Ci.yml

# GitHub Actions triggers based on the PR's and each commits on develop and master
name: "CI: Run tests"
on:
  pull_request:
    types: [opened, synchronize, reopened]
  push:
    branches: [develop, master]
jobs:
  determine_docker_org_and_tag:
    runs-on: ubuntu-latest
    steps:
      - name: Determine Docker organization and tag
        id: docker-org-and-tag
        uses: usdot-fhwa-stol/actions/docker-org-and-tag@main
    outputs:
      docker_org: ${{ steps.docker-org-and-tag.outputs.docker_organization }}
      docker_tag: ${{ steps.docker-org-and-tag.outputs.docker_image_tag }}

  build:
    needs: determine_docker_org_and_tag
    defaults:
      run:
        shell: bash
        working-directory: "/opt/carma/"

    # Specify the runner environment
    runs-on: ubuntu-latest-16-cores

    # Set up a Docker container for the job
    container:
      image: ${{ needs.determine_docker_org_and_tag.outputs.docker_org }}/autoware.ai:${{ needs.determine_docker_org_and_tag.outputs.docker_tag }}
      env:
        INIT_ENV: "/home/carma/.base-image/init-env.sh"
        ROS_2_ENV: "/opt/ros/foxy/setup.bash"
        TERM: xterm
      options: "--user root"

    steps:

    - name: Determine base branch
      id: determine-base-branch
      run: |
        if [[ "$GITHUB_EVENT_NAME" == "pull_request" ]]; then
          echo git_branch="$GITHUB_BASE_REF" >> $GITHUB_OUTPUT
        else
          echo git_branch="$GITHUB_REF_NAME" >> $GITHUB_OUTPUT
        fi

    - name: Checkout ${{ github.event.repository.name }}
      # Check out the repository code
      uses: actions/checkout@v3.3.0
      with:
        fetch-depth: 0
        path: src/${{ github.event.repository.name }}

    - name: Move source code
      # Move the source code to the desired location
      run: mv $GITHUB_WORKSPACE/src /opt/carma/

    - name: Checkout dependencies
      # Checkout project dependencies
      run: |
        source "$INIT_ENV"
        ./src/${{ github.event.repository.name }}/docker/checkout.bash -r /opt/carma/ -b ${{ steps.determine-base-branch.outputs.git_branch }}

    - name: Install external dependencies
      # Install the multiple object tracking deps
      run: sudo bash /opt/carma/src/multiple_object_tracking/scripts/install_dependencies.sh

    - name: Build ROS1
      # Build ROS1 packages
      # The skipped ROS 1 packages here should match the ROS 1 packages that are skipped during the build in docker/install.sh
      run: |
        source "$INIT_ENV"
        PACKAGES=$(find . -maxdepth 2 -type f -name package.xml | sed 's/\.\///' | cut -d/ -f1) # maxdepth 2 Limits the search of package.xml to current directory and one level of subdirectories beneath it. find will not search beyond two levels deep from the starting point. Without this option, find would search the starting directory and all subdirectories recursively.
        sed -i 's/colcon build /colcon build --packages-skip novatel_oem7_msgs tracetools tracetools_test /' /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
        make_with_coverage.bash -m -e /opt/carma/ -o ./coverage_reports/gcov

    - name: Run ROS1 C++ Tests
      # Run ROS1 C++ tests
      # The skipped ROS 1 packages here should match the ROS 1 packages that are skipped during the build in docker/install.sh"

      # These tests has been temporarily disabled to support Continuous Improvement (CI) processes.
      # Related GitHub Issue: <https://github.com/usdot-fhwa-stol/carma-platform/issues/2335>
      # some ROS2 packages unit tests are triggered during ROS1 tests, so they are temporarily being skipped.
      run: |
        source "$INIT_ENV"
        sed -i 's/colcon test /colcon test --packages-skip novatel_oem7_msgs tracetools tracetools_test carma_launch_testing carma_message_utilities ros2bag ros2trace tracetools_launch tracetools_read tracetools_trace rosbag2 carma_utils /' /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash
        make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov

    - name: Backup ROS1 compile_commands.json
      # Backup the ROS1 compile_commands.json file for sonarcloud
      run: |
        mv /opt/carma/build/compile_commands.json /opt/carma/compile_commands.ros1.json

    - name: Cleanup before ROS 2 build
      # Clear the build and install folders before building ROS 2
      run: |
        rm -rf /opt/carma/install
        rm -rf /opt/carma/build

    - name: Build ROS2
      # Build ROS2 packages
      run: |
        source "$INIT_ENV"
        source "$ROS_2_ENV"
        source /opt/autoware.ai/ros/install_ros2/setup.bash
        make_with_coverage.bash -m -e /opt/carma/ -o ./coverage_reports/gcov

    - name: Run ROS2 C++ Tests
      # Run ROS2 C++ tests
      run: |
        source "$INIT_ENV"
        source "$ROS_2_ENV"
        source /opt/autoware.ai/ros/install_ros2/setup.bash
        make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov

    - name: Combine ROS1 and ROS2 compile_commands.json files
      # Combine the ROS1 and ROS2 compile_commands.json files for sonarscan
      run: |
        mv /opt/carma/build/compile_commands.json /opt/carma/compile_commands.ros2.json
        jq -s add /opt/carma/compile_commands.ros1.json /opt/carma/compile_commands.ros2.json > /opt/carma/build/compile_commands.json

    - name: Run SonarScanner
      # Run SonarScanner for code analysis
      uses: usdot-fhwa-stol/actions/sonar-scanner@main
      with:
        sonar-token: ${{ secrets.SONAR_TOKEN }}
        working-dir: "/opt/carma/src/${{ github.event.repository.name }}"