ci.yml

name: CI for eProsima Integration Service

on:
  workflow_dispatch:
  push:
    branches:
      - main
    paths-ignore:
      - '**.md'
      - 'examples/basic/*'
      - 'examples/wan_tunneling/*'
      - 'docs/**'

  pull_request:
    branches:
      - '**'
    paths-ignore:
      - '**.md'
      - 'examples/basic/*'
      - 'examples/wan_tunneling/*'
      - 'docs/**'

  schedule:
    - cron:  '0 0 * * 0'

jobs:
  integration-service_CI:
    strategy:
      fail-fast: false
      matrix:
        node: [foxy, galactic, humble]
        include:
          - os: ubuntu-20.04
          - os: ubuntu-22.04
            node: humble
    runs-on: ${{ matrix.os }}

    steps:
      - uses: actions/checkout@v3
        with:
          path: src/integration-service

      - name: Download required dependencies
        run: |
          sudo apt update
          DEBIAN_FRONTEND=noninteractive sudo apt install -y curl git libboost-dev libboost-program-options-dev \
                          libyaml-cpp-dev libwebsocketpp-dev libssl-dev libcurlpp-dev libasio-dev libcurl4-openssl-dev

      - name: Download and install ROS 1 Noetic
        if: ${{ matrix.os == 'ubuntu-20.04' }}
        run: |
          # Note there are not Noetic binaries for jammy
          echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" \
               | sudo tee /etc/apt/sources.list.d/ros-latest.list > /dev/null
          sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
          sudo apt update && sudo apt install -y ros-noetic-ros-base

      - name: Download and install ROS 2 ${{ matrix.node }}
        run: |
          sudo apt install -y libboost-system-dev software-properties-common
          sudo add-apt-repository -y universe
          curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
               -o /usr/share/keyrings/ros-archive-keyring.gpg
          echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg]" \
               "http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" \
               | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
          sudo apt update && sudo apt install -y python3-colcon-common-extensions python3-colcon-mixin python3-vcstool \
              ros-${{ matrix.node }}-fastrtps ros-${{ matrix.node }}-rmw-fastrtps-cpp \
              ros-${{ matrix.node }}-rclcpp  ros-${{ matrix.node }}-nav-msgs ros-${{ matrix.node }}-geometry-msgs \
              ros-${{ matrix.node }}-ros2pkg

      - name: Check ROS 2 installation
        run: |
          . /opt/ros/${{ matrix.node }}/setup.sh
          ros2 pkg list

      - name: Download the Integration Service Fast DDS SystemHandle
        run: |
          git clone https://github.com/eProsima/FastDDS-SH.git src/fastdds-sh

      - name: Download the Integration Service ROS 1 SystemHandle
        if: ${{ matrix.os == 'ubuntu-20.04' }}
        run: |
          git clone https://github.com/eProsima/ROS1-SH.git src/ros1-sh

      - name: Download the Integration Service ROS 2 SystemHandle
        run: |
          git clone https://github.com/eProsima/ROS2-SH.git src/ros2-sh

      - name: Download the Integration Service WebSocket SystemHandle
        run: |
          git clone https://github.com/eProsima/WebSocket-SH.git src/websocket-sh

      - name: Download the Integration Service FIWARE SystemHandle
        run: |
          git clone https://github.com/eProsima/FIWARE-SH.git src/fiware-sh

      - name: Install ROS 1 example_interfaces package
        if: ${{ matrix.os == 'ubuntu-20.04' }}
        working-directory: ./src/integration-service/examples/utils/ros1/catkin_ws
        run: |
          . /opt/ros/noetic/setup.sh
          catkin_make --pkg example_interfaces -DBUILD_EXAMPLES=ON -DCMAKE_INSTALL_PREFIX=/opt/ros/noetic install
          catkin_make --pkg add_two_ints_server -DBUILD_EXAMPLES=ON -DCMAKE_INSTALL_PREFIX=/opt/ros/noetic install

      - name: Build under ROS1 overlay
        if: ${{ matrix.os == 'ubuntu-20.04' }}
        run: |
          . /opt/ros/noetic/setup.sh
          colcon build --event-handler=console_direct+ \
            --packages-up-to-regex is-ros1 \
            --cmake-args -DCMAKE_BUILD_TYPE=Debug -DBUILD_TESTS=ON

      - name: Build under ROS2 overlay
        run: |
          . /opt/ros/${{ matrix.node }}/setup.sh
          colcon build --event-handler=console_direct+ \
            --packages-skip-regex is-ros1 \
            --cmake-args -DCMAKE_BUILD_TYPE=Debug -DBUILD_TESTS=ON

      - name: Test the Integration Service Core
        run: |
          colcon test --packages-select is-core --event-handlers console_direct+
          colcon test-result

      - name: Test the Integration Service Fast DDS SystemHandle
        run: |
          . /opt/ros/${{ matrix.node }}/setup.sh
          colcon test --packages-select is-fastdds --event-handlers console_direct+
          colcon test-result

      - name: Test the Integration Service ROS 1 SystemHandle
        if: ${{ matrix.os == 'ubuntu-20.04' }}
        run: |
          . /opt/ros/noetic/setup.sh
          roscore &
          echo "Waiting until roscore has been launched..."
          sleep 5
          . install/local_setup.sh
          colcon test --packages-select is-ros1 --event-handlers console_direct+
          colcon test-result

      - name: Test the Integration Service ROS 2 SystemHandle
        run: |
          . install/setup.sh
          RMW_IMPLEMENTATION=rmw_fastrtps_cpp colcon test --packages-select is-ros2 --event-handlers console_direct+
          colcon test-result

      - name: Test the Integration Service WebSocket SystemHandle
        run: |
          colcon test --packages-select is-websocket --event-handlers console_direct+
          colcon test-result

      - name: Test the Integration Service FIWARE SystemHandle
        run: |
          # launch context-broker in a container
          docker run -d --rm --name mongo --network host mongo:4.4 --bind_ip_all
          docker run -d --rm --name broker --network host fiware/orion -dbhost 127.0.0.1

          # launch tests
          . /opt/ros/${{ matrix.node }}/setup.sh
          colcon test --packages-select is-fiware --event-handlers console_direct+
          colcon test-result

          # stop containers
          docker stop mongo broker