: aarch64-linux-gnu-gcc
              CXX: aarch64-linux-gnu-g++
          - os: macos
            image: macos-latest
            arch: amd64
            env: {}
          - os: macos
            image: macos-latest
            arch: arm64
            env: {}
          - os: windows
            image: windows-latest
            arch: amd64
            env: {}

    name: Build (${{ matrix.os }}/${{ matrix.arch }})
    runs-on: ${{ matrix.image }}
    env: ${{ matrix.env }}

    steps:
      - uses: actions/checkout@v3
        with:
          fetch-depth: "0"
      - run: git fetch --depth=1 origin +refs/tags/*:refs/tags/*
      - uses: actions/setup-go@v5
        with:
          go-version-file: go/go.work
      - name: Setup environment
        run: ${{ matrix.setup }}
      - name: Build binary
        run: make build
        env:
          GOARCH: ${{ matrix.arch }}
          OUTPUT: mcap-${{ matrix.os }}-${{ matrix.arch }}
      - name: Make release notes
        run: |
          git log --oneline --no-merges --first-parent --grep CLI --decorate-refs=refs $(git describe --tags $(git rev-list --tags=releases/mcap-cli --max-count=1))..HEAD > ${{ github.workspace }}-CHANGELOG.txt
      - name: Release
        uses: softprops/action-gh-release@v2
        with:
          files: ./go/cli/mcap/bin/*
          body_path: ${{ github.workspace }}-CHANGELOG.txt
          draft: false

  swift:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v3
        with:
          lfs: true
      - uses: swift-actions/setup-swift@v2
        with:
          swift-version: "5.7"
      - run: docker run -t --rm -v $(pwd):/work -w /work ghcr.io/realm/swiftlint:0.49.1
      - run: docker run -t --rm -v $(pwd):/work ghcr.io/nicklockwood/swiftformat:0.49.18 --lint /work
      - run: swift build
      - run: swift test

  rust:
    runs-on: ubuntu-latest
    defaults:
      run:
        working-directory: rust
    steps:
      - uses: actions/checkout@v3
        with:
          lfs: true
      - uses: actions-rs/toolchain@v1
        with:
          toolchain: stable
          default: true
          components: "rustfmt, clippy"
      - run: cargo fmt --all -- --check
      - run: cargo clippy -- --no-deps
      - run: cargo clippy --no-default-features -- --no-deps
      - run: cargo clippy --no-default-features --features lz4 -- --no-deps
      - run: cargo clippy --no-default-features --features zstd -- --no-deps
      - run: cargo build
      - run: cargo test
      - name: "publish to crates.io"
        if: github.event_name == 'push' && startsWith(github.ref, 'refs/tags/releases/rust/v')
        run: cargo publish --token ${{ secrets.RUST_CRATES_IO_TOKEN }}