ci.yml

name: CI
on:
  push:
    branches:
      - develop
      - develop-humble
      - master
      - "release/*"
  pull_request:
    types: [opened, synchronize, reopened]
jobs:
  determine_docker_org_and_tag:
    runs-on: ubuntu-latest
    outputs:
      docker_organization: ${{ steps.docker-org-and-tag.outputs.docker_organization }}
      docker_image_tag: ${{ steps.docker-org-and-tag.outputs.docker_image_tag }}
    steps:
      - id: docker-org-and-tag
        uses: usdot-fhwa-stol/actions/docker-org-and-tag@main
  build:
    needs: determine_docker_org_and_tag
    defaults:
      run:
        shell: bash
        working-directory: "/opt/carma/"
    runs-on: ubuntu-latest
    container:
      image: ${{ needs.determine_docker_org_and_tag.outputs.docker_organization }}/carma-base:${{ needs.determine_docker_org_and_tag.outputs.docker_image_tag }}
      env:
        INIT_ENV: "/home/carma/.base-image/init-env.sh"
        ROS_2_ENV: "/opt/ros/humble/setup.bash"
        TERM: xterm
      options: "--user root"
    steps:
    - name: Checkout ${{ github.event.repository.name }}
      uses: actions/checkout@v4
      with:
        fetch-depth: 0
        path: src/${{ github.event.repository.name }}
    - name: Move source code
      run: mv $GITHUB_WORKSPACE/src /opt/carma/
    - name: Determine base branch
      id: determine-base-branch
      run: |
        if [[ "$GITHUB_EVENT_NAME" == "pull_request" ]]; then
          echo git_branch="$GITHUB_BASE_REF" >> $GITHUB_OUTPUT
        else
          echo git_branch="$GITHUB_REF_NAME" >> $GITHUB_OUTPUT
        fi
    - name: Checkout dependencies
      run: |
        source "$INIT_ENV"
        git clone -b ${{ steps.determine-base-branch.outputs.git_branch }} --depth 1 https://github.com/usdot-fhwa-stol/carma-msgs.git src/CARMAMsgs
    - name: Build ROS2
      run: |
        source "$INIT_ENV"
        source "$ROS_2_ENV" 
        PACKAGES=$(find . -maxdepth 2 -type f -name package.xml | sed 's/\.\///' | cut -d/ -f1)
        sed -i '/colcon build/ s/$/ --continue-on-error --parallel-workers 4 --packages-up-to $PACKAGES/' /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
        make_with_coverage.bash -m -e /opt/carma/ -o ./coverage_reports/gcov        
    - name: Run ROS2 C++ Tests
      continue-on-error: true
      run: |
        source "$INIT_ENV"
        source "$ROS_2_ENV"
        sed -i '/colcon test/ s/$/ --parallel-workers 4 --packages-above $PACKAGES/' /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
        make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov
    - name: Run SonarScanner
      uses: usdot-fhwa-stol/actions/sonar-scanner@main
      with:
        sonar-token: ${{ secrets.SONAR_TOKEN }}
        working-dir: "/opt/carma/src/${{ github.event.repository.name }}"