ci.yml

name: CI

on:
    pull_request:
      branches:
        - '**'

jobs:

    micro_ros_arduino:
        runs-on: ubuntu-20.04
        container: ubuntu:20.04

        steps:
        - uses: actions/checkout@v4
          with:
            path: checkout/

        - name: Build
          run: |
            apt update
            apt install -y git curl lib32z1 wget libfontconfig libxft2 xz-utils rsync python-is-python3 python3-pip
            pip3 install pyserial
            curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | sh -s 0.31.0
            mkdir -p /github/home/Arduino/libraries/micro_ros_arduino/
            cp -R checkout/* /github/home/Arduino/libraries/micro_ros_arduino/
            echo '''board_manager:
              additional_urls:
                - https://raw.githubusercontent.com/ROBOTIS-GIT/OpenCR/master/arduino/opencr_release/package_opencr_index.json
                - https://github.com/espressif/arduino-esp32/releases/download/2.0.2/package_esp32_index.json
                - https://www.pjrc.com/teensy/package_teensy_index.json
                - https://files.seeedstudio.com/arduino/package_seeeduino_boards_index.json''' > arduino-cli.yaml
            curl -fsSL https://raw.githubusercontent.com/ROBOTIS-GIT/OpenCR/master/arduino/opencr_release/package_opencr_index.json -o /github/home/.arduino15/package_opencr_index.json
            curl -fsSL https://github.com/espressif/arduino-esp32/releases/download/2.0.2/package_esp32_index.json -o /github/home/.arduino15/package_esp32_index.json
            curl -fsSL https://www.pjrc.com/teensy/package_teensy_index.json -o /github/home/.arduino15/package_teensy_index.json
            curl -fsSL https://files.seeedstudio.com/arduino/package_seeeduino_boards_index.json -o /github/home/.arduino15/package_seeeduino_boards_index.json
            export PATH=$PATH:/github/workspace/bin:/__w/micro_ros_arduino/micro_ros_arduino/bin

            arduino-cli core install OpenCR:OpenCR -v
            arduino-cli core install arduino:samd -v
            arduino-cli core install arduino:sam -v
            arduino-cli core install arduino:mbed_giga -v
            arduino-cli core install arduino:mbed_rp2040 -v
            arduino-cli core install arduino:mbed_portenta -v
            arduino-cli core install arduino:renesas_uno -v
            arduino-cli core install arduino:mbed_nano -v
            arduino-cli core install esp32:esp32 -v
            arduino-cli core install teensy:avr@1.59.0 -v
            arduino-cli core install Seeeduino:samd -v
            #
            # PATCHING TEENSY AND SAM
            cat checkout/extras/patching_boards/platform_teensy.txt > /github/home/.arduino15/packages/teensy/hardware/avr/1.59.0/platform.txt
            # remove when https://github.com/arduino/ArduinoCore-sam/pull/115 merged
            cat checkout/extras/patching_boards/platform_arduinocore_sam.txt > /github/home/.arduino15/packages/arduino/hardware/sam/1.6.12/platform.txt
            #
            # BUILDING EXAPLE FOR EACH PLATFORM
            arduino-cli core update-index
            arduino-cli lib update-index
            arduino-cli lib install WiFiNINA
            arduino-cli lib install "STM32duino X-NUCLEO-IKS01A3"
            arduino-cli lib install "Seeed Arduino rpcWiFi" # Dependent libraries(e.g. "Seeed Arduino rpcUnified") will be installed together. See https://wiki.seeedstudio.com/Wio-Terminal-Network-Overview/#needed-libraries-for-wi-fi for more details.
            arduino-cli lib install WiFiEspAT
            # Build all demos
            arduino-cli compile --fqbn OpenCR:OpenCR:OpenCR /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
            arduino-cli compile --fqbn OpenCR:OpenCR:OpenCR /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_addtwoints_service -v
            arduino-cli compile --fqbn OpenCR:OpenCR:OpenCR /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_reconnection_example -v
            arduino-cli compile --fqbn OpenCR:OpenCR:OpenCR /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_subscriber -v
            arduino-cli compile --fqbn OpenCR:OpenCR:OpenCR /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_subscriber_twist -v
            arduino-cli compile --fqbn OpenCR:OpenCR:OpenCR /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_tf_publisher -v
            arduino-cli compile --fqbn teensy:avr:teensy41 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_time_sync -v
            arduino-cli compile --fqbn teensy:avr:teensy41 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_types_handling -v
            # Build one demo for each platform
            arduino-cli compile --fqbn arduino:mbed_nano:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
            arduino-cli compile --fqbn arduino:mbed_nano:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_decibels -v
            arduino-cli compile --fqbn arduino:mbed_nano:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_IMU_ML -v
            arduino-cli compile --fqbn arduino:mbed_nano:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
            arduino-cli compile --fqbn teensy:avr:teensy31 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
            arduino-cli compile --fqbn teensy:avr:teensy35 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
            arduino-cli compile --fqbn teensy:avr:teensy36 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
            arduino-cli compile --fqbn teensy:avr:teensy41 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
            arduino-cli compile --fqbn teensy:avr:teensy40 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
            arduino-cli compile --fqbn arduino:samd:arduino_zero_native /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
            arduino-cli compile --fqbn arduino:sam:arduino_due_x /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
            # arduino-cli compile --fqbn arduino:mbed:envie_m4 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
            arduino-cli compile --fqbn arduino:mbed_portenta:envie_m7 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
            arduino-cli compile --fqbn arduino:mbed_portenta:envie_m7 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
            arduino-cli compile --fqbn esp32:esp32:esp32 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
            arduino-cli compile --fqbn esp32:esp32:esp32 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
            arduino-cli compile --fqbn Seeeduino:samd:seeed_wio_terminal /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
            arduino-cli compile --fqbn arduino:mbed_giga:giga /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
            arduino-cli compile --fqbn arduino:mbed_giga:giga /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
            arduino-cli compile --fqbn arduino:renesas_uno:minima /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
            arduino-cli compile --fqbn arduino:renesas_uno:unor4wifi /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
            arduino-cli compile --fqbn arduino:renesas_uno:unor4wifi /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
            # Build micro-ros_publisher-wifi_at for WiFi non-native board with ESP-AT
            arduino-cli compile --fqbn arduino:mbed_rp2040:pico /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi_at -v