# NOTE: this workflow is now running on Dronecode / PX4 AWS account.
# - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
#   and comment the "runs-on: [runs-on,runner=..." lines.
# - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com

name: ROS Integration Tests

on:
  push:
    branches:
    - 'main'
    paths-ignore:
      - 'docs/**'
  pull_request:
    branches:
      - '**'
    paths-ignore:
      - 'docs/**'

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

jobs:
  build:
    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
    container:
      image: px4io/px4-dev-ros2-galactic:2021-09-08
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v4
      with:
        fetch-depth: 0

    - name: Git Ownership Workaround
      run: git config --system --add safe.directory '*'

    - name: Update ROS Keys
      run: |
        sudo rm /etc/apt/sources.list.d/ros2.list && \
        sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

    - name: Install gazebo
      run: |
        apt update && apt install -y gazebo11 libgazebo11-dev gstreamer1.0-plugins-bad gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-ugly libgstreamer-plugins-base1.0-dev

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
      shell: cmake -P {0}
      run: |
        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
        message("::set-output name=timestamp::${current_date}")
    - name: ccache cache files
      uses: actions/cache@v4
      with:
        path: ~/.ccache
        key: ros_integration_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
        restore-keys: ros_integration_tests-${{matrix.config.build_type}}-ccache-
    - name: setup ccache
      run: |
        mkdir -p ~/.ccache
        echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
        echo "compression = true" >> ~/.ccache/ccache.conf
        echo "compression_level = 6" >> ~/.ccache/ccache.conf
        echo "max_size = 300M" >> ~/.ccache/ccache.conf
        echo "hash_dir = false" >> ~/.ccache/ccache.conf
        ccache -s
        ccache -z

    - name: Get and build micro-xrce-dds-agent
      run: |
        cd /opt
        git clone --recursive https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
        cd Micro-XRCE-DDS-Agent
        git checkout v2.2.1 # recent versions require cmake 3.22, but px4-dev-ros2-galactic:2021-09-08 is on 3.16
        sed -i 's/_fastdds_tag 2.8.x/_fastdds_tag 2.8.2/g' CMakeLists.txt
        mkdir build
        cd build
        cmake ..
        make -j2
    - name: ccache post-run micro-xrce-dds-agent
      run: ccache -s

    - name: Get and build the ros2 interface library
      shell: bash
      run: |
        PX4_DIR="$(pwd)"
        . /opt/ros/galactic/setup.bash
        mkdir -p /opt/px4_ws/src
        cd /opt/px4_ws/src
        # On a PR, target the branch we're merging into (main or release/X.Y).
        # On a direct push, fall back to the branch we're running on.
        BRANCH="${GITHUB_BASE_REF:-$GITHUB_REF_NAME}"
        REPO_URL="https://github.com/Auterion/px4-ros2-interface-lib.git"
        if git ls-remote --heads "$REPO_URL" "$BRANCH" | grep -q "$BRANCH"; then
          echo "Cloning px4-ros2-interface-lib with matching branch: $BRANCH"
          git clone --recursive --branch "$BRANCH" "$REPO_URL"
        else
          echo "Branch '$BRANCH' not found in px4-ros2-interface-lib, using default (main)"
          git clone --recursive "$REPO_URL"
        fi
        # Ignore python packages due to compilation issue (can be enabled when updating ROS)
        touch px4-ros2-interface-lib/px4_ros2_py/COLCON_IGNORE || true
        touch px4-ros2-interface-lib/examples/python/COLCON_IGNORE || true
        cd ..
        # Copy messages to ROS workspace
        "${PX4_DIR}/Tools/copy_to_ros_ws.sh" "$(pwd)"
        rm -rf src/translation_node src/px4_msgs_old
        colcon build --symlink-install
    - name: ccache post-run ros workspace
      run: ccache -s

    - name: Build PX4
      env:
        PX4_SBOM_DISABLE: 1
      run: make px4_sitl_default
    - name: ccache post-run px4/firmware
      run: ccache -s
    - name: Build SITL Gazebo
      run: make px4_sitl_default sitl_gazebo-classic
    - name: ccache post-run sitl_gazebo-classic
      run: ccache -s

    - name: Core dump settings
      run: |
        ulimit -c unlimited
        echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern

    - name: Run tests
      shell: bash
      run: |
        . /opt/px4_ws/install/setup.bash
        /opt/Micro-XRCE-DDS-Agent/build/MicroXRCEAgent udp4 localhost -p 8888 -v 0 &
        test/ros_test_runner.py --verbose --model iris --force-color
      timeout-minutes: 45

    - name: Upload failed logs
      if: failure()
      uses: actions/upload-artifact@v4
      with:
        name: failed-logs.zip
        path: |
          logs/**/**/**/*.log
          logs/**/**/**/*.ulg
          build/px4_sitl_default/tmp_ros_tests/rootfs/log/**/*.ulg