code_quality.yml

name: Code Quality

on:
  push:
    branches:
      - master
      - 'dev**'
  pull_request:
    paths:
      - 'tesseract**'
      - '.github/workflows/code_quality.yml'
      - '.clang-tidy'
  schedule:
    - cron: '0 5 * * *'

jobs:
  ci:
    name: ${{ matrix.job_type }}
    runs-on: ubuntu-latest
    strategy:
      fail-fast: false
      matrix:
        job_type: [clang-tidy, codecov]
        include:
          - job_type: clang-tidy
            env:
              TARGET_CMAKE_ARGS: "-DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_CLANG_TIDY=ON -DTESSERACT_ENABLE_TESTING=ON"
          - job_type: codecov
            env:
              TARGET_CMAKE_ARGS: "-DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_CODE_COVERAGE=ON -DTESSERACT_WARNINGS_AS_ERRORS=OFF"
    container:
      image: ubuntu:20.04
      env:
        CCACHE_DIR: "$GITHUB_WORKSPACE/${{ matrix.job_type }}/.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 git clang-tidy liboctomap-dev
          python3 -m pip install vcstool -q
          python3 -m pip install colcon-common-extensions -q
          python3 -m pip install rosdep -q
          rosdep init
          rosdep update
          cd $GITHUB_WORKSPACE/target_ws/src
          ./.github/workflows/add_ros_apt_sources.sh

      - 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.job_type }}/.ccache
          key: ${{ matrix.job_type }}-ccache-${{ steps.ccache_cache_timestamp.outputs.timestamp }}
          restore-keys: |
            ${{ matrix.job_type }}-ccache-

      - name: Build Upstream Workspace
        shell: bash
        run: |
          mkdir -p $GITHUB_WORKSPACE/upstream_ws/src
          vcs import --input "$GITHUB_WORKSPACE/target_ws/src/dependencies.repos" $GITHUB_WORKSPACE/upstream_ws/src/
          cd $GITHUB_WORKSPACE/upstream_ws
          rosdep install --from-paths src --ignore-src -r -y
          colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Release
          if [ $? -ge 1 ]; then return 1; fi

      - name: Build Target Workspace
        shell: bash
        run: |
          source $GITHUB_WORKSPACE/upstream_ws/install/setup.bash
          cd $GITHUB_WORKSPACE/target_ws
          rosdep install --from-paths src --ignore-src -r -y
          colcon build --event-handlers console_direct+ --cmake-args ${{ matrix.env.TARGET_CMAKE_ARGS }}
          if [ $? -ge 1 ]; then return 1; fi

      - name: Upload CodeCov Results
        shell: bash
        run: |
          if [[ "${{ matrix.job_type }}" == "codecov" ]]; then
            source $GITHUB_WORKSPACE/target_ws/install/setup.bash
            cd $GITHUB_WORKSPACE/target_ws
            colcon build --cmake-target ccov-all --packages-select tesseract_collision tesseract_common tesseract_environment tesseract_geometry tesseract_kinematics tesseract_srdf tesseract_state_solver tesseract_scene_graph tesseract_urdf
            bash <(curl -s https://codecov.io/bash) -t 758610a6-d851-4185-a01a-5b9465889b62 -s $GITHUB_WORKSPACE/target_ws/build -f *all-merged.info
          fi