ci.yaml

# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)

name: CI

on:
  workflow_dispatch:
  pull_request:
  push:

permissions:
  contents: read
  pages: write
  id-token: write

jobs:
  ici:
    strategy:
      fail-fast: false
      matrix:
        env:
          - IMAGE: noetic-source
            NAME: ccov
            TARGET_CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Debug -DCMAKE_CXX_FLAGS="--coverage"
          - IMAGE: noetic-source
            CLANG_TIDY: true
            TARGET_CMAKE_ARGS: >-
              -DCMAKE_BUILD_TYPE=Release
              -DCMAKE_CXX_FLAGS="-Werror -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wold-style-cast"
          - IMAGE: noetic-source
            NAME: asan
            DOCKER_RUN_OPTS: >-
              -e PRELOAD=libasan.so.5
              -e LSAN_OPTIONS="suppressions=$PWD/.github/workflows/lsan.suppressions"
            TARGET_CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="-fsanitize=address -fno-omit-frame-pointer -O1 -g"

    env:
      CATKIN_LINT: true
      CLANG_TIDY_ARGS: -quiet -export-fixes ${{ github.workspace }}/.work/clang-tidy-fixes.yaml
      DOCKER_IMAGE: moveit/moveit:${{ matrix.env.IMAGE }}
      UNDERLAY: /root/ws_moveit/install
      DOWNSTREAM_WORKSPACE: "github:ubi-agni/mtc_demos#master"
      CCACHE_DIR: ${{ github.workspace }}/.ccache
      BASEDIR: ${{ github.workspace }}/.work
      CACHE_PREFIX: "${{ matrix.env.IMAGE }}${{ contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') && '-ccov' || '' }}"
      # perform full clang-tidy check only on manual trigger (workflow_dispatch), PRs do check changed files, otherwise nothing
      CLANG_TIDY_BASE_REF: ${{ github.event_name != 'workflow_dispatch' && (github.base_ref || github.ref) || '' }}
      CC: ${{ matrix.env.CLANG_TIDY && 'clang' }}
      CXX: ${{ matrix.env.CLANG_TIDY && 'clang++' }}

    name: "${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CATKIN_LINT && ' • catkin_lint' || ''}}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }}"
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4
        with:
          submodules: recursive

      - name: Cache ccache
        uses: actions/cache@v4
        with:
          save-always: true
          path: ${{ env.CCACHE_DIR }}
          key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
          restore-keys: |
            ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
            ccache-${{ env.CACHE_PREFIX }}

      - id: ici
        name: Run industrial_ci
        uses: rhaschke/industrial_ci@master
        env: ${{ matrix.env }}

      - name: Upload ici's target_ws/install folder
        uses: rhaschke/upload-ici-workspace@main
        if: success() && matrix.env.CLANG_TIDY
        with:
          subdir: target_ws/install

      - name: Upload test artifacts (on failure)
        uses: actions/upload-artifact@v4
        if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results)
        with:
          name: test-results-${{ matrix.env.IMAGE }}${{ matrix.env.NAME && '-' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CLANG_TIDY && '-clang-tidy' || '' }}
          path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml

      - name: Upload clang-tidy fixes (on failure)
        uses: actions/upload-artifact@v4
        if: failure() && steps.ici.outputs.clang_tidy_checks
        with:
          name: clang-tidy-fixes.yaml
          path: ${{ env.BASEDIR }}/clang-tidy-fixes.yaml

      - name: Show clang-tidy warnings
        if: always() && matrix.env.CLANG_TIDY
        uses: asarium/clang-tidy-action@v1
        with:
          fixesFile: ${{ env.BASEDIR }}/clang-tidy-fixes.yaml

      - name: Generate codecov report
        uses: rhaschke/lcov-action@main
        if: contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') && steps.ici.outputs.target_test_results == '0'
        with:
          docker: $DOCKER_IMAGE
          workdir: ${{ env.BASEDIR }}/target_ws
          ignore: '"*/target_ws/build/*" "*/target_ws/install/*" "*/test/*"'
      - name: Upload codecov report
        uses: codecov/codecov-action@v4
        if: contains(matrix.env.TARGET_CMAKE_ARGS, '--coverage') && steps.ici.outputs.target_test_results == '0'
        with:
          files: ${{ env.BASEDIR }}/target_ws/coverage.info

  doc:
    # https://devblogs.microsoft.com/cppblog/clear-functional-c-documentation-with-sphinx-breathe-doxygen-cmake
    if: github.repository_owner == 'moveit'
    runs-on: ubuntu-latest
    needs: ici
    container:
      image: moveit/moveit:noetic-source
    steps:
      - name: Checkout
        uses: actions/checkout@v4
      - name: Setup Pages
        uses: actions/configure-pages@v5

      - name: Install dependencies
        run: |
          apt-get update -q
          apt-get install -y doxygen graphviz python3-pip ros-noetic-py-binding-tools
          pip install -r core/doc/requirements.txt

      - name: Download ICI workspace
        uses: rhaschke/download-ici-workspace@main

      - name: Build Documentation
        shell: bash
        run: |
          source ici/setup.bash
          (cd core/doc; doxygen)
          sphinx-build core/doc _site
      - name: Validate links
        if: false
        shell: bash
        run: |
          source ici/setup.bash
          sphinx-build -W -b linkcheck core/doc _site

      - name: Upload pages artifact
        uses: actions/upload-pages-artifact@v3

  # Deployment job
  deploy:
    if: github.repository_owner == 'moveit' && github.ref == 'refs/heads/master'
    runs-on: ubuntu-latest
    needs: doc
    environment:
      name: github-pages
      url: ${{ steps.deployment.outputs.page_url }}
    steps:
      - name: Deploy to GitHub Pages
        id: deployment
        uses: actions/deploy-pages@v4