build-test.yaml

name: build test

on:
  pull_request:
    types:
      - labeled

env:
  CARGO_TERM_COLOR: always

jobs:
  build_and_test:
    if: ${{ github.event.label.name == 'run-build-test' }}
    runs-on: ubuntu-latest

    steps:
    - name: Checkout repository
      uses: actions/checkout@v4
    
    - name: Check for .cpp or .hpp file changes
      id: check_changes_cpp
      run: |
        if git diff --name-only ${{ github.event.before }} ${{ github.sha }} | grep -E '\.cpp$|\.hpp|$'; then
          echo ".cpp or .hpp or .rs files changed"
          echo "cpp_changed=true" >> $GITHUB_ENV
        else
          echo "No .cpp or .hpp or .rs files changed"
          echo "cpp_changed=false" >> $GITHUB_ENV
        fi
    
    - name: Check for .rs file changes
      id: check_changes_rust
      run: |
        if git diff --name-only ${{ github.event.before }} ${{ github.sha }} | grep '\.rs$'; then
          echo ".rs files changed"
          echo "rust_changed=true" >> $GITHUB_ENV
        else
          echo "No .rs files changed"
          echo "rust_changed=false" >> $GITHUB_ENV
        fi
    
    # TODO: Cache apt packages

    - name: Cache ROS2 workspace
      if: steps.check_changes_cpp.outputs.cpp_changed == 'true' || steps.check_changes_rust.outputs.rust_changed == 'true'
      uses: actions/cache@v2
      with:
        path: /opt/ros/humble
        key: ${{ runner.os }}-ros2-${{ hashFiles('**/package.xml') }}-${{ hashFiles('**/CMakeLists.txt') }}
        restore-keys: |
          ${{ runner.os }}-ros2-

    - name: Setup ROS 2 environment
      if: steps.check_changes_cpp.outputs.cpp_changed == 'true' || steps.check_changes_rust.outputs.rust_changed == 'true'
      run: |
        sudo apt update
        sudo apt install -y software-properties-common curl
        sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
        sudo apt update
        sudo DEBIAN_FRONTEND=noninteractive apt upgrade -y
        sudo apt install -y ros-humble-desktop python3-colcon-common-extensions ros-humble-ament-cmake

    - name: Install dependencies
      if: steps.check_changes_cpp.outputs.cpp_changed == 'true' || steps.check_changes_rust.outputs.rust_changed == 'true'
      run: |
        source /opt/ros/humble/setup.bash
        sudo apt install -y python3-rosdep
        sudo rosdep init
        rosdep update
        rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

    - name: Build src
      if: steps.check_changes_cpp.outputs.cpp_changed == 'true' || steps.check_changes_rust.outputs.rust_changed == 'true'
      run: |
        source /opt/ros/humble/setup.bash
        colcon build
    
    - name: run tests
      if: steps.check_changes_cpp.outputs.cpp_changed == 'true' || steps.check_changes_rust.outputs.rust_changed == 'true'
      run: |
        source /opt/ros/humble/setup.bash
        colcon test --event-handlers console_cohesion+
        colcon test-result --verbose

    - name: Setup Rust environment
      if: steps.check_changes_rust.outputs.rust_changed == 'true'
      run: |
        rustup toolchain install nightly-2024-08-13
        rustup default nightly-2024-08-13
        rustup component add clippy rustfmt

    - name: Run rustfmt on agnocast_heaphook_rust
      if: steps.check_changes_rust.outputs.rust_changed == 'true'
      run: |
        cd src/agnocast_heaphook_rust
        cargo fmt && git diff --exit-code

    - name: Run clippy on agnocast_heaphook_rust
      if: steps.check_changes_rust.outputs.rust_changed == 'true'
      run: |
        cd src/agnocast_heaphook_rust
        cargo clippy -- --deny warnings

    - name: Build agnocast_heaphook_rust
      if: steps.check_changes_rust.outputs.rust_changed == 'true'
      run: |
        cd src/agnocast_heaphook_rust
        cargo build