ci_pipeline.yml

name: CI pipeline

on:
  push:
    branches: [ main ]
  pull_request:
    branches: [ main ]

concurrency:
  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
  cancel-in-progress: true

jobs:
  lint:
    runs-on: ubuntu-22.04
    steps:
      - name: Checkout repository
        uses: actions/checkout@v3

      - name: Setup python
        uses: actions/setup-python@v4
        with:
          cache: pip

      - name: Install python packages
        run: pip install pre-commit==2.20.0

      - name: Lint
        run: pre-commit run --all-files --verbose --show-diff-on-failure

  build-test:
    runs-on: ubuntu-22.04
    needs: lint
    strategy:
      fail-fast: false
      matrix:
        ros_distro:
          - noetic
          - humble
          - iron
          - jazzy
        include:
          - ros_distro: humble
            upload_artifacts: true
    container:
      image: ros:${{ matrix.ros_distro }}-ros-base
    steps:
      - name: Install debian packages
        run: >-
          sudo apt-get update && sudo apt-get install -y \
            gcovr \
            git \
            lcov \
            python3-colcon-common-extensions \
            python3-colcon-coveragepy-result \
            python3-colcon-lcov-result \
            python3-colcon-mixin \
            python3-pip \
            python3-vcstool

      - name: Install python packages
        run: |
             export PIP_BREAK_SYSTEM_PACKAGES=1
             pip install pre-commit==2.20.0 \
             h5py==3.11.0

      - name: Checkout repository
        uses: actions/checkout@v3
        with:
          path: ${{ github.workspace }}/src/beluga

      - name: Import external repositories
        working-directory: ${{ github.workspace }}/src
        run: |
          vcs import < ./beluga/docker/files/${{ matrix.ros_distro }}.repos
          rm -rf ./flatland

      - name: Install dependencies
        run: |
          . /opt/ros/${{ matrix.ros_distro }}/setup.sh
          export PIP_BREAK_SYSTEM_PACKAGES=1
          rosdep update
          sudo -E rosdep install -r --from-paths src -y -i -t exec -t build -t doc -t test
          colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/c75e4b34a3959524564afb584e2aa33c7eec323c/index.yaml
          colcon mixin update default

      - name: Setup compiler cache
        uses: Chocobo1/setup-ccache-action@v1
        with:
          api_token: ${{ secrets.GITHUB_TOKEN }}
          update_packager_index: false
          override_cache_key: ccache-${{ matrix.ros_distro }}-${{ github.head_ref || github.ref_name }}
          override_cache_key_fallback: |
            ccache-${{ matrix.ros_distro }}-${{ github.base_ref || github.ref_name }}
            ccache-${{ matrix.ros_distro }}-

      - name: Build and test
        working-directory: ${{ github.workspace }}
        run: ./src/beluga/tools/build-and-test.sh

      - name: Perform static analysis
        working-directory: ${{ github.workspace }}
        run: ./src/beluga/tools/run-clang-tidy.sh

      - name: Enforce code coverage
        working-directory: ${{ github.workspace }}
        run: ./src/beluga/tools/check-code-coverage.sh

      - name: Upload code coverage report
        uses: codecov/codecov-action@v3
        with:
          token: ${{ secrets.CODECOV_TOKEN }}
          files: ./lcov/total_coverage.info,./coveragepy/.coverage
          name: codecov-umbrella
          fail_ci_if_error: true
          verbose: true
        if: ${{ matrix.upload_artifacts && !github.event.pull_request.head.repo.fork }}

  build-docs:
    needs: build-test
    runs-on: ubuntu-22.04
    steps:
      - name: Checkout repository
        uses: actions/checkout@v3

      - name: Setup python
        uses: actions/setup-python@v4
        with:
          cache: pip

      - name: Install tooling dependencies
        run: |
          sudo apt-get update
          sudo apt-get install -y \
            doxygen \
            git \
            graphviz \
            make \
            texlive-latex-base
          pip install -r docs/requirements.txt

      - name: Build documentation
        run: make -C docs html

      - name: Upload documentation artifacts
        uses: actions/upload-artifact@v3
        with:
          name: docs
          path: ./docs/_build/html/
          include-hidden-files: true
          retention-days: 7

  deploy-docs:
    needs: build-docs
    runs-on: ubuntu-22.04
    if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/main' }}
    steps:
      - name: Checkout documentation branch
        uses: actions/checkout@v3
        with:
          ref: gh-pages

      - name: Configure username
        run: |
          git config --local user.name "github-actions[bot]"
          git config --local user.email "41898282+github-actions[bot]@users.noreply.github.com"

      - name: Remove current documentation
        run: |
          git rm -rf .

      - name: Download documentation artifacts
        uses: actions/download-artifact@v3
        with:
          name: docs

      - name: Deploy documentation
        env:
          COMMIT_MESSAGE: "Triggered by commit ${{ github.sha }}."
          COMMIT_CO_AUTHOR: "Co-authored-by: ${{ github.actor }} <${{ github.actor }}@users.noreply.github.com>"
        run: |
          git add --all
          git commit -m "Update documentation" -m "${{ env.COMMIT_MESSAGE }}" -m "${{ env.COMMIT_CO_AUTHOR }}" || true
          git push