ci.yml

name: CI rmw_microxrcedds_c

on:
    push:
      branches:
        - humble
        - iron
        - rolling
        - jazzy
    pull_request:
      branches:
        - '**'

jobs:
    rmw_microxrcedds_ci:
        runs-on: ubuntu-latest
        container: microros/micro-ros-agent:jazzy

        steps:
        - uses: actions/checkout@v3
          with:
            path: src/rmw-microxrcedds

        - name: Download dependencies
          run: |
            apt update && apt install -y python3-pip git python3-rosdep python3-colcon-common-extensions curl ros-$ROS_DISTRO-performance-test-fixture
            git clone -b ros2 https://github.com/eProsima/Micro-CDR src/Micro-CDR
            git clone -b ros2 https://github.com/eProsima/Micro-XRCE-DDS-Client src/Micro-XRCE-DDS-Client
            git clone -b jazzy https://github.com/micro-ROS/rosidl_typesupport_microxrcedds src/rosidl_typesupport_microxrcedds
            git clone -b jazzy https://github.com/ros2/rmw src/rmw
            touch src/rosidl_typesupport_microxrcedds/test/COLCON_IGNORE

            # Install coverage tools
            apt install -y gcovr
            . /opt/ros/$ROS_DISTRO/setup.sh
            rosdep init && rosdep update
            rosdep install --from-paths src -r

        - name: Build
          run: . /opt/ros/$ROS_DISTRO/setup.sh && colcon build --symlink-install --cmake-args -DBUILD_SHARED_LIBS=ON -DCMAKE_CXX_FLAGS="-ftest-coverage --coverage -fno-inline -fno-inline-small-functions -fno-default-inline" -DCMAKE_CXX_OUTPUT_EXTENSION_REPLACE=ON -DCMAKE_C_FLAGS="-ftest-coverage --coverage -fno-inline -fno-inline-small-functions -fno-default-inline" -DCMAKE_C_OUTPUT_EXTENSION_REPLACE=ON

        - name: Test
          run: |
            . /opt/ros/$ROS_DISTRO/setup.sh && . /agent_ws/install/local_setup.sh && ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888 -d -v4 &
            sleep 1
            . /opt/ros/$ROS_DISTRO/setup.sh && . install/local_setup.sh
            colcon test --event-handlers console_direct+ --packages-select=rmw_microxrcedds --return-code-on-test-failure
            ./build/rmw_microxrcedds/test/test-sizes 2> memanalisys_out

        - name: Coverage
          run: |
            cd src/rmw-microxrcedds/
            gcovr -x -r . -o coverage.xml ../../build --exclude-unreachable-branches --exclude rmw_microxrcedds_c/test
            curl -s https://codecov.io/bash -o codecov.bash && chmod +x codecov.bash
            ./codecov.bash -t ${{ secrets.CODECOV_TOKEN }}