push.yml

# Copyright 2023 Klepsydra Technologies AG
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#      http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

name: Check build

on:
  push:
  workflow_dispatch:

defaults:
  run:
    shell: bash

jobs:
  builddebug:
    name: Vanilla Debug
    runs-on: ubuntu-latest
    container:
      image: ghcr.io/klepsydra-technologies/kpsrbase:1.0.0
    steps:
      - name: Clone kpsr-core
        uses: actions/checkout@v3
        with:
          repository: klepsydra-technologies/kpsr-core
          submodules: recursive
          ref: main
          path: kpsr-core

      - name: Install kpsr-core
        run: |
          mkdir build && cd build 
          cmake -DKPSR_WITH_DOXYGEN=true -DKPSR_WITH_DDS=false -DKPSR_WITH_ZMQ=false -DKPSR_WITH_SOCKET=true -DKPSR_WITH_YAML=true -DKPSR_WITH_CODE_METRICS=true -DCMAKE_BUILD_TYPE=Debug -DKPSR_ENABLE_TESTS=false -DKPSR_ENABLE_EXAMPLES=false ../
          make -j$(nproc)
          sudo make -j$(nproc) install
        working-directory: kpsr-core

      - name: Upload kpsr_codegen
        uses: actions/upload-artifact@v3
        with:
          name: kpsr_codegen
          path: |
            kpsr-core/build/kpsr_codegen-1.0-py3-none-any.whl

      - name: Remove kpsr-core sources
        run: |
          sudo rm -rf ${GITHUB_WORKSPACE}/kpsr-core

      - name: Clone kpsr-robotics
        uses: actions/checkout@v3
        with:
          repository: klepsydra-technologies/kpsr-robotics
          submodules: recursive
          path: kpsr-robotics

      - name: Build kpsr-robotics
        run: |
          mkdir build && cd build 
          cmake -DKPSR_WITH_DOXYGEN=true -DCMAKE_BUILD_TYPE=Debug -DKPSR_WITH_OCV=true -DKPSR_ENABLE_TESTS=true -DKPSR_ENABLE_EXAMPLES=true ../
          make -j$(nproc)
          sudo make -j$(nproc) install
        working-directory: kpsr-robotics

      - name: Install BST SDK
        run: |
          git clone https://gitlab.com/bstaero/sdk.git ${GITHUB_WORKSPACE}/sdk
          cd ${GITHUB_WORKSPACE}/sdk
          git checkout f61cabf1063762e2a1cc0677292a7eedb14b2d8b
          ./make_all.sh

        
      - name: Clone project
        uses: actions/checkout@v3
        with:
          submodules: recursive
          path: kpsr-bst

      - name: Build project
        run: |
          mkdir build && cd build 
          cmake -DBST_SDK_HOME=${GITHUB_WORKSPACE}/sdk -DCMAKE_BUILD_TYPE=Debug ../
          make -j$(nproc)
        working-directory: kpsr-bst
        
      - name: Unit tests
        timeout-minutes: 10
        run: cd build && make test ARGS="--gtest_shuffle"
        working-directory: kpsr-bst

      - name: Upload logs on failure
        if: failure()
        uses: actions/upload-artifact@v3
        with:
          name: builddebug-logs
          path: |
            build/CMakeFiles/CMakeOutput.log
            build/CMakeFiles/CMakeError.log
            build/Testing/Temporary
            build/code_generator/kpsr_codegen/build_cpptesting/Testing/Temporary

      - name: Workspace cleanup
        if: always()
        run: |
          sudo rm -rf ${GITHUB_WORKSPACE}/kpsr-bst