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:
  super-ci:
    name: Run tests and build docs
    runs-on: self-hosted
    steps:
      - name: Configure catkin workspace folder structure
        run: |
          mkdir -p $GITHUB_WORKSPACE/catkin_ws/src
      - name: Check out code from GitHub
        uses: actions/checkout@v3.0.2
        with:
          submodules: recursive
          path: catkin_ws/src/mil
      - name: Setup ROS Noetic
        uses: ros-tooling/setup-ros@v0.3
        with:
          required-ros-distributions: noetic
      - name: Install pip dependencies
        run: |
          cd $GITHUB_WORKSPACE/catkin_ws/src/mil
          pip install -r requirements.txt
      - name: Install system dependencies
        # GH-803: This should not need continue-on-error: true
        continue-on-error: true
        run: |
          cd $GITHUB_WORKSPACE/catkin_ws/src/mil
          ./scripts/install.sh
      - name: Install BlueView Sonar SDK
        run: |
          cd $GITHUB_WORKSPACE/catkin_ws/src/mil
          ./scripts/hardware_installers/install_bvtsdk --pass ${{ secrets.ZOBELISK_PASSWORD }}
          ls mil_common/drivers/mil_blueview_driver
          echo $PWD
      - name: Run catkin_make
        run: |
          export HOME=$GITHUB_WORKSPACE # Temporary fix for setup scripts
          cd $GITHUB_WORKSPACE/catkin_ws
          ls src/mil/mil_common/drivers/mil_blueview_driver
          source /opt/ros/noetic/setup.bash
          rm -rf build devel
          catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3 \
                      -DPYTHON_INCLUDE_DIR=/usr/include/python3.8 \
                      -j6
      # We want to run a full test suite in CI - this includes the BlueView
      # tests!
      - name: Run pylint
        run: |
          cd $GITHUB_WORKSPACE/catkin_ws/src/mil
          source /opt/ros/noetic/setup.bash
          source ../../devel/setup.bash
          pylint $(git ls-files "*.py") --jobs=0
      - name: Run catkin_make tests
        run: |
          export HOME=$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 \
                      -j6 \
                      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: ubuntu-latest
    needs:
      - super-ci
    if: github.ref == 'refs/heads/master'
    steps:
      - name: Checkout
        uses: actions/checkout@v3

      - 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

      # We need to install rsync for GitHub Pages deploy action
      - name: Install rsync
        run: |
          sudo apt-get upgrade && sudo apt-get update && sudo apt-get install -y rsync

      # Publish the artifact to the GitHub Pages branch
      - name: Push docs to GitHub Pages
        uses: JamesIves/github-pages-deploy-action@v4
        with:
          token: ${{ secrets.INVESTIGATOR_BOT_TOKEN }}
          branch: main
          repository-name: uf-mil/uf-mil.github.io
          folder: ${{ github.workspace }}/build/docs
          target-folder: docs
          commit-message: Updating docs to ${{ github.sha }}