name: CMake-ROS

on:
  push:
    branches: 
      - master
  pull_request:
    branches:
      - '**'
  workflow_dispatch:

env:
  BUILD_TYPE: Release

concurrency:
  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
  cancel-in-progress: ${{ github.event_name == 'pull_request' }}

jobs:
  build:
    name: ${{ matrix.ros_distribution }}
    runs-on: ubuntu-latest
    concurrency:
      group: ${{ github.workflow }}-${{ github.ref }}-${{ matrix.ros_distribution }}
      cancel-in-progress: true
    strategy:
      fail-fast: false
      matrix:
        ros_distribution: [ humble, jazzy, kilted, lyrical, rolling]
        include:
        - ros_distribution: 'humble'
          skip_keys: ""
        - ros_distribution: 'jazzy'
          skip_keys: ""
        - ros_distribution: 'kilted'
          skip_keys: ""
        - ros_distribution: 'lyrical'
          skip_keys: "libpointmatcher"
        - ros_distribution: 'rolling'
          skip_keys: "libpointmatcher gtsam"
          use_ros2_testing: true # Rolling is using ros2-testing (nightly)
    container:
      image: osrf/ros:${{ matrix.ros_distribution }}-desktop-full
    steps:
    - uses: actions/checkout@v4

    - name: Restore test data
      id: cache-testdata
      uses: actions/cache@v4
      with:
        path: data/tests/*.db
        key: testdata-${{ hashFiles('data/tests/manifest.txt') }}

    - name: Fetch test data
      if: steps.cache-testdata.outputs.cache-hit != 'true'
      shell: bash
      run: |
        # The ROS images are slim; fetch_test_data.sh needs curl.
        command -v curl >/dev/null || (apt-get update && apt-get install -y --no-install-recommends curl)
        bash scripts/fetch_test_data.sh

    # `${{ github.workspace }}` is expanded by the runner on the *host*
    # (/home/runner/work/...), but this job runs in a container where the runner
    # bind-mounts that directory somewhere else (/__w/...). Baking the host path
    # into RTABMAP_TEST_DATA_ROOT points every data-driven test at a directory
    # that does not exist in the container: the integration tests silently skip
    # and the ones that imread() committed fixtures abort outright.
    #
    # Resolve the path inside the container instead. A `run` step's cwd is the
    # checkout root -- the same assumption the relative `scripts/...` and
    # `data/tests/*.db` paths in the steps above already rely on -- so derive it
    # from $PWD rather than trusting a path computed outside the container. The
    # existence checks then turn that into a verified precondition: a wrong
    # mount point or a failed fetch fails here, with the path printed, instead
    # of degrading into skipped tests.
    - name: Resolve test data root in the container
      id: testdata
      shell: bash
      run: |
        root="$PWD/data"
        test -f "$root/samples/17.jpg" || { echo "::error::test data root $root is missing committed fixtures"; exit 1; }
        ls "$root"/tests/*.db >/dev/null || { echo "::error::no test databases in $root/tests"; exit 1; }
        echo "root=$root" >> "$GITHUB_OUTPUT"

    - uses: ros-tooling/setup-ros@v0.7
      with:
        required-ros-distributions: ${{ matrix.ros_distribution }}
        use-ros2-testing: ${{ matrix.use_ros2_testing || false }}
    - uses: ros-tooling/action-ros-ci@v0.4
      with:
        package-name: rtabmap
        target-ros2-distro: ${{ matrix.ros_distribution }}
        rosdep-skip-keys: "${{ matrix.skip_keys }}"
        coverage-result: false
        extra-cmake-args: -DTEST_DATA_ROOT=${{ steps.testdata.outputs.root }}