ci.yaml

name: CI

on:
  workflow_dispatch:
  pull_request:
  push:

jobs:
  cmake:
    name: cmake (${{ matrix.ros_distro }}, ${{ matrix.preset }}, ${{ matrix.compiler.name }})
    strategy:
      fail-fast: false
      matrix:
        ros_distro: [humble, rolling]
        preset: [debug, release, asan, codecov]
        compiler:
        - { name: GCC }
        - { name: Clang, flags: -DCMAKE_CXX_COMPILER=clang++ }
        exclude:
        - preset: codecov
          compiler: { name: Clang }
        - preset: codecov
          ros_distro: humble
    runs-on: ubuntu-22.04
    container: ghcr.io/picknikrobotics/rsl:upstream-${{ matrix.ros_distro }}
    env:
      CCACHE_DIR: ${{ github.workspace }}/.ccache
    steps:
      - name: Check out the repo
        uses: actions/checkout@v4
      - name: Cache ccache
        uses: action/cache@v4
        with:
          path: ${{ env.CCACHE_DIR }}
          key: ccache-cmake-${{ matrix.ros_distro }}-${{ matrix.preset }}-${{ github.sha }}-${{ github.run_id }}
          restore-keys: |
            ccache-cmake-${{ matrix.ros_distro }}-${{ matrix.preset }}-${{ github.sha }}
            ccache-cmake-${{ matrix.ros_distro }}-${{ matrix.preset }}
      - name: Source ROS
        run: |
          . /opt/ros/${{ matrix.ros_distro }}/setup.sh
          echo "$(env)" >> $GITHUB_ENV
      - name: Install Clang
        if: matrix.compiler.name == 'clang'
        run: sudo apt update && sudo apt install clang
      - name: Configure
        run: cmake --preset ${{ matrix.preset }} ${{ matrix.compiler.flags }} -DCMAKE_INSTALL_PREFIX=install -DCMAKE_VERBOSE_MAKEFILE=ON
      - name: Build
        run: cmake --build build/${{ matrix.preset }} --target install
      - name: Test
        run: ctest --test-dir build/${{ matrix.preset }} --rerun-failed --output-on-failure
      - name: Build Doxygen Site
        run: cmake --build build/${{ matrix.preset }} --target docs
      - name: Analyze
        run: cmake --build build/${{ matrix.preset }} --target tidy
      - name: Generate LCOV report
        if: ${{ matrix.preset == 'codecov' }}
        run: lcov -c -d . -o coverage.info --no-external --exclude "*/build/**" --ignore-errors mismatch
      - uses: codecov/codecov-action@v3
        if: ${{ matrix.preset == 'codecov' }}
        with:
          files: ./coverage.info
          name: codecov-umbrella
          flags: ${{ matrix.ros_distro }}

  ros:
    strategy:
      matrix:
        ros_distro: [humble, rolling]
    runs-on: ubuntu-22.04
    container: ghcr.io/picknikrobotics/rsl:upstream-${{ matrix.ros_distro }}
    env:
      CCACHE_DIR: ${{ github.workspace }}/.ccache
    steps:
      - name: Check out the repo
        uses: actions/checkout@v4
      - name: Cache ccache
        uses: action/cache@v4
        with:
          path: ${{ env.CCACHE_DIR }}
          key: ccache-ros-${{ matrix.ros_distro }}-${{ github.sha }}-${{ github.run_id }}
          restore-keys: |
            ccache-ros-${{ matrix.ros_distro }}-${{ github.sha }}
            ccache-ros-${{ matrix.ros_distro }}
      - uses: ros-tooling/action-ros-ci@v0.3
        with:
          package-name: rsl
          target-ros2-distro: ${{ matrix.ros_distro }}
          colcon-defaults: |
            {
              "build": {
                "mixin": ["ccache", "lld"]
              }
            }