test.yml

---
name: Build & Test

on: # NOLINT
  pull_request:
  push:
  schedule:
    - cron: '0 3 * * MON'
  workflow_dispatch:

jobs:
  build:

    runs-on: ubuntu-latest

    strategy:
      matrix:
        container:
          - image: 'ros:melodic'
            env:
              PYTHON_VERSION:
              ROS_DISTRO: melodic
          - image: 'ros:noetic'
            env:
              PYTHON_VERSION: 3
              ROS_DISTRO: noetic

    container: ${{ matrix.container }}

    defaults:
      run:
        shell: bash

    steps:
      - uses: actions/checkout@v3
        with:
          path: src/node_example

      - uses: actions/setup-node@v3
        with:
          node-version: '16'

      - name: Install ROS package dependencies
        run: |
          sudo apt update
          sudo apt install -y git
          sudo apt install -y python$PYTHON_VERSION-pip
          sudo apt install -y python3-pip
          sudo apt install -y python$PYTHON_VERSION-osrf-pycommon
          sudo apt install -y python$PYTHON_VERSION-catkin-tools
          python$PYTHON_VERSION -m pip install --upgrade pip
          python3 -m pip install --upgrade pip

      - name: Create workspace
        run: |
          cd src
          wstool init
          cd ..
          rosdep update
          rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
          # Python 3 packages are needed later for Statick.
          ROS_PYTHON_VERSION=3 rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO

      - name: Install Statick dependencies
        run: |
          sudo apt update
          python3 -m pip install --upgrade statick
          python3 -m pip install --upgrade statick-md
          sudo apt install -y cccc
          sudo apt install -y clang
          sudo apt install -y clang-6.0
          sudo apt install -y clang-format
          sudo apt install -y clang-format-6.0
          sudo apt install -y clang-tidy
          sudo apt install -y clang-tidy-6.0
          sudo apt install -y cppcheck
          sudo apt install -y file
          sudo apt install -y flawfinder
          sudo apt install -y libxml2
          sudo apt install -y libxml2-utils
          sudo apt install -y maven
          sudo apt install -y python$PYTHON_VERSION-catkin-lint
          sudo apt install -y python$PYTHON_VERSION-catkin-pkg
          sudo apt install -y python$PYTHON_VERSION-git
          sudo apt install -y python$PYTHON_VERSION-yapsy
          sudo apt install -y ros-$ROS_DISTRO-roslint
          sudo apt install -y uncrustify

      - name: Install black (Python 3.6+)
        if: contains(matrix.container.image, 'melodic') || contains(matrix.container.image, 'noetic')
        run: |
          python3 -m pip install --upgrade black

      - name: Install node packages
        run: |
          npm install -g markdownlint-cli@0.21.0

      - name: Statick markdown
        run: |
          statick . --check --profile documentation.yaml --log info --timings

      - name: Build workspace
        if: contains(matrix.container.image, 'melodic') || contains(matrix.container.image, 'noetic')
        run: |
          . /opt/ros/$ROS_DISTRO/setup.bash
          catkin build

      - name: Statick
        if: contains(matrix.container.image, 'melodic') || contains(matrix.container.image, 'noetic')
        run: |
          . devel/setup.bash
          cp src/node_example/statick_config/rsc/_clang-format ~
          statick src/node_example --check --user-paths src/node_example/statick_config --log info --timings

      - name: Unit tests
        run: |
          sudo apt install -y lcov
          . /opt/ros/$ROS_DISTRO/setup.bash
          catkin config --cmake-args -DCMAKE_CXX_FLAGS="-Wall -Wno-unused --coverage -fno-inline -fno-inline-small-functions -fno-default-inline" -DCMAKE_C_FLAGS="-Wall -Wno-unused --coverage -fno-inline -fno-inline-small-functions -fno-default-inline" -DCMAKE_BUILD_TYPE=Debug -DCMAKE_EXE_LINKER_FLAGS="-lgcov"
          catkin build
          catkin run_tests -i && catkin_test_results

      - name: Upload coverage to Codecov
        uses: codecov/codecov-action@v3
        with:
          fail_ci_if_error: false