ci.yaml

name: CI of RobotArrayVisualization

on:
  push:
    branches:
      - '**'
  pull_request:
    branches:
      - '**'
  schedule:
    - cron: '0 0 * * 0'

jobs:
  build-and-test:
    strategy:
      fail-fast: false
      matrix:
        os: [ubuntu-20.04]
        build-type: [RelWithDebInfo, Debug]
        compiler: [gcc]
    runs-on: ${{ matrix.os }}
    steps:
      - name: Setup environment variables
        run: |
          set -e
          set -x
          if [ "${{ matrix.os }}" == "ubuntu-20.04" ] && \
             [ "${{ matrix.build-type }}" == "RelWithDebInfo" ] && \
             [ "${{ matrix.compiler }}" == "gcc" ]
          then
            echo "RUN_SIMULATION_STEPS=true" >> $GITHUB_ENV
          else
            echo "RUN_SIMULATION_STEPS=false" >> $GITHUB_ENV
          fi
          if [ "${{ matrix.os }}" == "ubuntu-20.04" ] && \
             [ "${{ matrix.build-type }}" == "RelWithDebInfo" ] && \
             [ "${{ matrix.compiler }}" == "gcc" ]
          then
            echo "UPLOAD_DOCUMENTATION=true" >> $GITHUB_ENV
          else
            echo "UPLOAD_DOCUMENTATION=false" >> $GITHUB_ENV
          fi
      - name: Install dependencies
        uses: jrl-umi3218/github-actions/install-dependencies@master
        with:
          ubuntu: |
            apt: doxygen graphviz
          ros: |
            apt: ros-base
      - name: Catkin build
        uses: jrl-umi3218/github-actions/build-catkin-project@master
        with:
          build-type: ${{ matrix.build-type }}
          cmake-args: -DINSTALL_DOCUMENTATION=${{ env.UPLOAD_DOCUMENTATION }}
          catkin-test-args: --no-deps
          build-packages: robot_array_rviz_plugins
          test-packages: robot_array_rviz_plugins
      # - name: Run simulation
      #   if: env.RUN_SIMULATION_STEPS == 'true'
      #   # https://github.com/jrl-umi3218/lipm_walking_controller/blob/b564d655388ae6a6725c504e5c74a62192e58c7c/.github/workflows/build.yml#L64-L92
      #   run: |
      #     set -e
      #     set -x
      #     sudo apt-get install -y -qq xvfb ffmpeg mesa-utils fluxbox xserver-xorg xserver-xorg-core xserver-xorg-video-all libwayland-egl1-mesa
      #     set +x
      #     if [ "${{ matrix.catkin-build }}" == "catkin" ]
      #     then
      #       . ${GITHUB_WORKSPACE}/catkin_ws/devel/setup.bash
      #     fi
      #     set -x
      #     export DISPLAY=":1"
      #     Xvfb ${DISPLAY} -screen 0 1920x1080x24 &
      #     sleep 10s
      #     fluxbox 2> /dev/null &
      #     mkdir -p ${HOME}/.config/mc_rtc/controllers
      #     if [ "${{ matrix.catkin-build }}" == "catkin" ]
      #     then
      #       cp ${GITHUB_WORKSPACE}/catkin_ws/src/${{ github.repository }}/etc/mc_rtc.yaml ${HOME}/.config/mc_rtc
      #     else
      #       echo "Enabled: RobotArrayVisualization" > ${HOME}/.config/mc_rtc/mc_rtc.yaml
      #     fi
      #     python3 ${{ env.CI_DIR }}/scripts/mergeConfigs.py ${{ env.CI_DIR }}/config/${{ matrix.mpc-method }}.yaml ${{ env.CI_DIR }}/config/${{ matrix.mpc-framework }}.yaml ${{ env.CI_DIR }}/config/${{ matrix.motion-type }}.yaml > ${HOME}/.config/mc_rtc/controllers/RobotArrayVisualization.yaml
      #     ffmpeg -y -f x11grab -s 1920x1080 -r 30 -i ${DISPLAY} -qscale 0 -vcodec huffyuv /tmp/video.avi > /dev/null 2>&1 < /dev/null &
      #     FFMPEG_PID=$!
      #     cd /usr/share/hrpsys/samples/JVRC1
      #     ./clear-omninames.sh
      #     roscore > /dev/null 2>&1 < /dev/null &
      #     ROSCORE_PID=$!
      #     sleep 1s
      #     if [ "${{ matrix.motion-type }}" == "WalkingOnPlane" -o "${{ matrix.motion-type }}" == "WalkingOnPlaneWaypoint" -o "${{ matrix.motion-type }}" == "WalkingOnPlaneVel" ]; then
      #       CNOID_FILE=sim_mc.cnoid
      #     else
      #       CNOID_FILE=sim_mc_comanoid_staircase.cnoid
      #     fi
      #     choreonoid ${CNOID_FILE} --test-mode --start-simulation &
      #     CNOID_PID=$!
      #     if [ "${{ matrix.motion-type }}" == "WalkingWithFootstepPlanner" ]; then
      #       SLEEP_DURATION="70s"
      #     else
      #       SLEEP_DURATION="50s"
      #     fi
      #     sleep ${SLEEP_DURATION}
      #     kill -2 ${ROSCORE_PID}
      #     kill -2 ${CNOID_PID}
      #     kill -2 ${FFMPEG_PID}
      #     sleep 1s
      #     kill -9 ${CNOID_PID} || true
      #     sleep 10s
      #     mkdir -p /tmp/results
      #     ffmpeg -nostats -i /tmp/video.avi /tmp/results/BWC-video-${RESULTS_POSTFIX}.mp4
      #     LOG_FILENAME=BWC-log-${RESULTS_POSTFIX}
      #     mv `readlink -f /tmp/mc-control-RobotArrayVisualization-latest.bin` /tmp/${LOG_FILENAME}.bin
      #     tar czf /tmp/results/${LOG_FILENAME}.tar.gz -C /tmp ${LOG_FILENAME}.bin
      # - name: Upload simulation data
      #   if: env.RUN_SIMULATION_STEPS == 'true'
      #   uses: actions/upload-artifact@v3
      #   with:
      #     name: BWC-ci-results-${{ matrix.catkin-build }}
      #     path: /tmp/results
      # - name: Upload documentation
      #   if: env.UPLOAD_DOCUMENTATION == 'true'
      #   run: |
      #     set -e
      #     set -x
      #     cd ${GITHUB_WORKSPACE}/catkin_ws/src/${{ github.repository }}
      #     git config --global user.name "Masaki Murooka"
      #     git config --global user.email "m-murooka@aist.go.jp"
      #     git remote set-url origin "https://mmurooka:${{ secrets.CI_TOKEN }}@github.com/isri-aist/RobotArrayVisualization"
      #     git fetch --depth=1 origin gh-pages:gh-pages
      #     git clean -dfx
      #     rm -rf cmake/
      #     git checkout --quiet gh-pages
      #     rm -rf doxygen/
      #     cp -r ${GITHUB_WORKSPACE}/catkin_ws/build/robot_array_rviz_plugins/doc/html/ doxygen
      #     git add doxygen
      #     git_status=`git status -s`
      #     if test -n "$git_status"; then
      #       git commit --quiet -m "Update Doxygen HTML files from commit ${{ github.sha }}"
      #       git push origin gh-pages
      #     else
      #       echo "Github pages documentation is already up-to-date."
      #     fi