From ac138a257591f3f56f1003c07bcf4b67c6e07a12 Mon Sep 17 00:00:00 2001
From: Tyler Marr <tylermarr17@gmail.com>
Date: Thu, 6 Jul 2023 16:58:52 -0500
Subject: [PATCH] Combine CI builds into one file with a matrix

---
 .github/workflows/jammy_build.yml             | 98 -------------------
 .../workflows/{focal_build.yml => ubuntu.yml} | 15 +--
 2 files changed, 9 insertions(+), 104 deletions(-)
 delete mode 100644 .github/workflows/jammy_build.yml
 rename .github/workflows/{focal_build.yml => ubuntu.yml} (91%)

diff --git a/.github/workflows/jammy_build.yml b/.github/workflows/jammy_build.yml
deleted file mode 100644
index 5a80cca9..00000000
--- a/.github/workflows/jammy_build.yml
+++ /dev/null
@@ -1,98 +0,0 @@
-name: Jammy-Build
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-  schedule:
-    - cron: '0 5 * * 6'
-  workflow_dispatch:
-
-jobs:
-  industrial_ci:
-    name: Humble
-    runs-on: ubuntu-22.04
-    env:
-      CI_NAME: Jammy-Build
-      OS_NAME: ubuntu
-      OS_CODE_NAME: jammy
-      ROS_DISTRO: humble
-      ROS_REPO: main
-      BEFORE_INIT: './.add-gazebo-ppa'
-      UPSTREAM_WORKSPACE: 'dependencies_unstable.repos'
-      ROSDEP_SKIP_KEYS: "catkin taskflow orocos_kdl fcl gz-common5 gz-math7 gz-rendering7"
-      ADDITIONAL_DEBS: "libgz-common5-dev libgz-math7-dev libgz-rendering7-dev"
-      DOCKER_IMAGE: "ros:humble"
-      PARALLEL_TESTS: false
-      NOT_TEST_BUILD: true
-      BEFORE_RUN_TARGET_TEST_EMBED: "source /root/target_ws/install/local_setup.bash"
-      CCACHE_DIR: "/home/runner/work/tesseract_ros2/tesseract_ros2/Jammy-Build/.ccache"
-      UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release"
-      TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug"
-      REGISTRY: ghcr.io
-      IMAGE_NAME: ${{ github.repository }}
-      PUSH_DOCKER_IMAGE: ${{ github.ref == 'refs/heads/master' || github.event_name == 'release' }}
-    steps:
-      - uses: actions/checkout@v1
-
-      - name: Free Disk Space
-        continue-on-error: true
-        run: |
-          sudo swapoff -a
-          sudo rm -f /swapfile
-          sudo apt clean
-          docker rmi $(docker image ls -aq)
-          df -h
-
-      - name: Prepare ccache timestamp
-        id: ccache_cache_timestamp
-        shell: cmake -P {0}
-        run: |
-          string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-          message("::set-output name=timestamp::${current_date}")
-
-      - name: ccache cache files
-        continue-on-error: true
-        uses: actions/cache@v1.1.0
-        with:
-          path: ${{ env.CI_NAME }}/.ccache
-          key: ${{ env.CI_NAME }}-ccache-${{ steps.ccache_cache_timestamp.outputs.timestamp }}
-          restore-keys: |
-            ${{ env.CI_NAME }}-ccache-
-
-      - name: Login to Github container registry
-        uses: docker/login-action@v1
-        with:
-          registry: ${{ env.REGISTRY }}
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Extract Docker meta-information
-        id: meta
-        uses: docker/metadata-action@v3
-        with:
-          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
-          flavor: |
-            latest=false
-            prefix=
-            suffix=
-          tags: |
-            type=ref,event=branch,prefix=${{ env.ROS_DISTRO }}-
-            type=semver,pattern={{major}}.{{minor}},prefix=${{ env.ROS_DISTRO }}-
-
-      - name: Set build type
-        run: |
-          if [[ "${{ env.PUSH_DOCKER_IMAGE }}" = true ]]
-          then
-            echo "BUILD_TYPE=Release" >> $GITHUB_ENV
-          else
-            echo "BUILD_TYPE=Debug" >> $GITHUB_ENV
-          fi
-
-      - uses: 'ros-industrial/industrial_ci@master'
-        env: ${{env}}
-
-      - name: Push post-build Docker
-        if: ${{ env.PUSH_DOCKER_IMAGE == 'true' }}
-        run: docker push ${{ steps.meta.outputs.tags }}
diff --git a/.github/workflows/focal_build.yml b/.github/workflows/ubuntu.yml
similarity index 91%
rename from .github/workflows/focal_build.yml
rename to .github/workflows/ubuntu.yml
index c8ad0510..0cf1a1df 100644
--- a/.github/workflows/focal_build.yml
+++ b/.github/workflows/ubuntu.yml
@@ -11,19 +11,22 @@ on:
 
 jobs:
   industrial_ci:
-    name: Foxy
-    runs-on: ubuntu-20.04
+    name: ${{ matrix.distro }}
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        distro: [foxy, humble, rolling]
     env:
-      CI_NAME: Focal-Build
+      CI_NAME: ${{ matrix.distro }}-Build
       OS_NAME: ubuntu
-      OS_CODE_NAME: focal
-      ROS_DISTRO: foxy
+      ROS_DISTRO: ${{ matrix.distro }}
       ROS_REPO: main
       BEFORE_INIT: './.add-gazebo-ppa'
       UPSTREAM_WORKSPACE: 'dependencies_unstable.repos'
       ROSDEP_SKIP_KEYS: "catkin taskflow fcl gz-common5 gz-math7 gz-rendering7"
       ADDITIONAL_DEBS: "libgz-common5-dev libgz-math7-dev libgz-rendering7-dev"
-      DOCKER_IMAGE: "ros:foxy"
+      DOCKER_IMAGE: "ros:${{ matrix.distro }}"
       PARALLEL_TESTS: false
       NOT_TEST_BUILD: true
       BEFORE_RUN_TARGET_TEST_EMBED: "source /root/target_ws/install/local_setup.bash"