colcon.yml

name: colcon build/test

on:
  push:
    paths-ignore:
      # remove not tests vehicles
      - 'AntennaTracker/**'
      - 'ArduSub/**'
      - 'Blimp/**'
      - 'Rover/**'
      # remove esp32 HAL
      - 'libraries/AP_HAL_ESP32/**'
      # remove non SITL directories
      - 'Tools/AP_Bootloader/**'
      - 'Tools/bootloaders/**'
      - 'Tools/cameras_gimbals/**'
      - 'Tools/CHDK-Scripts/**'
      - 'Tools/CodeStyle/**'
      - 'Tools/completion/**'
      - 'Tools/CPUInfo/**'
      - 'Tools/debug/**'
      - 'Tools/environment_install/**'
      - 'Tools/FilterTestTool/**'
      - 'Tools/Frame_params/**'
      - 'Tools/geotag/**'
      - 'Tools/GIT_Test/**'
      - 'Tools/gittools/**'
      - 'Tools/Hello/**'
      - 'Tools/IO_Firmware/**'
      - 'Tools/Linux_HAL_Essentials/**'
      - 'Tools/mavproxy_modules/**'
      - 'Tools/Pozyx/**'
      - 'Tools/PrintVersion.py'
      - 'Tools/Replay/**'
      - 'Tools/simulink/**'
      - 'Tools/terrain-tools/**'
      - 'Tools/UDP_Proxy/**'
      - 'Tools/vagrant/**'
      - 'Tools/Vicon/**'
      # Discard python file from Tools/scripts as not used
      - 'Tools/scripts/**.py'
      - 'Tools/scripts/build_sizes/**'
      - 'Tools/scripts/build_tests/**'
      - 'Tools/scripts/CAN/**'
      - 'Tools/scripts/signing/**'
      # Remove autotests stuff
      - 'Tools/autotest/**'
      # Remove markdown files as irrelevant
      - '**.md'
      # Remove dotfile at root directory
      - '.dir-locals.el'
      - '.dockerignore'
      - '.editorconfig'
      - '.flake8'
      - '.gitattributes'
      - '.github'
      - '.gitignore'
      - '.pre-commit-config.yaml'
      - '.pydevproject'
      - '.valgrind-suppressions'
      - '.valgrindrc'
      - 'Dockerfile'
      - 'Vagrantfile'
      - 'Makefile'
      # Remove some directories check
      - '.vscode/**'
      - '.github/ISSUE_TEMPLATE/**'
      # Remove change on other workflows
      - '.github/**'
      - '!.github/workflows/colcon.yml'  # except this one

  pull_request:
    paths-ignore:
      # remove not tests vehicles
      - 'AntennaTracker/**'
      - 'ArduSub/**'
      - 'Rover/**'
      - 'Blimp/**'
      # remove esp32 HAL
      - 'libraries/AP_HAL_ESP32/**'
      # remove non SITL directories
      - 'Tools/AP_Bootloader/**'
      - 'Tools/bootloaders/**'
      - 'Tools/cameras_gimbals/**'
      - 'Tools/CHDK-Scripts/**'
      - 'Tools/CodeStyle/**'
      - 'Tools/completion/**'
      - 'Tools/CPUInfo/**'
      - 'Tools/debug/**'
      - 'Tools/environment_install/**'
      - 'Tools/FilterTestTool/**'
      - 'Tools/Frame_params/**'
      - 'Tools/geotag/**'
      - 'Tools/GIT_Test/**'
      - 'Tools/gittools/**'
      - 'Tools/Hello/**'
      - 'Tools/IO_Firmware/**'
      - 'Tools/Linux_HAL_Essentials/**'
      - 'Tools/mavproxy_modules/**'
      - 'Tools/Pozyx/**'
      - 'Tools/PrintVersion.py'
      - 'Tools/Replay/**'
      - 'Tools/simulink/**'
      - 'Tools/terrain-tools/**'
      - 'Tools/UDP_Proxy/**'
      - 'Tools/vagrant/**'
      - 'Tools/Vicon/**'
      # Discard python file from Tools/scripts as not used
      - 'Tools/scripts/**.py'
      - 'Tools/scripts/build_sizes/**'
      - 'Tools/scripts/build_tests/**'
      - 'Tools/scripts/CAN/**'
      - 'Tools/scripts/signing/**'
      # Remove autotests stuff
      - 'Tools/autotest/**'
      # Remove markdown files as irrelevant
      - '**.md'
      # Remove dotfile at root directory
      - '.dir-locals.el'
      - '.dockerignore'
      - '.editorconfig'
      - '.flake8'
      - '.gitattributes'
      - '.github'
      - '.gitignore'
      - '.pre-commit-config.yaml'
      - '.pydevproject'
      - '.valgrind-suppressions'
      - '.valgrindrc'
      - 'Dockerfile'
      - 'Vagrantfile'
      - 'Makefile'
      # Remove some directories check
      - '.vscode/**'
      - '.github/ISSUE_TEMPLATE/**'
      # Remove change on other workflows
      - '.github/**'
      - '!.github/workflows/colcon.yml'  # except this one

  workflow_dispatch:

concurrency:
  group: ci-${{github.workflow}}-${{ github.ref }}
  cancel-in-progress: true

permissions:
  contents: read  # checkout; build-test adds actions:write per-job

jobs:
  build-test:
    permissions:
      contents: read
      actions: write  # save/prune ccache on master
    runs-on: ubuntu-22.04
    timeout-minutes: 60
    container:
      image: ardupilot/ardupilot-dev-ros:latest
    steps:
      # Sparse checkout to make .github/actions/* available without polluting the colcon workspace
      - uses: actions/checkout@v7
        with:
          fetch-depth: 1
          persist-credentials: false
          sparse-checkout: .github
          sparse-checkout-cone-mode: false
      # git checkout the PR
      - uses: actions/checkout@v7
        with:
          submodules: 'recursive'
          path: src/ardupilot
      - uses: ./.github/actions/setup-ccache
        with:
          key-suffix: ros
      # https://ardupilot.org/dev/docs/ros2.html#installation-ubuntu
      - name: Pull in repos with vcs
        run: |
          cd src
          vcs import --recursive --debug --shallow --skip-existing < ./ardupilot/Tools/ros2/ros2.humble.repos
      - name: Install rosdep dependencies
        shell: 'bash'
        run: |
          apt update
          rosdep update
          source /opt/ros/humble/setup.bash
          rosdep install --from-paths src --ignore-src --default-yes
      - name: Install MAVProxy
        run: |
          # Install this specific version just to prevent rolling updates.
          # See the latest available at https://pypi.org/project/MAVProxy
          python3 -m pip install MAVProxy==1.8.71
      - name: Install local pymavlink
        working-directory: ./src/ardupilot/modules/mavlink/pymavlink
        run: |
          python3 -m pip install . --upgrade --user
      - name: Build with colcon
        shell: 'bash'
        run: |
          source /opt/ros/humble/setup.bash
          PATH="/tmp/Micro-XRCE-DDS-Gen/scripts:$PATH"
          colcon build --packages-up-to ardupilot_dds_tests --cmake-args -DBUILD_TESTING=ON
      - uses: ./.github/actions/save-ccache
        with:
          key-suffix: ros
      - name: Test with colcon
        shell: 'bash'
        run: |
          # force on debugging so we can see ros2 launch internal errors
          sed -i'' "s|debug: bool = False|debug: bool = True|g" /opt/ros/humble/lib/python3.10/site-packages/launch/launch_service.py

          source install/setup.bash
          colcon test --python-testing "pytest" --pytest-args " --verbose" " --stepwise" --executor sequential --parallel-workers 0 --base-paths src/ardupilot --event-handlers=console_cohesion+
      - name: Report colcon test results
        run: |
          colcon test-result --all --verbose