lint_build_test.yaml

name: Lint, Build & Test
on:
  push:
    branches: [jazzy]
  pull_request:
    branches: [jazzy]
defaults:
  run:
    shell: bash

jobs:
  Linting:
    name: Lint Code Base
    runs-on: ubuntu-latest
    steps:
    - name: Checkout Code
      uses: actions/checkout@v4
    - name: Setup
      run: sudo apt-get update && sudo apt-get install -y black clang-format cppcheck libxml2-utils
    - name: Set up Python
      uses: actions/setup-python@v4
    - name: Install and Run pre-commit
      uses: pre-commit/action@v3.0.1
      with:
        extra_args: --all-files

  build-and-test:
    needs: Linting
    strategy:
      matrix:
        setup:
        - rosdistro: jazzy
          os: ubuntu-24.04
    runs-on: ${{ matrix.setup.os }}
    container:
      image: ros:${{ matrix.setup.rosdistro }}-ros-base
    steps:
    - name: Install Build Tools
      run: |
        sudo apt-get update
        sudo apt-get install -y ros-dev-tools python3-vcstool

    - name: Checkout Local Repo
      uses: actions/checkout@v4
      with:
        path: src/${{ github.event.repository.name }}

    - name: Recursive VCS Import
      run: |
        cd src
        PREVIOUS_HASH=""
        for i in {1..10}; do
          REPOS_FILES=$(find . -name "*.repos")
          CURRENT_HASH=$(echo "$REPOS_FILES" | sort | md5sum)
          if [ "$CURRENT_HASH" == "$PREVIOUS_HASH" ]; then
            echo "Dependency tree fully resolved at level $((i-1))."
            break
          fi
          echo "Processing Level $i dependencies..."
          for f in $REPOS_FILES; do
            vcs import . < "$f" --skip-existing
          done
          PREVIOUS_HASH="$CURRENT_HASH"
        done

    - name: rosdep
      run: |
        rosdep update --rosdistro ${{ matrix.setup.rosdistro }} --include-eol-distros
        rosdep install -y --from-paths src --ignore-src --rosdistro ${{ matrix.setup.rosdistro }}

    - name: Identify Local Packages
      run: |
        source /opt/ros/${{ matrix.setup.rosdistro }}/setup.bash
        # Filter for local repo and flatten newlines to spaces
        PKGS=$(colcon list --names-only --base-paths src/${{ github.event.repository.name }} | tr '\n' ' ')
        if [ -z "$PKGS" ]; then
          echo "::error::No packages found in src/${{ github.event.repository.name }}"
          exit 1
        fi
        echo "LOCAL_PKGS=$PKGS" >> $GITHUB_ENV
        echo "Found packages: $PKGS"

    - name: Build Local Packages
      run: |
        source /opt/ros/${{ matrix.setup.rosdistro }}/setup.bash
        colcon build --packages-up-to ${{ env.LOCAL_PKGS }} --event-handlers console_direct+

    - name: Test Local Packages
      run: |
        source /opt/ros/${{ matrix.setup.rosdistro }}/setup.bash
        colcon test --packages-select ${{ env.LOCAL_PKGS }} --event-handlers console_direct+

    - name: Test Results
      if: always()
      run: |
        source /opt/ros/${{ matrix.setup.rosdistro }}/setup.bash
        colcon test-result --verbose