ci.yml

name: Continuous integration

on:
  push:
    branches: [master]
  pull_request:

permissions:
  contents: read

concurrency:
  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
  cancel-in-progress: true

jobs:
  rust_tests:
    name: Rust tests (${{ matrix.name }})
    runs-on: ${{ matrix.os }}
    timeout-minutes: 45
    strategy:
      fail-fast: false
      matrix:
        include:
          - name: Linux
            os: ubuntu-latest
          - name: macOS
            os: macos-latest
          - name: Windows
            os: windows-latest
    steps:
      - uses: actions/checkout@v5

      - uses: actions-rust-lang/setup-rust-toolchain@v1
        with:
          toolchain: stable
          rustflags: ""

      - name: Cargo tests
        working-directory: rust
        run: cargo test

      - name: Cargo tests (RP and JEM)
        if: runner.os != 'Windows'
        working-directory: rust
        run: |
          cargo test --features rp
          cargo test --features jem

  python_tests:
    name: Python tests (${{ matrix.name }})
    needs:
      - rust_tests
    runs-on: ${{ matrix.os }}
    timeout-minutes: 45
    strategy:
      fail-fast: false
      matrix:
        include:
          - name: Linux
            os: ubuntu-latest
            skip_rpi_test: 0
          - name: macOS
            os: macos-latest
            skip_rpi_test: 1
          - name: Windows
            os: windows-latest
            skip_rpi_test: 1
    env:
      DO_DOCKER: 0
      SKIP_RPI_TEST: ${{ matrix.skip_rpi_test }}
    steps:
      - uses: actions/checkout@v5

      - uses: actions-rust-lang/setup-rust-toolchain@v1
        with:
          toolchain: stable
          components: clippy
          rustflags: ""

      - uses: actions/setup-python@v6
        with:
          python-version: "3.12"
          cache: "pip"
          cache-dependency-path: python/pyproject.toml

      - uses: egor-tensin/setup-clang@v1
        if: runner.os == 'Linux'

      - name: Install Linux ARM target
        if: runner.os == 'Linux'
        run: rustup target add arm-unknown-linux-gnueabihf

      - name: Install ARM cross-compiler and C libraries
        if: runner.os == 'Linux'
        run: |
          sudo apt-get update
          sudo apt-get install -y gcc-arm-linux-gnueabihf libc6-dev-armhf-cross

      - name: Install LLVM
        if: runner.os == 'macOS'
        run: brew install llvm

      - name: Run Python tests and generated Clippy checks
        if: runner.os == 'Linux'
        env:
          CC_arm_unknown_linux_gnueabihf: arm-linux-gnueabihf-gcc
          AR_arm_unknown_linux_gnueabihf: arm-linux-gnueabihf-ar
        run: bash ./ci/script.sh python-tests

      - name: Run Python tests and generated Clippy checks
        if: runner.os == 'macOS'
        run: bash ./ci/script.sh python-tests

      - name: Install Python package
        if: runner.os == 'Windows'
        run: |
          Set-Location python
          python -m pip install --upgrade pip
          python -m pip install .

      - name: Run Python test.py
        if: runner.os == 'Windows'
        run: |
          Set-Location python
          $env:PYTHONPATH = "."
          python -W ignore test/test.py -v

  ros2_tests:
    name: ROS2 tests
    needs: python_tests
    runs-on: ubuntu-latest
    timeout-minutes: 45
    container:
      image: ubuntu:noble
      options: --user 0
    env:
      DO_DOCKER: 0
    steps:
      - uses: actions/checkout@v5

      - name: Install container bootstrap dependencies
        run: |
          apt-get update
          DEBIAN_FRONTEND=noninteractive apt-get install -y \
            build-essential \
            cmake \
            curl \
            ca-certificates \
            git \
            gnupg2 \
            locales \
            lsb-release

      - uses: actions-rust-lang/setup-rust-toolchain@v1
        with:
          toolchain: stable
          rustflags: ""

      - uses: actions/setup-python@v6
        with:
          python-version: "3.12"

      - name: Setup ROS 2
        # `ros-tooling/setup-ros@v0.7` still runs as a Node.js 20 action.
        # Force it onto Node 24 now so CI keeps working as GitHub deprecates
        # Node 20, and upgrade `setup-ros` to a Node 24-compatible release
        # when one becomes available.
        env:
          FORCE_JAVASCRIPT_ACTIONS_TO_NODE24: true
        uses: ros-tooling/setup-ros@v0.7
        with:
          required-ros-distributions: jazzy

      - name: Run ROS2 Python tests
        run: bash ./ci/script.sh ros2-tests

  ocp_tests:
    name: OCP tests (${{ matrix.name }})
    needs: python_tests
    runs-on: ${{ matrix.os }}
    timeout-minutes: 45
    strategy:
      fail-fast: false
      matrix:
        include:
          - name: Linux
            os: ubuntu-latest
          - name: macOS
            os: macos-latest
          - name: Windows
            os: windows-latest
    env:
      DO_DOCKER: 0
    steps:
      - uses: actions/checkout@v5

      - uses: actions-rust-lang/setup-rust-toolchain@v1
        with:
          toolchain: stable
          rustflags: ""

      - uses: actions/setup-python@v6
        with:
          python-version: "3.12"
          cache: "pip"
          cache-dependency-path: python/pyproject.toml

      - name: Run OCP Python tests
        if: runner.os != 'Windows'
        run: bash ./ci/script.sh ocp-tests

      - name: Install Python package
        if: runner.os == 'Windows'
        run: |
          Set-Location python
          python -m pip install --upgrade pip
          python -m pip install .

      - name: Run OCP Python tests
        if: runner.os == 'Windows'
        run: |
          Set-Location python
          $env:PYTHONPATH = "."
          python -W ignore test/test_ocp.py -v