Added functionality for running CI unit tests on modified modules only

.github/templates/check_src_changes/action.yml

@@ -0,0 +1,93 @@
+name: Check source file changes
+
+outputs:
+  modified_modules:
+    description: "Space deliminated list of modified modules"
+    value: ${{ steps.output-changes.outputs.modified_modules }}
+
+runs:
+  using: "composite"
+  steps:
+    - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
+
+    - name: Find changed files inside action folder
+      id: changed-files-action
+      uses: tj-actions/changed-files@v42
+      with:
+        files: src/action/**
+
+    - name: Get changed files inside interfacing folder
+      id: changed-files-interfacing
+      uses: tj-actions/changed-files@v42
+      with:
+        files: src/interfacing/**
+
+    - name: Get changed files inside perception folder
+      id: changed-files-perception
+      uses: tj-actions/changed-files@v42
+      with:
+        files: src/perception/**
+
+    - name: Get changed files inside samples folder
+      id: changed-files-samples
+      uses: tj-actions/changed-files@v42
+      with:
+        files: src/samples/**
+
+    - name: Get changed files inside simulation folder
+      id: changed-files-simulation
+      uses: tj-actions/changed-files@v42
+      with:
+        files: src/simulation/**
+
+    - name: Get changed files inside world_modeling folder
+      id: changed-files-world-modeling
+      uses: tj-actions/changed-files@v42
+      with:
+        files: src/world_modeling/**
+
+    - name: Create list of changed modules
+      env:
+        CHANGED_MODULES: ""
+      run: |
+        if [ ${{ steps.changed-files-action.outputs.any_changed }} == 'true' ]; then
+          echo "Detected action changes"
+          CHANGED_MODULES+="action "
+        fi
+
+        if [ ${{ steps.changed-files-interfacing.outputs.any_changed }} == 'true' ]; then
+          echo "Detected interfacing changes"
+          CHANGED_MODULES+="interfacing "
+        fi
+
+        if [ ${{ steps.changed-files-perception.outputs.any_changed }} == 'true' ]; then
+          echo "Detected perception changes"
+          CHANGED_MODULES+="perception "
+        fi
+
+        if [ ${{ steps.changed-files-samples.outputs.any_changed }} == 'true' ]; then
+          echo "Detected samples changes"
+          CHANGED_MODULES+="samples "
+        fi
+
+        if [ ${{ steps.changed-files-simulation.outputs.any_changed }} == 'true' ]; then
+          echo "Detected simulation changes"
+          CHANGED_MODULES+="simulation "
+        fi
+
+        if [ ${{ steps.changed-files-world-modeling.outputs.any_changed }} == 'true' ]; then
+          echo "Detected world_modeling changes"
+          CHANGED_MODULES+="world_modeling"
+        fi
+
+        echo "CHANGED_MODULES=$CHANGED_MODULES" >> $GITHUB_ENV
+      shell: bash
+
+    - name: Output list of changed modules
+      id: output-changes
+      run: |
+        echo "The changed modules are: $CHANGED_MODULES"
+        echo "modified_modules=$CHANGED_MODULES" >> $GITHUB_OUTPUT
+      shell: bash

.github/templates/docker_context/action.yml

@@ -1,5 +1,11 @@
 name: Generate Docker Environment
 
+inputs:
+  modified_modules:
+    description: "Space deliminated list of modified modules"
+    required: true
+    default: ''
+
 outputs:
   docker_matrix:
     description: "list of docker compose services"
@@ -15,5 +21,7 @@ runs:
   using: "composite"
   steps:
     - id: environment-generator
-      run: ${{ github.action_path }}/docker_context.sh
+      env: 
+        MODIFIED_MODULES: ${{ inputs.modified_modules }}
+      run: ${{ github.action_path }}/docker_context.sh "$MODIFIED_MODULES"
       shell: bash

.github/templates/docker_context/docker_context.sh

@@ -11,12 +11,24 @@ modules=$(find modules -maxdepth 1 -name "docker-compose*")
 # Initialize an empty array for JSON objects
 json_objects=()
 
+echo "::notice:: Incoming modified modules are $1"
+
 # Loop through each module
 while read -r module; do
+
     # Retrieve docker compose service names
     services=$(docker-compose -f "$module" config --services)
     module_out=$(echo "$module" | sed -n 's/modules\/docker-compose\.\(.*\)\.yaml/\1/p')
 
+    # Only work with modules that are modified
+    if [[ $1 != *$module_out* ]]; then
+        if [[ "$1" = "" ||  $1 = " " ]]; then
+            echo "::notice:: No source code modified, testing all modules for possible infra changes"
+        else
+            continue
+        fi
+    fi
+
     # Loop through each service
     while read -r service_out; do
         # Construct JSON object for each service with module and service name

.github/workflows/build_and_unitest.yml

@@ -24,14 +24,22 @@ jobs:
       - name: Checkout Repository
         uses: actions/checkout@v4
 
+      - name: Get Module Changes
+        id: get-module-changes
+        uses: "./.github/templates/check_src_changes"
+
       - name: Setup Watod Environment
         run: ./watod_scripts/watod-setup-env.sh
         shell: bash
 
       - name: Generate Docker Environment
         id: docker-environment
+        env: 
+          MODIFIED_MODULES: ${{ steps.get-module-changes.outputs.modified_modules }}
         uses: "./.github/templates/docker_context"
-
+        with:
+          modified_modules: ${{ env.MODIFIED_MODULES }}
+
       - name: Generate GitHub Environment
         id: github-environment
         uses: "./.github/templates/github_context"
@@ -133,3 +141,13 @@ jobs:
         with:
           image: ${{ steps.construct-registry-url.outputs.url }}
           tag: build_${{ env.SOURCE_BRANCH }}
+
+  confirm-build-and-unittest-complete:
+    name: Confirm Build and Unit Tests Completed
+    needs: build-and-unittest
+    runs-on: ubuntu-latest
+    steps:
+      - name: Ending
+        run:
+          echo "All builds and unit tests completed!"
+

src/interfacing/test2.txt

@@ -0,0 +1 @@
+4

src/world_modeling/test3.txt

@@ -0,0 +1 @@
+2