ci.yaml

name: CI

on:
  push:
    branches:
    - 'main'
  pull_request:
    branches:
    - 'main'
  workflow_dispatch:

jobs:
  configure:
    name: Configure
    runs-on: ubuntu-20.04
    outputs:
      base_image: ${{ steps.compute-base-image.outputs.base_image }}
      build_base_image: ${{ steps.should-build-base-image.outputs.answer }}
    steps:
    - name: Checkout code
      uses: actions/checkout@v3
      with:
        fetch-depth: 0
      if: github.event_name != 'workflow_dispatch'
    - name: Inject slug/short variables
      uses: rlespinasse/github-slug-action@v4
    - name: Get branch name
      id: branch-name
      uses: tj-actions/branch-names@v6
    - name: Compute last successfully built commit
      uses: nrwl/last-successful-commit-action@v1
      id: last-commit
      with:
        branch: ${{ steps.branch-name.outputs.current_branch }}
        workflow_id: 'ci.yaml'
        github_token: ${{ secrets.GITHUB_TOKEN }}
      if: github.event_name != 'workflow_dispatch'
    - name: Check base image files for changes since last commit
      id: base-image-files-in-last-commit
      uses: tj-actions/changed-files@v28.0.0
      with:
        files: tools/setup/*
        base_sha: ${{ steps.last-commit.outputs.commit_hash }}
        sha: ${{ github.event.pull_request.head.sha || github.sha }}
      if: github.event_name != 'workflow_dispatch'
    - name: Check if base image needs to be (re)built
      id: should-build-base-image
      run: |
        echo '::set-output name=answer::true'
      if: |
        (github.event_name == 'workflow_dispatch') ||
        (steps.base-image-files-in-last-commit.outputs.any_changed == 'true')
    - name: Check base image files for changes since branching
      id: base-image-files-full-diff
      uses: tj-actions/changed-files@v28.0.0
      with:
        files: tools/setup/*
        use_fork_point: true
      if: github.event_name != 'workflow_dispatch'
    - name: Compute base image name
      id: compute-base-image
      run: |
        suffix="latest"
        if ! ${{ steps.branch-name.outputs.is_default }}; then
          if [[ "${{ github.event_name }}" == "workflow_dispatch" ]]; then
            suffix="$GITHUB_REF_SLUG"
          fi
          if [[ "${{ steps.base-image-files-full-diff.outputs.any_changed }}" == "true" ]]; then
            suffix="$GITHUB_REF_SLUG"
          fi
        fi
        echo "::set-output name=base_image::osrf/lrauv:gz-garden-${suffix}"
  build-base-image:
    name: Build Gazebo Garden image
    runs-on: ubuntu-20.04
    needs: configure
    steps:
    - name: Login to Docker Hub
      uses: docker/login-action@v2
      with:
        username: ${{ secrets.DOCKER_HUB_USERNAME }}
        password: ${{ secrets.DOCKER_HUB_READ_WRITE }}
    - name: Build and push Gazebo Garden image
      uses: docker/build-push-action@v3
      with:
        file: tools/setup/Dockerfile
        target: garden
        tags: ${{ needs.configure.outputs.base_image }}
        push: true
    if: ${{ needs.configure.outputs.build_base_image }}
  build-and-test:
    name: Build and test lrauv code
    needs: [configure, build-base-image]
    runs-on: ubuntu-20.04
    steps:
    - name: Check out repo
      uses: actions/checkout@v3
    - name: Build LRAUV image
      uses: docker/build-push-action@v3
      with:
        build-args: BASE_IMAGE=${{ needs.configure.outputs.base_image }}
        file: tools/setup/Dockerfile
        target: lrauv-base
        tags: lrauv-base
        push: false
    - name: Build and run tests
      run: docker run --rm -t lrauv-base
    if: always()