ci.yaml

---
name: MIL CI

# We do not trigger on the pull_request hook because it will have already been
# triggered by the push hook!
# yamllint disable-line rule:truthy
on:
  [push, workflow_dispatch]

env:
  # The version of caching we are using. This can be upgraded if we
  # significantly change CI to the point where old caches become irrelevant.
  CACHE_VERSION: 0
  # Default Python version. Noetic defaults to 3.8.
  DEFAULT_PYTHON: 3.8
  # Location of the pre-commit cache. This is set by pre-commit, not us!
  PRE_COMMIT_CACHE: ~/.cache/pre-commit

# Cancels this run if a new one referring to the same object and same workflow
# is requested
concurrency:
  group: >
    ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
  cancel-in-progress: true

jobs:
  avoid-duplicate-ci:
    name: Check if CI has already be ran
    runs-on: ubuntu-latest
    outputs:
      should_skip: ${{ steps.check_skip.outputs.should_skip }}
    steps:
      - id: check_skip
        uses: fkirc/skip-duplicate-actions@v5

  ubuntu-22-test:
    name: Ensure Ubuntu 22 is prohibited
    runs-on: ubuntu-22.04
    needs: avoid-duplicate-ci
    if: needs.avoid-duplicate-ci.outputs.should_skip != 'true'
    steps:
      - name: Check out code from GitHub
        uses: actions/checkout@v4
      - name: Ensure install script fails
        run: |
          cd $GITHUB_WORKSPACE
          ./scripts/install.sh && exit 1 || exit 0

  ubuntu-24-test:
    name: Ensure Ubuntu 24 is prohibited
    runs-on: ubuntu-24.04
    needs: avoid-duplicate-ci
    if: needs.avoid-duplicate-ci.outputs.should_skip != 'true'
    steps:
      - name: Check out code from GitHub
        uses: actions/checkout@v4
      - name: Ensure install script fails
        run: |
          cd $GITHUB_WORKSPACE
          ./scripts/install.sh && exit 1 || exit 0

  super-ci:
    name: Run tests and build docs
    needs: avoid-duplicate-ci
    if: needs.avoid-duplicate-ci.outputs.should_skip != 'true'
    runs-on:
      group: mala-lab-main
    steps:
      - name: Configure catkin workspace folder structure
        run: |
          mkdir -p $GITHUB_WORKSPACE/catkin_ws/src
          sudo apt reinstall python3-pip
      - name: Check out code from GitHub
        uses: actions/checkout@v4
        with:
          submodules: recursive
          path: catkin_ws/src/mil
      - name: Setup ROS Noetic
        uses: ros-tooling/setup-ros@v0.7
        with:
          required-ros-distributions: noetic
      - name: Install pip dependencies
        run: |
          cd $GITHUB_WORKSPACE/catkin_ws/src/mil
          pip3 install -r requirements.txt
      # We want to run a full test suite in CI - this includes the BlueView
      # tests!
      - name: Install BlueView Sonar SDK
        run: |
          cd $GITHUB_WORKSPACE/catkin_ws/src/mil
          ./scripts/hw/install_bvtsdk --pass ${{ secrets.ZOBELISK_PASSWORD }}
          ls mil_common/drivers/mil_blueview_driver
          echo $PWD
      - name: Install system dependencies
        run: |
          # Needed for /etc/update-manager/release-upgrades
          sudo apt-get install -y ubuntu-release-upgrader-core
          cd $GITHUB_WORKSPACE/catkin_ws/src/mil
          rm -rf build devel
          export HOME=$GITHUB_WORKSPACE # Temporary fix for setup scripts
          ./scripts/install.sh
      # - name: Run catkin_make
      #   run: |
      #     cd $GITHUB_WORKSPACE/catkin_ws
      #     source /opt/ros/noetic/setup.bash
      #     catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3 \
      #                 -DPYTHON_INCLUDE_DIR=/usr/include/python3.8 \
      #                 -j6
      - name: Run catkin_make tests
        run: |
          export HOME=$GITHUB_WORKSPACE # Temporary fix for setup scripts
          cd $GITHUB_WORKSPACE/catkin_ws
          source /opt/ros/noetic/setup.bash
          source devel/setup.bash
          catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3 \
                      -DPYTHON_INCLUDE_DIR=/usr/include/python3.8 \
                      "-j$(($(nproc)-2))" \
                      run_tests
      - name: Get test results
        run: >
          source /opt/ros/noetic/setup.bash

          catkin_test_results $GITHUB_WORKSPACE/catkin_ws/build/test_results
          --verbose
      - name: Build docs
        run: |
          export HOME=$GITHUB_WORKSPACE # Temporary fix for setup scripts
          mkdir -p $HOME/.mil
          source /opt/ros/noetic/setup.bash
          source $GITHUB_WORKSPACE/catkin_ws/devel/setup.bash
          cd $GITHUB_WORKSPACE/catkin_ws/src/mil
          ./scripts/build_docs -s -d
      - name: Publish docs artifact
        uses: actions/upload-artifact@v3
        with:
          name: docs-ci-html-${{ github.sha }}
          path: ${{ github.workspace }}/.mil/docs/html

  deploy-docs:
    name: Deploy docs from master
    runs-on:
      group: mala-lab-main
    needs: super-ci
    # https://github.com/actions/runner/issues/491#issuecomment-850884422
    if: |
      always() &&
      (needs.super-ci.result == 'skipped' || needs.super-ci.result == 'success') &&
      github.ref == 'refs/heads/master'
    steps:
      - name: Checkout
        uses: actions/checkout@v4

      - name: Make folders
        run: |
          mkdir -p $GITHUB_WORKSPACE/build/docs

      - name: Download artifact
        uses: actions/download-artifact@v3
        with:
          name: docs-ci-html-${{ github.sha }}
          path: ${{ github.workspace }}/build/docs

      # Publish the artifact to the GitHub Pages branch
      - name: Push docs to mil.ufl.edu
        run: |
          # Install sshpass
          sudo apt-get install sshpass
          # Upload contents of local folder to remote folder
          sshpass -p ${{ secrets.MIL_UFL_SFTP_PASS }} \
            sftp -o StrictHostKeyChecking=no \
            -P ${{ secrets.MIL_UFL_SFTP_PORT }} mil@mil.ufl.edu << EOF
          cd htdocs/docs
          lcd ${{ github.workspace }}/build/docs
          put -r .
          exit
          EOF