ros1.yml

name: ROS1 Interface

on:
  push:
    tags:
      - "v*.*.*"
    branches: [ main ]
  pull_request:
    branches: [ main ]

env:
  REPOSITORY_NAME: wavemap
  DOCKER_REGISTRY: ghcr.io
  DOCKER_CI_IMAGE_NAME: ci_wavemap_ros1
  DOCKER_RELEASE_IMAGE_NAME: wavemap_ros1
  USER_HOME: /home/ci
  CATKIN_WS_PATH: /home/ci/catkin_ws
  CCACHE_DIR: /home/ci/ccache
  PRE_COMMIT_DIR: /home/ci/pre-commit

jobs:
  workspace-container:
    name: Build ROS1 container
    runs-on: ubuntu-20.04
    outputs:
      image: ${{ steps.ref-names.outputs.ci_image }}
    steps:
      - name: Common variables
        id: ref-names
        run: |
          echo "cache=${{ env.DOCKER_REGISTRY }}/ethz-asl/${{ env.DOCKER_CI_IMAGE_NAME }}:buildcache" >> $GITHUB_OUTPUT
          echo "ci_image=${{ env.DOCKER_REGISTRY }}/ethz-asl/${{ env.DOCKER_CI_IMAGE_NAME }}:${{ github.sha }}" >> $GITHUB_OUTPUT

      - name: Fetch the package's repository
        uses: actions/checkout@v4
        with:
          path: ${{ env.REPOSITORY_NAME }}

      - name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v3

      - name: Log in to ${{ env.DOCKER_REGISTRY }} registry
        uses: docker/login-action@v3.3.0
        with:
          registry: ${{ env.DOCKER_REGISTRY }}
          username: ${{ github.actor }}
          password: ${{ secrets.GITHUB_TOKEN }}

      - name: Build the image
        uses: docker/build-push-action@v6
        env:
          DOCKER_BUILD_SUMMARY: false
          DOCKER_BUILD_RECORD_UPLOAD: false
        with:
          context: ${{ env.REPOSITORY_NAME }}
          file: ${{ env.REPOSITORY_NAME }}/tooling/docker/ros1/full.Dockerfile
          target: workspace
          build-args: |
            REPOSITORY_NAME=${{ env.REPOSITORY_NAME }}
            USER_HOME=${{ env.USER_HOME }}
            CATKIN_WS_PATH=${{ env.CATKIN_WS_PATH }}
            CCACHE_DIR=${{ env.CCACHE_DIR }}
          load: true
          cache-from: type=registry,ref=${{ steps.ref-names.outputs.cache }}
          cache-to: type=registry,mode=max,ref=${{ steps.ref-names.outputs.cache }}
          tags: ${{ steps.ref-names.outputs.ci_image }}

      - name: Test the image
        run: docker run --rm ${{ steps.ref-names.outputs.ci_image }}

      - name: Push the CI image
        uses: docker/build-push-action@v6
        env:
          DOCKER_BUILD_SUMMARY: false
          DOCKER_BUILD_RECORD_UPLOAD: false
        with:
          context: ${{ env.REPOSITORY_NAME }}
          file: ${{ env.REPOSITORY_NAME }}/tooling/docker/ros1/full.Dockerfile
          target: workspace
          build-args: |
            REPOSITORY_NAME=${{ env.REPOSITORY_NAME }}
            USER_HOME=${{ env.USER_HOME }}
            CATKIN_WS_PATH=${{ env.CATKIN_WS_PATH }}
            CCACHE_DIR=${{ env.CCACHE_DIR }}
          push: true
          cache-from: type=registry,ref=${{ steps.ref-names.outputs.cache }}
          tags: ${{ steps.ref-names.outputs.ci_image }}

      - name: Generate release image metadata
        if: startsWith(github.event.ref, 'refs/tags/v')
        id: meta
        uses: docker/metadata-action@9ec57ed1fcdbf14dcef7dfbe97b2010124a938b7
        with:
          images: ${{ env.DOCKER_REGISTRY }}/ethz-asl/${{ env.DOCKER_RELEASE_IMAGE_NAME }}

      - name: Publish the release image
        if: startsWith(github.event.ref, 'refs/tags/v')
        uses: docker/build-push-action@v6
        env:
          DOCKER_BUILD_SUMMARY: false
          DOCKER_BUILD_RECORD_UPLOAD: false
        with:
          context: ${{ env.REPOSITORY_NAME }}
          file: ${{ env.REPOSITORY_NAME }}/tooling/docker/ros1/full.Dockerfile
          target: workspace
          build-args: |
            REPOSITORY_NAME=${{ env.REPOSITORY_NAME }}
            USER_HOME=${{ env.USER_HOME }}
            CATKIN_WS_PATH=${{ env.CATKIN_WS_PATH }}
            CCACHE_DIR=${{ env.CCACHE_DIR }}
          push: true
          cache-from: type=registry,ref=${{ steps.ref-names.outputs.cache }}
          tags: ${{ steps.meta.outputs.tags }}
          labels: ${{ steps.meta.outputs.labels }}

  build:
    name: Build
    needs: workspace-container
    runs-on: ubuntu-20.04
    container:
      image: ${{ needs.workspace-container.outputs.image }}
    steps:
      - name: Fetch the package's repository
        uses: actions/checkout@v4
        # NOTE: Even though the repo is already present in the container, we
        #       also need to check it out at GitHub Actions' preferred location
        #       for private actions and problem matchers to work.

      - name: Setup ccache
        uses: hendrikmuhs/ccache-action@v1.2
        with:
          key: ${{ secrets.CCACHE_CACHE_VERSION }}|ubuntu-20.04-gcc-ros1
          create-symlink: true

      - name: Build all wavemap packages
        working-directory: ${{ env.CATKIN_WS_PATH }}
        shell: bash
        run: |
          echo "::add-matcher::./.github/problem-matchers/gcc.json"
          catkin build wavemap_all --no-status --force-color
          echo "::remove-matcher owner=problem-matcher-gcc::"

  install:
    name: Install
    needs: [ workspace-container, build ]
    runs-on: ubuntu-20.04
    container:
      image: ${{ needs.workspace-container.outputs.image }}
    steps:
      - name: Fetch the package's repository
        uses: actions/checkout@v4
        # NOTE: Even though the repo is already present in the container, we
        #       also need to check it out at GitHub Actions' preferred location
        #       for private actions and problem matchers to work.

      - name: Setup ccache
        uses: hendrikmuhs/ccache-action@v1.2
        with:
          key: ${{ secrets.CCACHE_CACHE_VERSION }}|ubuntu-20.04-gcc-ros1
          create-symlink: true

      - name: Enable catkin install mode
        working-directory: ${{ env.CATKIN_WS_PATH }}
        shell: bash
        run: |
          catkin config --install
          catkin clean -bdi -y

      - name: Build all wavemap packages
        working-directory: ${{ env.CATKIN_WS_PATH }}
        shell: bash
        run: |
          . /opt/ros/noetic/setup.sh
          echo "::add-matcher::./.github/problem-matchers/gcc.json"
          catkin build wavemap_all --no-status --force-color
          echo "::remove-matcher owner=problem-matcher-gcc::"

  test:
    name: Test
    needs: [ workspace-container, build ]
    runs-on: ubuntu-20.04
    container:
      image: ${{ needs.workspace-container.outputs.image }}
    steps:
      - name: Fetch the package's repository
        uses: actions/checkout@v4
        # NOTE: Even though the repo is already present in the container, we
        #       also need to check it out at GitHub Actions' preferred location
        #       for private actions and problem matchers to work.

      - name: Setup ccache
        uses: hendrikmuhs/ccache-action@v1.2
        with:
          key: ${{ secrets.CCACHE_CACHE_VERSION }}|ubuntu-20.04-gcc-ros1
          create-symlink: true

      - name: Build regular code
        working-directory: ${{ env.CATKIN_WS_PATH }}
        shell: bash
        run: catkin build wavemap_all --no-status --force-color --cmake-args -DDCHECK_ALWAYS_ON=ON

      - name: Build unit tests
        working-directory: ${{ env.CATKIN_WS_PATH }}
        shell: bash
        run: |
          echo "::add-matcher::./.github/problem-matchers/gcc.json"
          catkin build wavemap_all --no-status --force-color --no-deps --cmake-args -DDCHECK_ALWAYS_ON=ON --catkin-make-args tests
          echo "::remove-matcher owner=problem-matcher-gcc::"

      - name: Run unit tests
        working-directory: ${{ env.CATKIN_WS_PATH }}
        shell: bash
        run: |
          all_tests_passed=1
          source devel/setup.bash
          for f in devel/lib/wavemap*/test_*
            do $f --gtest_color=yes || all_tests_passed=0
          done
          if [ $all_tests_passed -ne 1 ]; then
            echo "Not all tests passed!"
            exit 1
          fi