build_test.yml

name: Build and Test

on:
  push:
    branches:
      - 'main'
  pull_request:
    branches:
      - 'main/*'
      - 'main'
  workflow_dispatch:

env:
  ROS_WORKSPACE_PATH: workspace/src

jobs:
  get_ros_distros:
    runs-on: ubuntu-latest
    steps:
      - name: Install dependencies
        run: |
          sudo apt-get update
          sudo apt-get -y install curl jq
      - name: Get active distributions
        run: |
          wget https://raw.githubusercontent.com/flynneva/active_ros_distros/0.1.0/main.py -O active_ros_distros.py
          python3 -m pip install rosdistro
          python3 active_ros_distros.py --distribution-type ros2
      - name: Generate actions matrix
        id: set-matrix
        run: |
          ACTIVE_ROS_DISTROS=()
          DOCKER_DISTRO_MATRIX=()
          RAW_DOCKER_JSON=$(curl -s "https://hub.docker.com/v2/repositories/rostooling/setup-ros-docker/tags?page_size=1000")
          while read distro; do
            ACTIVE_ROS_DISTROS+=( $distro )
          done < "/tmp/active_ros_distros.txt"
          DISTRO_STR="["
          MATRIX_STR="["
          for distro in ${ACTIVE_ROS_DISTROS[@]}; do
            docker_image=$(echo $RAW_DOCKER_JSON |
              jq -r --arg DISTRO "$distro" '.results[] | select(.tag_status=="active") | select(.name | contains("ros-base-latest")) | select(.name | contains($DISTRO)) | .name'  |
              sort -u)
          
            # Handle the case if two docker images were declared for one distro
            # e.g. rolling moving from one Ubuntu Jammy to Ubuntu Noble
            docker_image_arr=($docker_image)
          
            DISTRO_STR+="\"${distro}\", "
            MATRIX_STR+="{docker_image:\"${docker_image_arr[-1]}\",ros_distro:\"${distro}\"}, "
          done
          
          # Remove trailing , at end
          DISTRO_STR=${DISTRO_STR%??}
          MATRIX_STR=${MATRIX_STR%??}
          # Close up brackets
          DISTRO_STR+="]"
          MATRIX_STR+="]"
          echo "DISTRO_STR: ${DISTRO_STR}"
          echo "MATRIX_STR: ${MATRIX_STR}"
          echo "series=$DISTRO_STR" >> $GITHUB_OUTPUT
          echo "matrix=$MATRIX_STR" >> $GITHUB_OUTPUT
    outputs:
      series: ${{ steps.set-matrix.outputs.series }}
      matrix: ${{ steps.set-matrix.outputs.matrix }}

  build_and_test:
    runs-on: [ubuntu-latest]
    needs: get_ros_distros
    strategy:
      fail-fast: false
      matrix:
        ros_distro: ${{ fromJson(needs.get_ros_distros.outputs.series) }}
        include:
          ${{ fromJson(needs.get_ros_distros.outputs.matrix) }}
    container:
      image: rostooling/setup-ros-docker:${{ matrix.docker_image }}
    steps:
      - name: Install dependencies
        run: |
          sudo apt-get update
          sudo apt-get -y install policykit-1 libgtk2.0-common screen uml-utilities libc6-dev libicu-dev gcc python3 python3-pip
          mkdir renode_portable
          wget https://builds.renode.io/renode-latest.linux-portable.tar.gz
          tar xf  renode-latest.linux-portable.tar.gz -C renode_portable --strip-components=1
      - name: Setup Directories
        run: mkdir -p $ROS_WORKSPACE_PATH
      - name: checkout
        uses: actions/checkout@v4
        with:
          path: $ROS_WORKSPACE_PATH/usb_cam
      - name: Build and Test
        id: build_and_test_step
        uses: ros-tooling/action-ros-ci@master
        with:
          package-name: usb_cam
          target-ros2-distro: ${{ matrix.ros_distro }}
          vcs-repo-file-url: ""
          colcon-defaults: |
            {
              "build": {
                "mixin": ["coverage-gcc"]
              }
            }
          # If possible, pin the repository in the workflow to a specific commit to avoid
          # changes in colcon-mixin-repository from breaking your tests.
          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/1ddb69bedfd1f04c2f000e95452f7c24a4d6176b/index.yaml
      # Compile again, this time enabling integration tests
      - name: Build integration tests
        shell: bash
        run: |
          source /opt/ros/${{ matrix.ros_distro }}/setup.bash
          cd $ROS_WORKSPACE_PATH
          colcon build --packages-select usb_cam --cmake-args -DSANITIZE=1 -DINTEGRATION_TESTS=1
      - name: Run integration tests
        shell: bash
        run: |
            renode_portable/renode --disable-gui --version
      - uses: actions/upload-artifact@v4
        with:
          name: colcon-logs-${{ matrix.ros_distro }}
          path: ${{ steps.build_and_test_step.outputs.ros-workspace-directory-name }}/log
        if: always()
        continue-on-error: true
      - uses: actions/upload-artifact@v4
        with:
          name: lcov-logs-${{ matrix.ros_distro }}
          path: ${{ steps.build_and_test_step.outputs.ros-workspace-directory-name }}/lcov
        if: always()
        continue-on-error: true