ubuntu_test.yml

name: Ubuntu

on:
  push:
    branches:
      - master
      - 'dev**'
  pull_request:
    paths:
      - 'tesseract**'
      - '.github/workflows/ubuntu.yml'
      - '**.repos'
  schedule:
    - cron: '0 5 * * *'
  release:
    types:
      - released

jobs:
  ci:
    name: ${{ matrix.distro }}
    runs-on: ubuntu-latest
    strategy:
      fail-fast: false
      matrix:
        distro: [focal, jammy]
    container:
      image: ubuntu:${{ matrix.distro }}
      env:
        CCACHE_DIR: "${{ github.workspace }}/${{ matrix.distro }}/.ccache"
        DEBIAN_FRONTEND: noninteractive
        TZ: Etc/UTC
    steps:
      - name: Checkout repository
        uses: actions/checkout@v4
        with:
          path: target_ws/src

      - name: Install Depends
        shell: bash
        run: |
          apt update
          apt upgrade -y
          apt install -y cmake curl lsb-release ca-certificates gnupg python3 python3-distutils python3-pip ccache
          install -m 0755 -d /etc/apt/keyrings
          curl -fsSL https://download.docker.com/linux/ubuntu/gpg | gpg --dearmor -o /etc/apt/keyrings/docker.gpg
          chmod a+r /etc/apt/keyrings/docker.gpg
          echo \
            "deb [arch="$(dpkg --print-architecture)" signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu \
            "$(. /etc/os-release && echo "$VERSION_CODENAME")" stable" | \
            tee /etc/apt/sources.list.d/docker.list > /dev/null
          apt update
          apt install -y docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin
          python3 -m pip install vcstool -q
          python3 -m pip install colcon-common-extensions -q

      - name: Prepare ccache timestamp
        id: ccache_cache_timestamp
        shell: cmake -P {0}
        run: |
          string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
          message("::set-output name=timestamp::${current_date}")

      - name: ccache cache files
        continue-on-error: true
        uses: actions/cache@v1.1.0
        with:
          path: ${{ matrix.distro }}/.ccache
          key: ${{ matrix.distro }}-ccache-${{ steps.ccache_cache_timestamp.outputs.timestamp }}
          restore-keys: |
            ${{ matrix.distro }}-ccache-

      - name: Build Upstream Workspace
        shell: bash
        run: |
          .${{ github.workspace }}/target_ws/src/.github/workflows/add_ros_apt_sources.sh
          apt install -y liboctomap-dev libfcl-dev libconsole-bridge-dev libbullet-dev libbullet-extras-dev libyaml-cpp-dev libtinyxml2-dev libassimp-dev liborocos-kdl-dev libpcl-dev liblapack-dev libboost-dev libboost-filesystem-dev libboost-serialization-dev libboost-program-options-dev libboost-graph-dev libbenchmark-dev libccd-dev libgtest-dev
          mkdir -p ${{ github.workspace }}/upstream_ws/src
          vcs import --input "dependencies.repos" ${{ github.workspace }}/upstream_ws/src/
          cd ${{ github.workspace }}/upstream_ws
          colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Release

      - name: Build Target Workspace
        shell: bash
        run: |
          cd ${{ github.workspace }}/target_ws/src
          ls
          source ${{ github.workspace }}/upstream_ws/install/setup.bash
          colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Release -DTESSERACT_ENABLE_TESTING=ON
          if [ $? -ge 1 ]; then return 1; fi

      - name: Run Tests
        shell: bash
        run: |
          cd ${{ github.workspace }}/target_ws
          source ${{ github.workspace }}/target_ws/install/setup.bash
          colcon test --event-handlers console_direct+ --return-code-on-test-failure
          if [ $? -ge 1 ]; then return 1; fi
          colcon test-result --verbose
          if [ $? -ge 1 ]; then return 1; fi