devel.yaml

name: devel

on:
  pull_request:
    branches:
      - devel
  push:
    branches:
      - devel

jobs:
  test_docker:
    runs-on: ubuntu-latest
    strategy:
      matrix:
        ros_distribution:
          - noetic

        include:
          - docker_image: ubuntu:focal
            ros_distribution: noetic
            ros_version: 1

    container:
      image: ${{ matrix.docker_image }}
    steps:

      - name: setup ROS environment
        uses: ros-tooling/setup-ros@v0.6
        with:
          required-ros-distributions: ${{ matrix.ros_distribution }}

      - name: Install dependencies
        run: |
          sudo apt-get update
          sudo apt-get install -y wget python3-vcstool python3-pytest libfl-dev pip python3-rosdep python3-catkin-tools build-essential
          sudo pip install unified-planning unified-planning[engines]

      - name: Prepare the catkin ws
        id: prepare-catkin-ws
        run: |
          mkdir -p catkin_ws/src
          cd catkin_ws
          catkin_ws=$(pwd)
          bash -c "source /opt/ros/noetic/setup.bash && catkin config --install --cmake-args -DCMAKE_BUILD_TYPE=Debug"
          echo "catkin_ws=$catkin_ws" >> $GITHUB_OUTPUT

      - name: Checkout code
        uses: actions/checkout@v2
        with:
          path: ${{steps.prepare-catkin-ws.outputs.catkin_ws}}/src

      - name: Running tests and generating the code coverage report
        id: test-and-coverage
        run: |
          rosdep update
          rosdep install --from-paths ${{steps.prepare-catkin-ws.outputs.catkin_ws}}/src/ --ignore-src --rosdistro=${{ matrix.ros_distribution }} -y
          cd ${{steps.prepare-catkin-ws.outputs.catkin_ws}}
          bash -c "source /opt/ros/noetic/setup.bash && catkin build up_msgs up4ros --no-status --no-notify"
          cd ${{steps.prepare-catkin-ws.outputs.catkin_ws}}/src
          bash -c "source ${{steps.prepare-catkin-ws.outputs.catkin_ws}}/install/setup.bash && python3 -m pytest --cov=up4ros --cov-report=xml"
          coverage_file=$(pwd)/coverage.xml
          echo "coverage_file=$coverage_file" >> $GITHUB_OUTPUT

      - uses: codecov/codecov-action@v3.1.1
        with:
          token: ${{ secrets.CODECOV_TOKEN }}
          flags: unittests
          files: ${{steps.test-and-coverage.outputs.coverage_file}}
          fail_ci_if_error: false