ci.yml

name: CI

on:
  pull_request:
    branches: [main]
  push:
    branches: [main]

jobs:
  build-and-test:
    runs-on: ubuntu-latest
    strategy:
      fail-fast: false
      matrix:
        include:
          - ros_distro: humble
            os_image: ubuntu:jammy
          - ros_distro: lyrical
            os_image: ubuntu:resolute
    container:
      image: ${{ matrix.os_image }}
    timeout-minutes: 60
    defaults:
      run:
        shell: bash

    steps:
      - name: Install Git
        run: |
          apt-get update
          apt-get install -y git

      - name: Checkout repository
        uses: actions/checkout@v4

      - name: Pre-install ROS 2 apt source
        uses: ./.github/actions/ros-apt-source

      - name: Set up ROS 2 ${{ matrix.ros_distro }}
        uses: ros-tooling/setup-ros@v0.7
        with:
          required-ros-distributions: ${{ matrix.ros_distro }}

      - name: Install ccache
        run: apt-get install -y ccache

      - name: Cache ccache
        uses: actions/cache@v4
        with:
          path: /root/.cache/ccache
          key: ccache-${{ matrix.ros_distro }}-${{ github.sha }}
          restore-keys: |
            ccache-${{ matrix.ros_distro }}-

      - name: Install dependencies
        run: |
          apt-get update
          apt-get install -y ros-${{ matrix.ros_distro }}-test-msgs
          if [ "${{ matrix.ros_distro }}" = "humble" ]; then
            apt-get install -y ros-humble-rmw-cyclonedds-cpp
          fi
          source /opt/ros/${{ matrix.ros_distro }}/setup.bash
          rosdep update
          # Linters (clang-tidy / clang-format) only run in the Jazzy quality
          # job (quality.yml). Multiple package.xml files still list them as
          # <test_depend>, so we skip the rosdep keys here to keep build-and-
          # test runners from pulling in linter packages they never use. Also
          # defensive against transient binary-deb gaps on newly-released
          # distros.
          rosdep install --from-paths src --ignore-src -y \
            --skip-keys "ament_cmake_clang_tidy ament_cmake_clang_format"

      - name: Build packages
        env:
          CCACHE_DIR: /root/.cache/ccache
          CCACHE_MAXSIZE: 500M
          CCACHE_SLOPPINESS: pch_defines,time_macros
        run: |
          source /opt/ros/${{ matrix.ros_distro }}/setup.bash
          colcon build --symlink-install \
            --packages-skip ros2_medkit_opcua \
            --cmake-args -DCMAKE_BUILD_TYPE=Release \
            --event-handlers console_direct+
          ccache -s

      - name: Run unit and integration tests
        timeout-minutes: 15
        env:
          # FastRTPS 2.6 on Humble has a known use-after-free in the
          # discovery-teardown path (EDP::unpairWriterProxy) that segfaults
          # peer nodes when the gateway shuts down, so we force CycloneDDS
          # there. Lyrical ships a newer FastRTPS without that bug and hits
          # a separate iceoryx-shared-memory crash under CycloneDDS during
          # shutdown ("string capacity was zero for allocated data"), so on
          # Lyrical we keep the default FastRTPS. (Jazzy still uses
          # CycloneDDS - see jazzy-test job below for its rationale.)
          RMW_IMPLEMENTATION: ${{ matrix.ros_distro == 'humble' && 'rmw_cyclonedds_cpp' || '' }}
        run: |
          source /opt/ros/${{ matrix.ros_distro }}/setup.bash
          colcon test --return-code-on-test-failure \
            --packages-skip ros2_medkit_opcua \
            --ctest-args -LE linter \
            --event-handlers console_direct+

      - name: Show test results
        if: always()
        run: colcon test-result --verbose

      - name: Upload test results
        if: always()
        uses: actions/upload-artifact@v4
        with:
          name: test-results-${{ matrix.ros_distro }}
          path: |
            log/
            build/*/test_results/

  jazzy-build:
    runs-on: ubuntu-latest
    container:
      image: ubuntu:noble
    timeout-minutes: 60
    defaults:
      run:
        shell: bash

    steps:
      - name: Install Git
        run: |
          apt-get update
          apt-get install -y git

      - name: Checkout repository
        uses: actions/checkout@v4

      - name: Pre-install ROS 2 apt source
        uses: ./.github/actions/ros-apt-source

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

      - name: Install ccache
        run: apt-get install -y ccache

      - name: Cache ccache
        uses: actions/cache@v4
        with:
          path: /root/.cache/ccache
          key: ccache-jazzy-${{ github.sha }}
          restore-keys: |
            ccache-jazzy-

      - name: Install dependencies
        run: |
          apt-get update
          apt-get install -y ros-jazzy-test-msgs
          source /opt/ros/jazzy/setup.bash
          rosdep update
          rosdep install --from-paths src --ignore-src -y

      - name: Build packages
        env:
          CCACHE_DIR: /root/.cache/ccache
          CCACHE_MAXSIZE: 500M
          CCACHE_SLOPPINESS: pch_defines,time_macros
        run: |
          source /opt/ros/jazzy/setup.bash
          colcon build --symlink-install \
            --packages-skip ros2_medkit_opcua \
            --cmake-args -DCMAKE_BUILD_TYPE=Release \
            --event-handlers console_direct+
          ccache -s

      - name: Package build artifacts
        run: tar cf /tmp/jazzy-build.tar build/ install/

      - name: Upload build artifacts
        uses: actions/upload-artifact@v4
        with:
          name: jazzy-build
          path: /tmp/jazzy-build.tar
          retention-days: 1

  jazzy-test:
    needs: jazzy-build
    runs-on: ubuntu-latest
    container:
      image: ubuntu:noble
    timeout-minutes: 45
    defaults:
      run:
        shell: bash

    steps:
      - name: Install Git
        run: |
          apt-get update
          apt-get install -y git

      - name: Checkout repository
        uses: actions/checkout@v4

      - name: Pre-install ROS 2 apt source
        uses: ./.github/actions/ros-apt-source

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

      - name: Install dependencies
        run: |
          apt-get update
          apt-get install -y \
            ros-jazzy-test-msgs \
            ros-jazzy-rmw-cyclonedds-cpp
          source /opt/ros/jazzy/setup.bash
          rosdep update
          rosdep install --from-paths src --ignore-src -y

      - name: Download build artifacts
        uses: actions/download-artifact@v4
        with:
          name: jazzy-build

      - name: Extract build artifacts
        run: tar xf jazzy-build.tar && rm jazzy-build.tar

      - name: Run unit and integration tests
        env:
          # FastRTPS has a known use-after-free in discovery-teardown that
          # can segfault peer nodes when another node (typically the gateway)
          # shuts down. CycloneDDS avoids it.
          RMW_IMPLEMENTATION: rmw_cyclonedds_cpp
        run: |
          source /opt/ros/jazzy/setup.bash
          colcon test --return-code-on-test-failure \
            --packages-skip ros2_medkit_opcua \
            --ctest-args -LE linter \
            --event-handlers console_direct+

      - name: Show test results
        if: always()
        run: colcon test-result --verbose

      - name: Upload test results
        if: always()
        uses: actions/upload-artifact@v4
        with:
          name: test-results-jazzy-test
          path: |
            log/
            build/*/test_results/

  coverage:
    runs-on: ubuntu-latest
    container:
      image: ubuntu:noble
    timeout-minutes: 45
    defaults:
      run:
        shell: bash

    steps:
      - name: Install Git
        run: |
          apt-get update
          apt-get install -y git

      - name: Checkout repository
        uses: actions/checkout@v4

      - name: Pre-install ROS 2 apt source
        uses: ./.github/actions/ros-apt-source

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

      - name: Install ccache
        run: apt-get install -y ccache

      - name: Cache ccache
        uses: actions/cache@v4
        with:
          path: /root/.cache/ccache
          key: ccache-coverage-${{ github.sha }}
          restore-keys: |
            ccache-coverage-

      - name: Install dependencies
        run: |
          apt-get update
          # gpg is required by codecov/codecov-action@v5 dependency check
          apt-get install -y lcov ros-jazzy-test-msgs gpg
          source /opt/ros/jazzy/setup.bash
          rosdep update
          rosdep install --from-paths src --ignore-src -r -y

      - name: Build packages with coverage
        env:
          CCACHE_DIR: /root/.cache/ccache
          CCACHE_MAXSIZE: 500M
          CCACHE_SLOPPINESS: pch_defines,time_macros
        run: |
          source /opt/ros/jazzy/setup.bash
          colcon build --symlink-install \
            --packages-skip ros2_medkit_opcua \
            --cmake-args -DCMAKE_BUILD_TYPE=Debug -DENABLE_COVERAGE=ON \
            --event-handlers console_direct+
          ccache -s

      - name: Run unit and integration tests for coverage
        run: |
          source /opt/ros/jazzy/setup.bash
          colcon test \
            --packages-skip ros2_medkit_opcua \
            --ctest-args -LE linter \
            --event-handlers console_direct+

      - name: Generate coverage report
        run: |
          lcov --capture --directory build --output-file coverage.raw.info \
            --ignore-errors mismatch,negative,empty,gcov

          if [ ! -s coverage.raw.info ] || ! grep -q 'SF:' coverage.raw.info; then
            echo "::error::No valid coverage data found in coverage.raw.info"
            exit 1
          fi

          lcov --extract coverage.raw.info \
            '*/ros2_medkit/src/*/src/*' \
            '*/ros2_medkit/src/*/include/*' \
            --output-file coverage.extracted.info \
            --ignore-errors unused,empty

          lcov --remove coverage.extracted.info \
            '*/vendored/*' \
            --output-file coverage.info \
            --ignore-errors unused,empty

          if [ ! -s coverage.info ]; then
            echo "::error::Filtered coverage.info is empty - no source files matched"
            exit 1
          fi

          lcov --list coverage.info
          genhtml coverage.info --output-directory coverage_html --ignore-errors source

      - name: Upload coverage HTML report as artifact
        uses: actions/upload-artifact@v4
        with:
          name: coverage-report
          path: coverage_html/

      - name: Upload coverage to Codecov
        if: github.event_name == 'push' && github.ref == 'refs/heads/main'
        uses: codecov/codecov-action@v7
        with:
          token: ${{ secrets.CODECOV_TOKEN }}
          files: coverage.info
          flags: unittests,integration
          name: ros2_medkit-coverage
          fail_ci_if_error: true
          verbose: true

  notify-demos:
    needs: [jazzy-test]
    if: >-
      github.event_name == 'push' &&
      github.ref == 'refs/heads/main' &&
      needs.jazzy-test.result == 'success'
    runs-on: ubuntu-latest
    # Only Jazzy gates the dispatch. Humble failures do not block demos CI - intentional tradeoff.
    permissions: {}
    steps:
      - name: Trigger selfpatch_demos CI
        uses: peter-evans/repository-dispatch@v4
        with:
          token: ${{ secrets.DEMOS_DISPATCH_TOKEN }}
          repository: selfpatch/selfpatch_demos
          event-type: ros2_medkit_updated
          client-payload: '{"sha":"${{ github.sha }}","run_url":"${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }}"}'