build-test.yml

name: CI
env:
  WORKSPACE_DIR: ${{ github.workspace }}
on:
  push:
    branches: [ main ]
  pull_request:
    branches: [ main ]
    types: [ opened, ready_for_review, reopened, synchronize ]
jobs:
  changes:
    if: github.event.pull_request.draft == false
    runs-on: ubuntu-latest
    permissions:
      pull-requests: read
    outputs:
      source-code: ${{ steps.filter.outputs.source-code }}
      markdown: ${{ steps.filter.outputs.markdown }}
    steps:
      - name: Checkout sources
        uses: actions/checkout@v4

      - name: Check for changed file types
        uses: dorny/paths-filter@v3
        id: filter
        with:
          filters: |
            source-code:
              - '!**/*.md'
            markdown:
              - '**/*.md'

  preflight-check:
    needs: changes
    if: ${{ needs.changes.outputs.source-code == 'true' }}
    timeout-minutes: 10
    runs-on: ubuntu-latest
    steps:
      - name: Checkout sources
        uses: actions/checkout@v4

      - name: Check format of all commit messages
        run: ./scripts/ci/check-commit-msg.sh

      - name: Check license header
        run: ./scripts/ci/check-spdx-license-header.sh

  static-code-analysis:
    needs: preflight-check
    if: ${{ needs.changes.outputs.source-code == 'true' }}
    timeout-minutes: 10
    runs-on: ubuntu-latest
    steps:
      - name: Checkout sources
        uses: actions/checkout@v4

      - name: Install clang toolchain
        uses: ./.github/actions/install-clang

      - name: Display clang-format and clang-tidy versions
        run: |
          clang-format --version
          clang-tidy --version

      - name: Run clang-format
        run: git ls-files | grep -E "\.(c|cc|cpp|cxx|inl|h|hh|hpp|hxx)$" | xargs clang-format -i -style=file --Werror --dry-run

#     - name: Run clang-tidy
#       run: |
#         git fetch origin main
#         ./scripts/check-clang-tidy.sh warning-as-error diff-to-main

  colcon-build-test-clang:
    needs: [preflight-check, static-code-analysis]
    runs-on: ubuntu-latest
    container:
      image: ros:rolling
    steps:
    - name: Install dependencies
      run: |
        apt-get update
        apt-get install -y \
          python3-colcon-common-extensions \
          python3-colcon-mixin \
          python3-vcstool \
          python3-rosdep \
          libacl1-dev \
          software-properties-common \
          curl \
          wget

    - name: Install rust toolchain
      uses: dtolnay/rust-toolchain@stable

    - name: Setup workspace and dependencies
      run: |
        mkdir -p $WORKSPACE_DIR/src
        
        # check out current ref
        git clone https://github.com/${{ github.repository }} $WORKSPACE_DIR/src/rmw_iceoryx2
        cd $WORKSPACE_DIR/src/rmw_iceoryx2
        git checkout ${{ github.sha }}
        
        # check out test interface files
        git clone -b rolling https://github.com/ros2/test_interface_files.git $WORKSPACE_DIR/src/test_interface_files
        
        # check out iceoryx2 dependencies
        cd $WORKSPACE_DIR
        sed 's|git@github.com:|https://github.com/|g' src/rmw_iceoryx2/deps.repos > _deps.repos
        vcs import src < _deps.repos

    - name: Install clang toolchain
      uses: ./src/rmw_iceoryx2/.github/actions/install-clang

    - name: Build and test with colcon
      run: |
        cd $WORKSPACE_DIR
        . /opt/ros/rolling/setup.sh
        
        # Build
        colcon build \
          --cmake-args \
            -DCMAKE_C_COMPILER=clang \
            -DCMAKE_CXX_COMPILER=clang++ \
            -DCMAKE_BUILD_TYPE=RelWithDebInfo \
            -DBUILD_TESTING=On \
          --symlink-install \
          --packages-select \
            test_interface_files \
            iceoryx_platform \
            iceoryx_hoofs \
            iceoryx2_cxx \
            rmw_iceoryx2_cxx_test_msgs \
            rmw_iceoryx2_cxx
            
        # Test
        . install/setup.sh
        colcon test \
          --packages-select rmw_iceoryx2_cxx \
          --event-handlers console_direct+ \
          --return-code-on-test-failure

    - name: Process test results
      run: |
        cd $WORKSPACE_DIR
        colcon test-result --verbose

    - name: Upload test results
      uses: actions/upload-artifact@v4
      with:
        name: test-results
        path: |
          ${{ env.WORKSPACE_DIR }}/build/*/test_results/*/*.xml
          ${{ env.WORKSPACE_DIR }}/log/**/test*.log