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, develop-humble, 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/humble/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
    # TODO WIP Humble Upgrade: Remove after humble upgrade is done
    - name: Read packages from file
      run: |
        PACKAGES=$(cat /opt/carma/src/${{ github.event.repository.name }}/.github/workflows/humble-upgraded-packages.txt)
        echo "PACKAGES=$PACKAGES" >> $GITHUB_ENV

    - name: Build ROS2
      run: |
        source "$INIT_ENV"
        source "$ROS_2_ENV"
        source /opt/autoware.ai/ros/install/setup.bash
        COLCON_CMD="colcon build --parallel-workers 4"
        NEW_CMD="colcon build --continue-on-error --parallel-workers 16 --packages-up-to \$PACKAGES"
        sed -i "s|$COLCON_CMD|$NEW_CMD|" /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 ROS2 C++ Tests
      run: |
        source "$INIT_ENV"
        source "$ROS_2_ENV"
        source /opt/autoware.ai/ros/install/setup.bash
        COLCON_CMD="colcon test --return-code-on-test-failure --parallel-workers 4 --event-handlers console_direct+"
        NEW_CMD="colcon test --return-code-on-test-failure --parallel-workers 16 --event-handlers console_cohesion+ --packages-select \$PACKAGES --ctest-args --output-on-failure"
        sed -i "s|$COLCON_CMD|$NEW_CMD|" /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: 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 }}"