name: CMake-ROS

on:
  push:
    branches: 
      - jazzy-devel
    paths-ignore: &platform_only
      - '.github/workflows/android.yml'
      - '.github/workflows/ios.yml'
      - 'app/android/**'
      - 'app/ios/**'
      - 'docker/noble/android/**'
  pull_request:
    branches:
      - '**'
    paths-ignore: *platform_only
  workflow_dispatch:

env:
  BUILD_TYPE: Release

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

jobs:
  build:
    name: ${{ matrix.ros_distribution }}${{ matrix.use_ros2_testing && '-testing' || '' }}
    runs-on: ubuntu-latest
    concurrency:
      group: ${{ github.workflow }}-${{ github.ref }}-${{ matrix.ros_distribution }}-${{ matrix.use_ros2_testing }}
      cancel-in-progress: true
    strategy:
      fail-fast: false
      matrix:
        ros_distribution: [ jazzy ]
        # Build against both main (what users install) and ros2-testing (closest to
        # what the buildfarm builds bloom releases against).
        use_ros2_testing: [ false, true ]
        include:
        - ros_distribution: 'jazzy'
          skip_keys: "" # When releasing to ROS2, the skip_keys should be empty, patch these deps in package.xml instead.
    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, and 7-Zip for
        # the assets that come as an archive. The package holding it is
        # p7zip-full up to Ubuntu 24.04 and 7zip on the newer ones.
        command -v curl >/dev/null || (apt-get update && apt-get install -y --no-install-recommends curl)
        command -v 7z >/dev/null || command -v 7zz >/dev/null || (apt-get update && \
          (apt-get install -y --no-install-recommends p7zip-full || \
           apt-get install -y --no-install-recommends 7zip))
        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"

    # The osrf/ros image ships ros2-apt-source (main), which conflicts with the
    # ros2-testing-apt-source package setup-ros tries to install. Remove it so
    # setup-ros can switch the image to the testing repo.
    - name: Remove ROS main apt source
      if: matrix.use_ros2_testing
      run: dpkg --purge ros2-apt-source

    - uses: ros-tooling/setup-ros@v0.7
      with:
        required-ros-distributions: ${{ matrix.ros_distribution }}
        use-ros2-testing: ${{ matrix.use_ros2_testing }}

    # setup-ros doesn't upgrade on noble/resolute, so the packages preinstalled
    # in the image would stay at their main versions. Upgrade them to testing.
    - name: Upgrade ROS packages to testing
      if: matrix.use_ros2_testing
      run: apt-get update && apt-get dist-upgrade -y
    - 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 }}