build-test.yml

name: CI
env:
  WORKSPACE_DIR: ${{ github.workspace }}
  TEST_ARGS: "--cmake-args -DBUILD_TESTING=ON"
on:
  push:
    branches: [ main ]
  pull_request:
    branches: [ main ]
    types: [ opened, ready_for_review, reopened, synchronize ]
jobs:
  changes:
    if: github.event.pull_request.draft == false
    runs-on: ubuntu-latest
    permissions:
      pull-requests: read
    outputs:
      source-code: ${{ steps.filter.outputs.source-code }}
      markdown: ${{ steps.filter.outputs.markdown }}
    steps:
      - name: Check out sources
        uses: actions/checkout@v4

      - name: Check for changed file types
        uses: dorny/paths-filter@v3
        id: filter
        with:
          filters: |
            source-code:
              - '!**/*.md'
            markdown:
              - '**/*.md'

  preflight-check:
    needs: changes
    if: ${{ needs.changes.outputs.source-code == 'true' }}
    timeout-minutes: 10
    runs-on: ubuntu-latest
    steps:
      - name: Check out sources
        uses: actions/checkout@v4

      - name: Check format of all commit messages
        run: ./scripts/ci/check-commit-msg.sh

      - name: Check license header
        run: ./scripts/ci/check-spdx-license-header.sh

  static-code-analysis:
    needs: preflight-check
    if: ${{ needs.changes.outputs.source-code == 'true' }}
    timeout-minutes: 10
    runs-on: ubuntu-latest
    steps:
      - name: Check out sources
        uses: actions/checkout@v4

      - name: Install clang toolchain
        uses: ./.github/actions/install-clang

      - name: Display clang-format and clang-tidy versions
        run: |
          clang-format --version
          clang-tidy --version

      - name: Run clang-format
        run: git ls-files | grep -E "\.(c|cc|cpp|cxx|inl|h|hh|hpp|hxx)$" | xargs clang-format -i -style=file --Werror --dry-run

#     - name: Run clang-tidy
#       run: |
#         git fetch origin main
#         ./scripts/check-clang-tidy.sh warning-as-error diff-to-main

  colcon-build-test:
    needs: [preflight-check, static-code-analysis]
    strategy:
      fail-fast: false
      matrix:
        compiler: [clang, gcc]
        include:
          - compiler: clang
            cc: clang
            cxx: clang++
          - compiler: gcc
            cc: gcc
            cxx: g++
    runs-on: ubuntu-latest
    container:
      image: ros:rolling
    steps:
      - name: Install common build dependencies
        run: |
          apt-get update
          apt-get install -y \
            python3-colcon-common-extensions \
            python3-colcon-mixin \
            python3-vcstool \
            python3-rosdep \
            libacl1-dev \
            software-properties-common \
            curl \
            wget

      - name: Install rust toolchain
        uses: dtolnay/rust-toolchain@stable

      - name: Setup workspace
        run: |
          mkdir -p $WORKSPACE_DIR/src/rmw_iceoryx2
          mkdir -p $WORKSPACE_DIR/src/test_interface_files

      - name: Check out test message interfaces
        uses: actions/checkout@v4
        with:
          repository: ros2/test_interface_files
          path: src/test_interface_files
          ref: rolling

      - name: Check out current ref
        uses: actions/checkout@v4
        with:
          path: src/rmw_iceoryx2

      # this is also required for all builds as iceoryx2 depends on libclang
      - name: Install clang toolchain
        uses: ./src/rmw_iceoryx2/.github/actions/install-clang

      - name: Install gcc toolchain
        if: matrix.compiler == 'gcc'
        uses: ./src/rmw_iceoryx2/.github/actions/install-gcc

      - name: Import iceoryx
        run: |
          cd $WORKSPACE_DIR

          # need to switch to https in ci
          sed 's|git@github.com:|https://github.com/|g' src/rmw_iceoryx2/iceoryx.repos > _deps.repos
          vcs import src < _deps.repos

      - name: Check compiler versions
        run: |
          echo "C compiler version:"
          ${{ matrix.cc }} --version
          echo "C++ compiler version:"
          ${{ matrix.cxx }} --version

      - name: Build workspace
        run: |
          cd $WORKSPACE_DIR
          . /opt/ros/rolling/setup.sh
          colcon build \
            --cmake-args \
              -DCMAKE_C_COMPILER=${{ matrix.cc }} \
              -DCMAKE_CXX_COMPILER=${{ matrix.cxx }} \
              -DCMAKE_BUILD_TYPE=RelWithDebInfo \
              -DBUILD_TESTING=On \
            --symlink-install \
            --packages-select \
              test_interface_files \
              iceoryx_platform \
              iceoryx_hoofs \
              iceoryx2_cxx \
              rmw_iceoryx2_cxx_test_msgs \
              rmw_iceoryx2_cxx

      - name: Run tests
        run: |
          cd $WORKSPACE_DIR
          . /opt/ros/rolling/setup.sh
          . install/setup.sh
          colcon test \
            --packages-select rmw_iceoryx2_cxx \
            --return-code-on-test-failure

      - name: Generate test reports
        if: always()
        run: |
          cd $WORKSPACE_DIR
          colcon test-result --verbose

      - name: Upload test results
        if: always()
        uses: actions/upload-artifact@v4
        with:
          name: test-results-${{ matrix.compiler }}
          path: |
            ${{ env.WORKSPACE_DIR }}/build/*/test_results/*/*.xml
            ${{ env.WORKSPACE_DIR }}/log/**/test*.log