main.yml

name: Continuous Integration (SDK)
on:
  workflow_dispatch:
    inputs:
      logLevel:
        description: 'Log level'
        required: true
        default: 'warning'
        type: choice
        options:
          - info
          - warning
          - debug
  push:
    branches:
      - '**'
    tags:
      - '[0-9].[0-9]+.[0-9]+'
  pull_request:
    branches:
      - main
      - develop
      - '[0-9].[0-9]+.[0-9]+-rc'

concurrency:
  group: ${{ github.ref }}
  cancel-in-progress: true  

jobs:
  ba_linux:
    name: "General Software Linux"
    runs-on: ubuntu-latest
    # if: false  # disable this job

    defaults:
      run:
        working-directory: scripts

    steps:
      - name: Git checkout
        uses: actions/checkout@v4
        with:
          # token: ${{ secrets.ALL_REPO_PAT }}
          submodules: recursive
          fetch-depth: 0  # Fetches full commit history, needed for repo info steps in build

      - name: Install dependencies
        run: |
          ./install_sdk_dependencies.sh
          ./install_gtest.sh

      - name: Clean All
        run: ./clean_all.sh

      - name: Build SDK
        run: ./build_is_sdk.sh
  
      - name: Build Unit Tests
        run: ./build_unit_tests.sh

      - name: Run Unit Tests
        run: ./build_unit_tests.sh --nobuild --test

      - name: Build cltool
        run: ./build_cltool.sh

      - name: Build LogInspector
        run: ./build_log_inspector.sh

      - name: Build SDK Examples
        run: python3 build_manager.py SDK_Examples ../ExampleProjects

  ba_windows:
    name: "General Software Windows"
    runs-on: [self-hosted, windows, x64]
    # if: false  # disable this job
    # if: (github.ref == 'refs/heads/main') || (github.ref == 'refs/heads/develop')   # Only run job on these branches

    defaults:
      run:
        working-directory: scripts/windows

    steps:
      - name: Git checkout
        uses: actions/checkout@v4
        with:
          # token: ${{ secrets.ALL_REPO_PAT }}
          submodules: recursive
          fetch-depth: 0  # Fetches full commit history, needed for repo info steps in build

      - name: Clean all
        run: ./clean_all.bat

      - name: Build IS SDK library 
        run: ./build_is_sdk.bat

      - name: Build Unit Tests
        run: ./build_unit_tests.bat

      - name: Build CLTool
        run: ./build_cltool.bat

      - name: Build LogInspector
        run: ./build_log_inspector.bat

      - name: Build SDK Examples
        run: ./build_sdk_examples.bat

  ros1-bridge-tests:
    name: "ROS1 Bridge Tests"
    runs-on: [self-hosted, Linux, X64, docker, focal]
    # if: false  # disable this job

    env:
      ROS_CI_DESKTOP: "`lsb_release -cs`"  # e.g. [trusty|xenial|...]
      ROS_DISTRO: noetic

    container:
      image: ros:noetic
      #options: --privileged -v /dev:/dev
      options: --device-cgroup-rule="c 166:* rmw"
      volumes:
        - "/dev:/dev"

    defaults:
      run:
        working-directory: ../ROS/catkin_ws
        shell: bash

    steps:
      - name: Update Git version to make actions/checkout happy
        working-directory: .
        run: |
          echo "::group::Install software-properties-common and dependencies."
          apt-get update && apt -y install software-properties-common dirmngr apt-transport-https lsb-release ca-certificates libyaml-cpp-dev
          echo "::endgroup::"
          echo "::group::Configure git-core ppa and install latest."
          add-apt-repository ppa:git-core/ppa -y && apt -y install git
          echo "::endgroup::"
          git --version

      - name: Checkout source and submodules
        uses: actions/checkout@v4
        with:
          # token: ${{ secrets.ALL_REPO_PAT }}
          submodules: recursive

      - name: Install dependencies
        working-directory: scripts
        run: |
          ./install_sdk_dependencies.sh
          ./install_gtest.sh
  
      - name: Setup ROS environment
        run: |
          source /opt/ros/$ROS_DISTRO/setup.bash
          echo "::group::Install ROS packages."
          apt -y install ros-${ROS_DISTRO}-tf libusb-1.0-0-dev
          echo "::endgroup::"

      - name: Setup Catkin Workspace and Build
        run: |
          source /opt/ros/$ROS_DISTRO/setup.bash
          catkin_make -DCATKIN_BLACKLIST_PACKAGES="inertial_sense_ros2"
          catkin_make test_unit_tests
          catkin_make test_ros_bridge 

      - name: Run Unit Tests
        run: |          
          source devel/setup.bash
          rm -rf build/test_results
          roscore &
          catkin_make run_tests_inertial_sense_ros_gtest_test_unit_tests
          catkin_test_results
          pkill roscore

      - name: Run Functional/Integration Tests (via hardware)
        run: |
          source devel/setup.bash
          roscore &
          catkin_make run_tests_inertial_sense_ros_gtest_test_ros_bridge
          catkin_test_results

  ros2-bridge-tests:
    name: "ROS2 Bridge Tests"
    runs-on: [self-hosted, Linux, X64, docker, focal]
    # if: false  # disable this job

    container:
      image: osrf/ros:jazzy-desktop
      options: --device-cgroup-rule="c 166:* rmw"
      volumes:
        - "/dev:/dev"

    defaults:
      run:
        working-directory: ../ROS/ros2_ws # This is outside the scope of git
        shell: bash

    steps:          
      - name: Install libboost
        run: |
          /ros_entrypoint.sh /bin/bash -e -c "
          rm -rf ../../inertial-sense-sdk/* log/ build/ install/ &>/dev/null || true
          apt-get update && apt-get -y install libboost-all-dev
          "

      - name: Checkout source and submodules
        uses: actions/checkout@v4
        with:
          submodules: recursive

      # - name: Install dependencies
      #   run: |
      #     /ros_entrypoint.sh /bin/bash -e -c "
      #     ../../inertial-sense-sdk/scripts/install_python_dependencies.sh
      #     "

      - name: Build IS SDK library
        run: |
          /ros_entrypoint.sh /bin/bash -e -c "
          ../../inertial-sense-sdk/scripts/build_is_sdk.sh
          "

      - name: Build ROS2 bridge
        run: |
          /ros_entrypoint.sh /bin/bash -e -c "
          colcon build
          "

      - name: Run Functional/Integration Tests (via hardware)
        run: |
          /ros_entrypoint.sh /bin/bash -e -c "          
          source install/setup.bash
          ros2 run inertial_sense_ros2 test_inertial_sense_ros2
          "