build-and-test-differential-self-hosted.yaml

name: build-and-test-differential-self-hosted

on:
  pull_request:
    types:
      - opened
      - synchronize
      - labeled
  workflow_dispatch:

jobs:
  prevent-no-label-execution:
    uses: autowarefoundation/autoware-github-actions/.github/workflows/prevent-no-label-execution.yaml@v1
    with:
      label: ARM64

  build-and-test-differential-self-hosted:
    needs: prevent-no-label-execution
    if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}
    runs-on: [self-hosted, linux, ARM64]
    container: ${{ matrix.container }}${{ matrix.container-suffix }}
    strategy:
      fail-fast: false
      matrix:
        rosdistro:
          - humble
        container-suffix:
          - ""
          - -cuda
        include:
          - rosdistro: humble
            container: ghcr.io/autowarefoundation/autoware-universe:humble-latest
            build-depends-repos: build_depends.repos
    steps:
      - name: Set PR fetch depth
        run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"

      - name: Checkout PR branch and all PR commits
        uses: actions/checkout@v4
        with:
          ref: ${{ github.event.pull_request.head.sha }}
          fetch-depth: ${{ env.PR_FETCH_DEPTH }}

      - name: Remove exec_depend
        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1

      - name: Get modified packages
        id: get-modified-packages
        uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1

      - name: Build
        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
        uses: autowarefoundation/autoware-github-actions/colcon-build@v1
        with:
          rosdistro: ${{ matrix.rosdistro }}
          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
          build-depends-repos: ${{ matrix.build-depends-repos }}

      - name: Test
        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
        uses: autowarefoundation/autoware-github-actions/colcon-test@v1
        with:
          rosdistro: ${{ matrix.rosdistro }}
          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
          build-depends-repos: ${{ matrix.build-depends-repos }}