synchros2/.github/workflows/ci.yml at main · rai-opensource/synchros2 · GitHub

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name: synchros2 CI

on:
  pull_request:
  push:
    branches:
      - main

defaults:
  run:
    shell: bash

concurrency:
  group: ${{ github.repository }}-${{ github.workflow }}-${{ github.ref }}-${{ github.ref == 'refs/heads/main' && github.sha || ''}}
  cancel-in-progress: true

jobs:
  lint:
    name: Lint synchros2 packages
    runs-on: ubuntu-22.04
    steps:
      - name: Checkout repository
        uses: actions/checkout@v3
      - uses: actions/setup-python@v3
      - name: Lint sources
        uses: pre-commit/action@v3.0.0
  prepare_container:
    name: Prepare synchros2 containers
    runs-on: ubuntu-22.04
    needs: lint
    strategy:
      matrix:
        rosdistro: [humble, jazzy]
    steps:
      - name: Checkout repository
        uses: actions/checkout@v4

      - name: Setup Docker buildx  # to workaround: https://github.com/docker/build-push-action/issues/461
        uses: docker/setup-buildx-action@79abd3f86f79a9d68a23c75a09a9a85889262adf

      - name: Extract metadata (tags, labels) for Docker
        uses: docker/metadata-action@v5  # https://github.com/docker/metadata-action
        with:
          images: ${{ github.repository }}_on_${{ matrix.rosdistro }}
          tags: |
            type=schedule
            type=ref,event=branch
            type=ref,event=tag
            type=ref,event=pr
            type=sha,format=long
        id: meta

      - name: Build Docker image (may be cached)
        uses: docker/build-push-action@v5  # https://github.com/docker/build-push-action
        with:
          context: .
          file: .devcontainer/Dockerfile
          build-args: |
            ROS_DISTRO=${{ matrix.rosdistro }}
          tags: ${{ steps.meta.outputs.tags }}
          labels: ${{ steps.meta.outputs.labels }}
          cache-from: type=gha
          cache-to: type=gha,mode=max
          outputs: type=docker,dest=/tmp/${{ matrix.rosdistro }}_docker_image.tar
          push: false

      - name: Upload Docker image as artifact
        uses: actions/upload-artifact@v4  # https://github.com/actions/upload-artifact
        with:
          name: ${{ matrix.rosdistro }}_docker_image
          path: /tmp/${{ matrix.rosdistro }}_docker_image.tar
          retention-days: 7
  build_and_test:
    name: Build and test synchros2 packages
    runs-on: ubuntu-22.04
    needs: prepare_container
    strategy:
      matrix:
        rosdistro: [humble, jazzy]
    steps:
      - name: Checkout repository
        uses: actions/checkout@v4

      - name: Download Docker image artifact
        uses: actions/download-artifact@v5  # https://github.com/actions/download-artifact
        with:
          name: ${{ matrix.rosdistro }}_docker_image
          path: /tmp

      - name: Load Docker image
        run: |
          docker load -i /tmp/${{ matrix.rosdistro }}_docker_image.tar

      - name: Build and run tests
        run: |
          docker run --rm -v ${{ github.workspace }}:/workspace -w /workspace \
            ${{ github.repository }}_on_${{ matrix.rosdistro }}:sha-${{ github.sha }} bash -c " \
              source /opt/ros/${{ matrix.rosdistro }}/setup.bash; \
              colcon build --symlink-install; \
              source install/setup.bash; \
              colcon test --event-handlers console_direct+; \
              colcon test-result --all --verbose"