rtabmap/.github/workflows/docs.yml

name: Documentation

on:
  push:
    branches:
      - master
    tags:
      - '*'
    # Publishing commits to the gh-pages branch, so only run when something that
    # affects the documentation actually changed. Use the manual "Run workflow"
    # button if a deploy is needed outside of these paths.
    paths: &docs_paths
      - '.github/workflows/docs.yml'
      - 'CMakeLists.txt'
      - 'Doxyfile.in'
      - 'docs-report.sh'
      - 'website/**'
      - 'doxygen/**'
      - 'package.xml'
      - 'corelib/include/**'
      - 'utilite/include/**'
  pull_request:
    branches:
      - '**'
    paths: *docs_paths
  workflow_dispatch:

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

permissions:
  contents: read

jobs:
  build:
    name: Build site (ubuntu-24.04)
    runs-on: ubuntu-24.04

    outputs:
      version: ${{ steps.site.outputs.version }}

    steps:
      - uses: actions/checkout@v4

      - name: Install dependencies
        run: |
          DEBIAN_FRONTEND=noninteractive
          sudo apt-get update
          sudo apt-get install -y \
            doxygen \
            graphviz \
            cmake \
            libopencv-dev \
            libpcl-dev \
            libyaml-cpp-dev \
            git

      # Configures build-docs (CMake generates the export headers that are part
      # of Doxygen's INPUT), runs Doxygen into build-docs/api/latest/. Same
      # script used locally, so a local preview matches what gets published.
      - name: Generate C++ API documentation (Doxygen)
        run: ./docs-report.sh

      # The theme emits absolute asset links built from site.baseurl, which
      # GitHub's own Jekyll infers from the repository (/rtabmap). A PR preview
      # is served from a deeper path, so those links would 404 there. Pin
      # baseurl to the path this particular build gets published to.
      - name: Set Jekyll baseurl
        run: |
          set -eux
          if [ "${{ github.event_name }}" = "pull_request" ]; then
            baseurl="/${{ github.event.repository.name }}/preview/pr-${{ github.event.number }}"
          else
            baseurl="/${{ github.event.repository.name }}"
          fi
          echo "baseurl: ${baseurl}" >> website/_config.yml

      # Landing page: built here rather than by GitHub's own Jekyll, so that
      # .nojekyll can be set below and the Doxygen output is served untouched.
      - name: Build landing page (Jekyll)
        uses: actions/jekyll-build-pages@v1
        with:
          source: ./website
          destination: ./_site

      - name: Assemble site
        id: site
        run: |
          set -eux
          # jekyll-build-pages is a container action running as root, so _site
          # comes back owned by root and the steps below (running as the runner
          # user) cannot write into it.
          sudo chown -R "$(id -u):$(id -g)" _site

          # Serve everything verbatim: the site is already built, and Jekyll
          # would otherwise skip Doxygen files/folders starting with '_'.
          touch _site/.nojekyll

          mkdir -p _site/api
          cp -r build-docs/api/latest _site/api/latest

          # On a release tag (plain X.Y.Z, not the ROS-distro variants such as
          # 0.23.7-jazzy), also publish under the version number. Older versions
          # already on the branch are preserved by keep_files when publishing.
          version=""
          if [[ "${GITHUB_REF_TYPE}" == "tag" && "${GITHUB_REF_NAME}" =~ ^[0-9]+\.[0-9]+\.[0-9]+$ ]]; then
            version="${GITHUB_REF_NAME}"
            cp -r build-docs/api/latest "_site/api/${version}"
          fi
          echo "version=${version}" >> "$GITHUB_OUTPUT"

          # The dropdown list is maintained by hand in the repository (one entry
          # per release) and shared by every published version -- see the header
          # comment in doxygen/versions.js.
          cp doxygen/versions.js _site/api/versions.js

          # /api/ has no content of its own: send it to the current docs so a
          # bare .../api/ link lands somewhere useful instead of a 404. The
          # target is relative, so it works at the site root and under a
          # preview prefix alike.
          printf '%s\n' \
            '<!doctype html>' \
            '<meta charset="utf-8">' \
            '<title>RTAB-Map API documentation</title>' \
            '<meta http-equiv="refresh" content="0; url=latest/">' \
            '<link rel="canonical" href="latest/">' \
            '<p>Redirecting to the <a href="latest/">latest API documentation</a>.</p>' \
            > _site/api/index.html

          test -f _site/index.html
          test -f _site/api/index.html
          test -f _site/api/latest/index.html

      - name: Upload site artifact
        uses: actions/upload-artifact@v4
        with:
          name: documentation-site
          path: _site
          # include-hidden-files keeps .nojekyll, which the publish job needs.
          include-hidden-files: true
          retention-days: 14

  publish:
    name: Publish to gh-pages
    needs: build
    # Forks are skipped for pull requests: their GITHUB_TOKEN is read-only, and
    # granting write access to a workflow that builds untrusted code would be a
    # security hole.
    if: >-
      github.event_name != 'pull_request' ||
      github.event.pull_request.head.repo.full_name == github.repository
    runs-on: ubuntu-24.04

    # Serialize every push to gh-pages, including the preview cleanup workflow,
    # and never cancel one in flight: two concurrent pushes would collide.
    concurrency:
      group: gh-pages-publish
      cancel-in-progress: false

    permissions:
      contents: write

    steps:
      - name: Download site
        uses: actions/download-artifact@v4
        with:
          name: documentation-site
          path: _site

      # Pull requests go to preview/pr-<number>/, everything else to the site
      # root. keep_files preserves what this run does not carry: the published
      # version folders (api/0.23.x/) and the other PRs' previews.
      - name: Publish
        uses: peaceiris/actions-gh-pages@v4
        with:
          github_token: ${{ secrets.GITHUB_TOKEN }}
          publish_branch: gh-pages
          publish_dir: ./_site
          destination_dir: ${{ github.event_name == 'pull_request' && format('preview/pr-{0}', github.event.number) || '' }}
          keep_files: true
          # Do not let the action drop a .nojekyll at the *branch root*: that
          # disables Jekyll for everything on the branch, including content
          # published outside this deployment. The site we publish carries its
          # own .nojekyll inside destination_dir, which is the only place it
          # should apply.
          enable_jekyll: true
          user_name: 'github-actions[bot]'
          user_email: 'github-actions[bot]@users.noreply.github.com'
          commit_message: >-
            ${{ github.event_name == 'pull_request'
                && format('Preview for PR #{0}', github.event.number)
                || format('Update documentation ({0})', needs.build.outputs.version || 'latest') }}

      - name: Link the site
        run: |
          base="https://${{ github.repository_owner }}.github.io/${{ github.event.repository.name }}"
          if [[ "${{ github.event_name }}" == "pull_request" ]]; then
            url="${base}/preview/pr-${{ github.event.number }}"
            note="Removed automatically when this pull request is closed."
          else
            url="${base}"
            note=""
          fi
          {
            echo "### Documentation"
            echo ""
            echo "- Landing page: ${url}/"
            echo "- C++ API: ${url}/api/latest/"
            [[ -n "${note}" ]] && { echo ""; echo "${note}"; }
          } >> "$GITHUB_STEP_SUMMARY"