test_cpp_client.yml

name: C++ Client and ROS 2 C++ Node CI

"on":
  workflow_dispatch:
  pull_request:
    branches:
      - main
    paths:
      - ".github/workflows/test_cpp_client.yml"
      - "client/cpp/**"
      - "client/python/example_user_scripts/sim_config/**"
      - "core_sim/**"
      - "ros/projectairsim_ros2_cpp/**"
  push:
    branches:
      - main
    paths:
      - ".github/workflows/test_cpp_client.yml"
      - "client/cpp/**"
      - "client/python/example_user_scripts/sim_config/**"
      - "core_sim/**"
      - "ros/projectairsim_ros2_cpp/**"

permissions:
  contents: read
  pull-requests: read

jobs:
  changes:
    name: Detect changed components
    runs-on: ubuntu-22.04
    outputs:
      client: ${{ steps.filter.outputs.client }}
      ros2: ${{ steps.filter.outputs.ros2 }}

    steps:
      - uses: actions/checkout@v4

      - name: Detect relevant changes
        id: filter
        if: github.event_name != 'workflow_dispatch'
        uses: dorny/paths-filter@v3
        with:
          filters: |
            client:
              - '.github/workflows/test_cpp_client.yml'
              - 'client/cpp/**'
              - 'client/python/example_user_scripts/sim_config/**'
              - 'core_sim/**'
            ros2:
              - '.github/workflows/test_cpp_client.yml'
              - 'ros/projectairsim_ros2_cpp/**'
              - 'client/cpp/**'
              - 'client/python/example_user_scripts/sim_config/**'
              - 'core_sim/**'

  windows:
    name: Windows package
    needs: changes
    if: github.event_name == 'workflow_dispatch' || needs.changes.outputs.client == 'true'
    runs-on: windows-2022
    timeout-minutes: 90

    steps:
      - uses: actions/checkout@v4

      - name: Enable Developer Command Prompt
        uses: ilammy/msvc-dev-cmd@v1

      - name: Configure
        shell: cmd
        run: >
          cmake -S client/cpp
          -B client/cpp/build_windows/Release
          -G Ninja
          -DCMAKE_BUILD_TYPE=Release

      - name: Build
        shell: cmd
        run: cmake --build client/cpp/build_windows/Release --config Release --parallel

      - name: Package
        shell: cmd
        run: cmake --build client/cpp/build_windows/Release --target package --config Release

      - name: Extract package
        shell: pwsh
        run: |
          $archive = Get-ChildItem packages/projectairsim_cpp_client -Filter "ProjectAirSimCppClient-*-win64.zip" | Select-Object -First 1
          if (-not $archive) {
            throw "ProjectAirSim C++ client package was not created."
          }

          New-Item -ItemType Directory -Force _cpp_client_ci/package | Out-Null
          Expand-Archive -Path $archive.FullName -DestinationPath _cpp_client_ci/package -Force

          $packageRoot = Get-ChildItem _cpp_client_ci/package -Directory | Select-Object -First 1
          if (-not $packageRoot) {
            throw "ProjectAirSim C++ client package did not contain a top-level directory."
          }

          $packageConfig = Get-ChildItem $packageRoot.FullName -Recurse -Filter "ProjectAirSimCppClientConfig.cmake" | Select-Object -First 1
          if (-not $packageConfig) {
            Get-ChildItem $packageRoot.FullName -Recurse | Select-Object -ExpandProperty FullName
            throw "ProjectAirSim C++ client CMake config was not found in the package."
          }

          "PACKAGE_ROOT=$($packageRoot.FullName)" | Out-File -FilePath $env:GITHUB_ENV -Append
          "PACKAGE_CONFIG_DIR=$($packageConfig.Directory.FullName)" | Out-File -FilePath $env:GITHUB_ENV -Append

      - name: Smoke-test CMake package
        shell: pwsh
        run: |
          $packageConfig = Get-ChildItem _cpp_client_ci/package -Recurse -Filter "ProjectAirSimCppClientConfig.cmake" | Select-Object -First 1
          if (-not $packageConfig) {
            Get-ChildItem _cpp_client_ci/package -Recurse | Select-Object -ExpandProperty FullName
            throw "ProjectAirSim C++ client CMake config was not found before smoke test."
          }

          $packageConfigDir = $packageConfig.Directory.FullName
          Write-Host "Using ProjectAirSimCppClient_DIR=$packageConfigDir"

          New-Item -ItemType Directory -Force _cpp_client_ci/consumer | Out-Null

          $cmakeLists = @'
          cmake_minimum_required(VERSION 3.20)
          project(ProjectAirSimCppClientConsumer LANGUAGES CXX)

          set(CMAKE_CXX_STANDARD 17)
          set(CMAKE_CXX_STANDARD_REQUIRED ON)

          find_package(ProjectAirSimCppClient REQUIRED)

          add_executable(consumer main.cpp)
          target_link_libraries(consumer PRIVATE ProjectAirSim::Client)
          '@

          $cmakeLists | Set-Content _cpp_client_ci/consumer/CMakeLists.txt
          $mainSource = @'
          #include <ProjectAirsimClient/Client.h>

          int main() {
            return microsoft::projectairsim::client::Client::GetVersion() == nullptr;
          }
          '@

          $mainSource | Set-Content _cpp_client_ci/consumer/main.cpp

          cmake -S _cpp_client_ci/consumer `
            -B _cpp_client_ci/consumer/build `
            -G Ninja `
            -DCMAKE_BUILD_TYPE=Release `
            -DProjectAirSimCppClient_DIR="$packageConfigDir" `
            -DCMAKE_PREFIX_PATH="$packageConfigDir"

          cmake --build _cpp_client_ci/consumer/build --config Release --parallel

      - name: Upload package
        uses: actions/upload-artifact@v4
        with:
          name: projectairsim-cpp-client-win64
          path: |
            packages/projectairsim_cpp_client/ProjectAirSimCppClient-*-win64.zip
            packages/projectairsim_cpp_client/ProjectAirSimCppClient-*-win64.zip.sha256
          if-no-files-found: error

  linux:
    name: Linux package (${{ matrix.os }})
    needs: changes
    if: github.event_name == 'workflow_dispatch' || needs.changes.outputs.client == 'true'
    runs-on: ${{ matrix.os }}
    timeout-minutes: 90

    strategy:
      fail-fast: false
      matrix:
        os:
          - ubuntu-22.04
          - ubuntu-24.04

    steps:
      - uses: actions/checkout@v4

      - name: Install Linux Prerequisites
        shell: bash
        run: |
          sudo apt-get update
          sudo apt-get -y install --no-install-recommends \
            build-essential cmake ninja-build

      - name: Configure
        shell: bash
        run: |
          cmake -S client/cpp \
            -B client/cpp/build_linux/Release \
            -G Ninja \
            -DCMAKE_BUILD_TYPE=Release

      - name: Build
        shell: bash
        run: cmake --build client/cpp/build_linux/Release --config Release --parallel

      - name: Package
        shell: bash
        run: cmake --build client/cpp/build_linux/Release --target package --config Release

      - name: Extract package
        shell: bash
        run: |
          archive="$(find packages/projectairsim_cpp_client -maxdepth 1 -name 'ProjectAirSimCppClient-*-linux64.tar.gz' -print -quit)"
          if [ -z "$archive" ]; then
            echo "ProjectAirSim C++ client package was not created." >&2
            exit 1
          fi

          mkdir -p _cpp_client_ci/package
          tar -xzf "$archive" -C _cpp_client_ci/package

          package_root="$(find _cpp_client_ci/package -mindepth 1 -maxdepth 1 -type d -print -quit)"
          if [ -z "$package_root" ]; then
            echo "ProjectAirSim C++ client package did not contain a top-level directory." >&2
            exit 1
          fi

          package_config="$(find "$package_root" -name 'ProjectAirSimCppClientConfig.cmake' -print -quit)"
          if [ -z "$package_config" ]; then
            find "$package_root" -maxdepth 5 -print
            echo "ProjectAirSim C++ client CMake config was not found in the package." >&2
            exit 1
          fi

          echo "PACKAGE_ROOT=$package_root" >> "$GITHUB_ENV"
          echo "PACKAGE_CONFIG_DIR=$(dirname "$package_config")" >> "$GITHUB_ENV"

      - name: Smoke-test CMake package
        shell: bash
        run: |
          package_config="$(find _cpp_client_ci/package -name 'ProjectAirSimCppClientConfig.cmake' -print -quit)"
          if [ -z "$package_config" ]; then
            find _cpp_client_ci/package -maxdepth 6 -print
            echo "ProjectAirSim C++ client CMake config was not found before smoke test." >&2
            exit 1
          fi

          package_config="$(realpath "$package_config")"
          package_config_dir="$(dirname "$package_config")"
          echo "Using ProjectAirSimCppClient_DIR=$package_config_dir"

          mkdir -p _cpp_client_ci/consumer

          cat > _cpp_client_ci/consumer/CMakeLists.txt <<'EOF'
          cmake_minimum_required(VERSION 3.20)
          project(ProjectAirSimCppClientConsumer LANGUAGES CXX)

          set(CMAKE_CXX_STANDARD 17)
          set(CMAKE_CXX_STANDARD_REQUIRED ON)

          find_package(ProjectAirSimCppClient REQUIRED)

          add_executable(consumer main.cpp)
          target_link_libraries(consumer PRIVATE ProjectAirSim::Client)
          EOF

          cat > _cpp_client_ci/consumer/main.cpp <<'EOF'
          #include <ProjectAirsimClient/Client.h>

          int main() {
            return microsoft::projectairsim::client::Client::GetVersion() == nullptr;
          }
          EOF

          cmake -S _cpp_client_ci/consumer \
            -B _cpp_client_ci/consumer/build \
            -G Ninja \
            -DCMAKE_BUILD_TYPE=Release \
            -DProjectAirSimCppClient_DIR="$package_config_dir" \
            -DCMAKE_PREFIX_PATH="$package_config_dir"

          cmake --build _cpp_client_ci/consumer/build --config Release --parallel

      - name: Upload package
        uses: actions/upload-artifact@v4
        with:
          name: projectairsim-cpp-client-${{ matrix.os }}-linux64
          path: |
            packages/projectairsim_cpp_client/ProjectAirSimCppClient-*-linux64.tar.gz
            packages/projectairsim_cpp_client/ProjectAirSimCppClient-*-linux64.tar.gz.sha256
          if-no-files-found: error

  ros2-humble:
    name: ROS 2 Humble node build and unit tests
    needs: changes
    if: github.event_name == 'workflow_dispatch' || needs.changes.outputs.ros2 == 'true'
    runs-on: ubuntu-22.04
    timeout-minutes: 45

    steps:
      - uses: actions/checkout@v4

      - name: Set up ROS 2 Humble
        uses: ros-tooling/setup-ros@v0.7
        with:
          required-ros-distributions: humble

      - name: Install package dependencies
        shell: bash
        run: |
          rosdep update
          rosdep install \
            --from-paths ros/projectairsim_ros2_cpp \
            --ignore-src \
            --rosdistro humble \
            -y

      - name: Build node
        shell: bash
        run: |
          source /opt/ros/humble/setup.bash
          colcon build \
            --base-paths ros \
            --packages-select projectairsim_ros2_cpp \
            --cmake-args -DBUILD_TESTING=ON \
            --event-handlers console_direct+

      - name: Run unit tests
        shell: bash
        run: |
          source /opt/ros/humble/setup.bash
          source install/setup.bash
          colcon test \
            --base-paths ros \
            --packages-select projectairsim_ros2_cpp \
            --return-code-on-test-failure \
            --event-handlers console_direct+
          colcon test-result --test-result-base build --verbose