ci-action.yml

name: Ouroboros CI
run-name: Ouroboros CI
on:
    push:
        branches: main
    pull_request:
        branches:
            - main
            - develop
jobs:
  Ouroboros-CI:
    runs-on: ubuntu-latest
    strategy:
        matrix:
            python-version: ["3.8", "3.13"]
    steps:
      - name: Check out repository code
        uses: actions/checkout@v4
        with:
            path: ouroboros_repo
            submodules: recursive
      - name: Set up Python ${{ matrix.python-version }}
        uses: actions/setup-python@v5
        with:
          python-version: ${{ matrix.python-version }}

      - name: Pre-commit
        run: pip install pre-commit && cd ${{ github.workspace }}/ouroboros_repo && pre-commit run --all-files
      - name: Dependencies
        run: sudo apt install libeigen3-dev pkg-config
      - name: Install Ouroboros
        run: cd ${{ github.workspace }}/ouroboros_repo && pwd && pip install .
      - name: Run test script
        run: cd ${{ github.workspace }}/ouroboros_repo && pytest --ignore=third_party --ignore=extra/ouroboros_ros
      - run: echo "🍏 This job's status is ${{ job.status }}."

  Ouroboros-ROS-CI:
    runs-on: ubuntu-20.04
    steps:
      - name: Check out repository code
        uses: actions/checkout@v4
        with:
            path: ouroboros_repo
            submodules: recursive
      - name: Install ROS
        run: |
          sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
          sudo apt install curl -y
          curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
          sudo apt-get update -qq
          sudo apt-get install -y ros-noetic-desktop-full
          sudo apt-get install dpkg
          sudo apt-get install -y python3-rosinstall python3-rosinstall-generator build-essential
          sudo apt-get install -y python3-catkin-tools
          sudo apt-get install -y python3-rosdep
          sudo apt-get install -y python3-wstool
      - name: Check if ROS installed
        run: |
          if [ -d "/opt/ros/noetic" ]; then
            echo "ROS Noetic is installed!"
          else
            echo "ROS Noetic is NOT installed!"
          fi
      - name: Install ROS packages with rosdep
        run: |
          source /opt/ros/noetic/setup.bash
          sudo rosdep init
          rosdep update
          mkdir -p ~/catkin_ws/src
          mv ${{ github.workspace }}/ouroboros_repo ~/catkin_ws/src/
          cd ~/catkin_ws
          rosdep install --from-paths src --ignore-src -r -s  # do a dry-run first
          rosdep install --from-paths src --ignore-src -r -y
      - name: catkin build
        run: |
          source /opt/ros/noetic/setup.bash
          cd ~/catkin_ws
          catkin build -s
          source devel/setup.bash
      - name: Install Ouroboros
        run: cd ~/catkin_ws/src/ouroboros_repo && python -m pip install --upgrade pip && pip install .
      - name: Run test script
        run: cd ~/catkin_ws/src/ouroboros_repo && source ~/catkin_ws/devel/setup.bash && pytest --ignore=third_party
      - run: echo "🍏 This job's status is ${{ job.status }}."