build.yml

# Simple set of rules for GitHub actions integration with a ROS project
#

name: Build

on:
  push:
    branches:
      - main
  pull_request:

env:
  MIRA_PATH: ${{ github.workspace }}/mira
  LD_LIBRARY_PATH: $LD_LIBRARY_PATH:${{ github.workspace }}/mira
  MIRA_URL: https://www.mira-project.org/downloads/

jobs:
  install-mira:
    runs-on: ubuntu-22.04
    steps:
      - name: Cache APT Packages
        uses: awalsh128/cache-apt-pkgs-action@v1.4.2
        with:
          packages: git g++ cmake subversion doxygen libxml2-dev libssl-dev \
            libsqlite3-dev libboost-all-dev libogre-1.9-dev libsvn-dev \
            libopencv-dev binutils-dev libiberty-dev libcurl4-gnutls-dev \
            libprocps-dev libqwt-qt5-dev libqt5webkit5-dev libqwtmathml-qt5-dev \
            libqt5opengl5-dev libqt5svg5-dev qt*5-dev qttools5-dev-tools
      - name: Cache MIRA
        id: cache-mira
        uses: actions/cache@v4
        with:
          path: ${{ env.MIRA_PATH }}
          key: mira-${{ runner.os }}-ubuntu-22.04
      - name: Install MIRA
        if: steps.cache-mira.outputs.cache-hit != 'true'
        run: | 
          curl -o mira-installer-binary.sh ${{ env.MIRA_URL }}/mira-installer-binary.sh
          chmod +x mira-installer-binary.sh
          ./mira-installer-binary.sh -s ubuntu-2204lts-x64 -d ${{ env.MIRA_PATH }}

  install-scitos2:
    runs-on: ubuntu-22.04
    needs: install-mira
    steps:
      - name: Cache APT Packages
        uses: awalsh128/cache-apt-pkgs-action@v1.4.2
        with:
          packages: libprocps-dev
      - name: Checkout Repository
        uses: actions/checkout@v4
      - name: Setup ROS 2
        uses: ros-tooling/setup-ros@0.7.5
        with:
          required-ros-distributions: humble
      - name: Restore MIRA cache
        id: restore-cache-mira
        uses: actions/cache@v4
        with:
          path: ${{ env.MIRA_PATH }}
          key: mira-${{ runner.os }}-ubuntu-22.04
      - name: Build packages
        env:
          MIRA_PATH: ${{ env.MIRA_PATH }}
        uses: ros-tooling/action-ros-ci@0.3.13
        with:
          package-name: |
            scitos2
            scitos2_behavior_tree
            scitos2_charging_dock
            scitos2_common
            scitos2_core
            scitos2_mira
            scitos2_modules
            scitos2_msgs
          target-ros2-distro: humble
          vcs-repo-file-url: ./.github/dependencies.repos
          colcon-defaults: |
            {
              "build": {
                "mixin": ["coverage-gcc", "coverage-pytest"]
              },
              "test": {
                "mixin": ["coverage-pytest"]
              }
            }
          skip-tests: false
      - name: Upload coverage reports to Codecov
        uses: codecov/codecov-action@v4.4.1
        with:
          token: ${{ secrets.CODECOV_TOKEN }}
          files: ros_ws/lcov/total_coverage.info,ros_ws/coveragepy/.coverage
          flags: unittests
          name: codecov-umbrella
          slug: grupo-avispa/scitos2