ci.yml

name: CI

on:
  pull_request:
    branches: [main]
  push:
    branches: [main]
  repository_dispatch:
    types: [ros2_medkit_updated]

permissions:
  contents: read

jobs:
  lint:
    runs-on: ubuntu-24.04
    steps:
      - name: Checkout repository
        uses: actions/checkout@v4

      - name: Check for trailing whitespace
        run: |
          ! git grep -I --line-number --perl-regexp '\s+$' -- \
            '*.md' '*.py' '*.yaml' '*.yml' || \
          (echo "Found trailing whitespace in the files above" && exit 1)

      - name: Check shell scripts with shellcheck
        run: |
          sudo apt-get update && sudo apt-get install -y shellcheck
          find . \( -name "*.sh" -o -name "*.bash" \) -type f | xargs shellcheck

      - name: Validate YAML files
        run: |
          sudo apt-get update && sudo apt-get install -y yamllint
          YAMLLINT_CONFIG="{extends: relaxed, rules: {line-length: {max: 120}}}"
          find . \( -name "*.yaml" -o -name "*.yml" \) -type f | xargs yamllint -d "$YAMLLINT_CONFIG"

  build-and-test-sensor:
    runs-on: ubuntu-24.04
    steps:
      - name: Show triggering source
        if: github.event_name == 'repository_dispatch'
        run: |
          SHA="${{ github.event.client_payload.sha }}"
          RUN_URL="${{ github.event.client_payload.run_url }}"
          echo "## Triggered by ros2_medkit" >> "$GITHUB_STEP_SUMMARY"
          echo "- Commit: \`${SHA:-unknown}\`" >> "$GITHUB_STEP_SUMMARY"
          if [ -n "$RUN_URL" ]; then
            echo "- Run: [View triggering run]($RUN_URL)" >> "$GITHUB_STEP_SUMMARY"
          else
            echo "- Run: (URL not provided)" >> "$GITHUB_STEP_SUMMARY"
          fi

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

      - name: Build and start sensor_diagnostics demo
        working-directory: demos/sensor_diagnostics
        run: docker compose --profile ci up -d --build sensor-demo-ci

      - name: Run smoke tests
        run: ./tests/smoke_test.sh

      - name: Show container logs on failure
        if: failure()
        working-directory: demos/sensor_diagnostics
        run: docker compose --profile ci logs sensor-demo-ci --tail=200

      - name: Teardown
        if: always()
        working-directory: demos/sensor_diagnostics
        run: docker compose --profile ci down

  build-and-test-turtlebot:
    runs-on: ubuntu-24.04
    steps:
      - name: Checkout repository
        uses: actions/checkout@v4

      - name: Build and start turtlebot3 demo
        working-directory: demos/turtlebot3_integration
        run: docker compose --profile ci up -d --build turtlebot3-demo-ci

      - name: Run smoke tests
        run: ./tests/smoke_test_turtlebot3.sh

      - name: Show container logs on failure
        if: failure()
        working-directory: demos/turtlebot3_integration
        run: docker compose --profile ci logs turtlebot3-demo-ci --tail=200

      - name: Teardown
        if: always()
        working-directory: demos/turtlebot3_integration
        run: docker compose --profile ci down

  build-and-test-moveit:
    runs-on: ubuntu-24.04
    steps:
      - name: Checkout repository
        uses: actions/checkout@v4

      - name: Build and start moveit demo
        working-directory: demos/moveit_pick_place
        run: docker compose --profile ci up -d --build moveit-demo-ci

      - name: Run smoke tests
        run: ./tests/smoke_test_moveit.sh

      - name: Show container logs on failure
        if: failure()
        working-directory: demos/moveit_pick_place
        run: docker compose --profile ci logs moveit-demo-ci --tail=200

      - name: Teardown
        if: always()
        working-directory: demos/moveit_pick_place
        run: docker compose --profile ci down

  build-and-test-multi-ecu:
    needs: lint
    runs-on: ubuntu-24.04
    steps:
      - name: Show triggering source
        if: github.event_name == 'repository_dispatch'
        run: |
          SHA="${{ github.event.client_payload.sha }}"
          RUN_URL="${{ github.event.client_payload.run_url }}"
          echo "## Triggered by ros2_medkit" >> "$GITHUB_STEP_SUMMARY"
          echo "- Commit: \`${SHA:-unknown}\`" >> "$GITHUB_STEP_SUMMARY"
          if [ -n "$RUN_URL" ]; then
            echo "- Run: [View triggering run]($RUN_URL)" >> "$GITHUB_STEP_SUMMARY"
          else
            echo "- Run: (URL not provided)" >> "$GITHUB_STEP_SUMMARY"
          fi

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

      - name: Build and start multi-ECU demo
        working-directory: demos/multi_ecu_aggregation
        run: docker compose --profile ci up -d --build perception-ecu-ci planning-ecu-ci actuation-ecu-ci

      - name: Run smoke tests
        run: ./tests/smoke_test_multi_ecu.sh

      - name: Show perception ECU logs on failure
        if: failure()
        working-directory: demos/multi_ecu_aggregation
        run: docker compose --profile ci logs perception-ecu-ci --tail=200

      - name: Show planning ECU logs on failure
        if: failure()
        working-directory: demos/multi_ecu_aggregation
        run: docker compose --profile ci logs planning-ecu-ci --tail=200

      - name: Show actuation ECU logs on failure
        if: failure()
        working-directory: demos/multi_ecu_aggregation
        run: docker compose --profile ci logs actuation-ecu-ci --tail=200

      - name: Teardown
        if: always()
        working-directory: demos/multi_ecu_aggregation
        run: docker compose --profile ci down

  build-and-test-ota:
    needs: lint
    runs-on: ubuntu-24.04
    steps:
      - name: Show triggering source
        if: github.event_name == 'repository_dispatch'
        run: |
          SHA="${{ github.event.client_payload.sha }}"
          RUN_URL="${{ github.event.client_payload.run_url }}"
          echo "## Triggered by ros2_medkit" >> "$GITHUB_STEP_SUMMARY"
          echo "- Commit: \`${SHA:-unknown}\`" >> "$GITHUB_STEP_SUMMARY"
          if [ -n "$RUN_URL" ]; then
            echo "- Run: [View triggering run]($RUN_URL)" >> "$GITHUB_STEP_SUMMARY"
          else
            echo "- Run: (URL not provided)" >> "$GITHUB_STEP_SUMMARY"
          fi

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

      - name: Build and start OTA demo
        working-directory: demos/ota_nav2_sensor_fix
        run: docker compose up -d --build

      - name: Run smoke tests
        run: ./tests/smoke_test_ota.sh

      - name: Show gateway logs on failure
        if: failure()
        working-directory: demos/ota_nav2_sensor_fix
        run: docker compose logs gateway --tail=200

      - name: Show update server logs on failure
        if: failure()
        working-directory: demos/ota_nav2_sensor_fix
        run: docker compose logs ota_update_server --tail=200

      - name: Teardown
        if: always()
        working-directory: demos/ota_nav2_sensor_fix
        run: docker compose down

  # Separate job from build-and-test-ota: this one publishes /goal_pose,
  # waits for the controller to actually try to drive, asserts the
  # reactive SCAN_PHANTOM_RETURN fault appears, and only then runs the
  # OTA swap. Catches regressions in the demo narrative (broken_lidar
  # subscribing /cmd_vel, fault_manager debounce, fixed_lidar not
  # reporting). Slower than the API-only smoke job because it has to
  # wait for nav2 lifecycle to settle and for /cmd_vel to actually fire,
  # so it's split out and can fail in isolation without blocking the
  # quick OTA-endpoint check.
  ota-demo-narrative:
    needs: lint
    runs-on: ubuntu-24.04
    steps:
      - name: Show triggering source
        if: github.event_name == 'repository_dispatch'
        run: |
          SHA="${{ github.event.client_payload.sha }}"
          RUN_URL="${{ github.event.client_payload.run_url }}"
          echo "## Triggered by ros2_medkit" >> "$GITHUB_STEP_SUMMARY"
          echo "- Commit: \`${SHA:-unknown}\`" >> "$GITHUB_STEP_SUMMARY"
          if [ -n "$RUN_URL" ]; then
            echo "- Run: [View triggering run]($RUN_URL)" >> "$GITHUB_STEP_SUMMARY"
          fi

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

      - name: Build artifacts (catalog + tarballs) inside ros:jazzy
        working-directory: demos/ota_nav2_sensor_fix
        run: |
          docker run --rm \
            -v "$PWD":/work \
            -w /work \
            ros:jazzy \
            bash -c '
              set -eu
              apt-get update
              apt-get install -y --no-install-recommends \
                python3-colcon-common-extensions \
                python3-catkin-pkg \
                python3-venv \
                python3-pip \
                build-essential \
                cmake \
                ros-jazzy-rclcpp \
                ros-jazzy-sensor-msgs \
                ros-jazzy-visualization-msgs
              cd scripts
              python3 -m venv .venv
              .venv/bin/pip install --upgrade pip
              .venv/bin/pip install pytest
              cd ..
              ./scripts/build_artifacts.sh
            '
          sudo chown -R "$USER:$USER" .

      - name: Build and start OTA demo
        working-directory: demos/ota_nav2_sensor_fix
        run: docker compose up -d --build

      - name: Run demo narrative smoke
        run: ./tests/smoke_test_demo_narrative.sh

      - name: Show gateway logs on failure
        if: failure()
        working-directory: demos/ota_nav2_sensor_fix
        run: docker compose logs gateway --tail=300

      - name: Teardown
        if: always()
        working-directory: demos/ota_nav2_sensor_fix
        run: docker compose down