test.yaml

name: Test

on: [ push ]

jobs:
  # This job builds the Docker image that will be used in the following test job.
  # It also publishes the image to the GitHub Container Registry, so every PR can
  # have an up-to-date image by the name of ghcr.io/GITHUB_USERNAME/PROJECT_NAME:BRANCH_NAME
  build-image:
    runs-on: ubuntu-24.04
    env:
      BUILT_IMAGE_NAME: ghcr.io/urbanmachine/node_helpers
      PROJECT_NAME: node_helpers

    defaults:
      run:
        shell: bash
    steps:
      - name: Create A Unique Tag For This Image Based On Branch Name
        id: prep
        run: |
          if [[ "${GITHUB_REF}" == "refs/heads/"* ]]
          then
            # This is a build on a branch
            TAG=${GITHUB_REF#refs/heads/}
          elif [[ "${GITHUB_REF}" == "refs/pull/"* ]]
          then
            # This is a PR build
            TAG=${GITHUB_REF#refs/pull/}
          elif [[ "${GITHUB_REF}" == "refs/tags/"* ]]
          then
            # This is a tagged build
            TAG=${GITHUB_REF#refs/tags/}
          else
            echo "Unexpected reference format ${GITHUB_REF}"
            exit 1
          fi
          
          # Remove slashes, since they're not allowed in Docker tags
          TAG=$(echo "${TAG}" | sed 's#/#-#g')
          echo "tagged_image=${BUILT_IMAGE_NAME}:${TAG}" >> $GITHUB_OUTPUT
      - name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v2
      - name: Load Previous Docker Layers Cache
        uses: actions/cache@v4
        with:
          path: /tmp/.buildx-cache
          # Key is named differently to avoid collision
          key: v1-${{ env.PROJECT_NAME }}-${{ runner.os }}-multi-buildx-${{ github.sha }}
          restore-keys: v1-${{ env.PROJECT_NAME }}-${{ runner.os }}-multi-buildx
      - name: Log in to GitHub Container Registry
        run: echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u ${{ github.actor }} --password-stdin
      - name: Checkout
        uses: actions/checkout@v4
        with:
          lfs: true
      - name: Get Base Image Name
        id: get_base_image
        run: |
          source .env
          echo "base_image=${BASE_IMAGE}" >> $GITHUB_OUTPUT
      - name: Build and push
        uses: docker/build-push-action@v5
        with:
          context: .
          file: docker/Dockerfile
          push: true
          tags: ${{ steps.prep.outputs.tagged_image }}
          build-args: |
            BASE_IMAGE=${{ steps.get_base_image.outputs.base_image }}
          cache-from: type=local,src=/tmp/.buildx-cache
          # Note the mode=max here
          # More: https://github.com/moby/buildkit#--export-cache-options
          # And: https://github.com/docker/buildx#--cache-tonametypetypekeyvalue
          cache-to: type=local,mode=max,dest=/tmp/.buildx-cache-new
      # This is done to avoid storing outdated build steps in the cache, since
      # BuildKit never clears stuff out of the cache itself
      - name: Move cache
        run: |
          rm -rf /tmp/.buildx-cache
          mv /tmp/.buildx-cache-new /tmp/.buildx-cache
    outputs:
      tagged_image: ${{ steps.prep.outputs.tagged_image }}

  # This job runs the colcon tests for the project
  ros-tests:
    needs: build-image
    runs-on: ubuntu-24.04
    defaults:
      run:
        shell: bash
    timeout-minutes: 15
    container:
      image: ${{needs.build-image.outputs.tagged_image}}
      credentials:
        username: ${{ github.actor }}
        password: ${{ secrets.GITHUB_TOKEN }}
      env:
        GITHUB_WORKSPACE: /repo/
    steps:
      - name: Install Git LFS
        run: sudo apt-get update && sudo apt-get install git-lfs
      - name: Checkout
        uses: actions/checkout@v4
        with:
          lfs: true
      - name: Fix git error in the following line
        # Caused by an update to git that dislikes when users of different ID's touch
        # the same git directory, which happens when using a docker runner in CI
        # This fixes test reporting in the `Generate Test Report` section
        # https://github.blog/2022-04-12-git-security-vulnerability-announced/
        # https://github.com/actions/checkout/issues/760
        run: git config --global --add safe.directory ${GITHUB_WORKSPACE}
      - name: Copy Python dependencies to github workspace
        run: cp -r /robot/install install
      - name: Copy Build output to github workspace
        run: cp -r /robot/install build
      - name: Move launch-profile files to /robot/launch-profiles so hardcoded paths work
        run: cp -r ${GITHUB_WORKSPACE}/launch-profiles /robot/
      - name: Run tests
        run: |
          enter-workspaces colcon test \
          --base-paths pkgs \
          --pytest-with-coverage \
          --test-result-base test-results \
          --pytest-args \
            --durations=50
      - name: Generate Test Report
        uses: dorny/test-reporter@v1
        if: always()
        with:
          name: "Test report"
          path: test-results/**/*.xml
          reporter: java-junit
      - name: Report Codecov Coverage
        uses: codecov/codecov-action@v3.1.0
        with:
          token: ${{ secrets.CODECOV_TOKEN }}