ci.yaml

name: CI of MujocoTactileSensorPlugin

on:
  push:
    branches:
      - '**'
  pull_request:
    branches:
      - '**'
  schedule:
    - cron: '0 0 * * 0'

jobs:
  build:
    strategy:
      fail-fast: false
      matrix:
        os: [ubuntu-20.04]
        build-type: [Debug, RelWithDebInfo]
        standalone: [standalone, catkin]
    runs-on: ${{ matrix.os }}
    steps:
      - name: Setup environment variables
        run: |
          set -e
          set -x
          if [ "${{ matrix.os }}" == "ubuntu-20.04" ] && \
             [ "${{ matrix.build-type }}" == "RelWithDebInfo" ] && \
             [ "${{ matrix.standalone }}" == "catkin" ]
          then
            echo "UPLOAD_DOCUMENTATION=true" >> $GITHUB_ENV
            sudo apt-get install -qq doxygen graphviz
          else
            echo "UPLOAD_DOCUMENTATION=false" >> $GITHUB_ENV
          fi
      - name: Download MuJoCo
        run: |
          set -e
          set -x
          cd ${{ github.workspace }}/.. # Note that everything under ${{ github.workspace }} is cleaned by actions/checkout.
          wget https://github.com/deepmind/mujoco/releases/download/2.3.5/mujoco-2.3.5-linux-x86_64.tar.gz
          tar -zxvf mujoco-2.3.5-linux-x86_64.tar.gz
      - name: Checkout repository code
        if: matrix.standalone == 'standalone'
        uses: actions/checkout@v3
        with:
          submodules: recursive
      - name: Standalone build
        if: matrix.standalone == 'standalone'
        uses: jrl-umi3218/github-actions/build-cmake-project@master
        with:
          build-type: ${{ matrix.build-type }}
          options: -DMUJOCO_ROOT_DIR=${{ github.workspace }}/../mujoco-2.3.5
      - name: Catkin build
        if: matrix.standalone == 'catkin'
        uses: jrl-umi3218/github-actions/build-catkin-project@master
        with:
          build-type: ${{ matrix.build-type }}
          cmake-args: -DMUJOCO_ROOT_DIR=${{ github.workspace }}/../mujoco-2.3.5 -DINSTALL_DOCUMENTATION=${{ env.UPLOAD_DOCUMENTATION }}
          catkin-test-args: --no-deps
          build-packages: mujoco_tactile_sensor_plugin
          test-packages: mujoco_tactile_sensor_plugin
      - name: Upload documentation
        if: env.UPLOAD_DOCUMENTATION == 'true'
        run: |
          set -e
          set -x
          cd ${GITHUB_WORKSPACE}/catkin_ws/src/${{ github.repository }}
          git config --global user.name "Masaki Murooka"
          git config --global user.email "m-murooka@aist.go.jp"
          git remote set-url origin "https://github.com/${{ github.repository }}"
          git fetch --depth=1 origin gh-pages:gh-pages
          git clean -dfx
          rm -rf cmake/
          git checkout --quiet gh-pages
          rm -rf doxygen/
          cp -r ${GITHUB_WORKSPACE}/catkin_ws/build/mujoco_tactile_sensor_plugin/doc/html/ doxygen
          git add doxygen
          git_status=`git status -s`
          if test -n "$git_status"; then
            git commit --quiet -m "Update Doxygen HTML files from commit ${{ github.sha }}"
            git push origin gh-pages
          else
            echo "Github pages documentation is already up-to-date."
          fi