name: ROS Translation Node Tests
on:
  push:
    branches:
    - 'main'
    paths-ignore:
      - 'docs/**'
      - '.github/**'
  pull_request:
    branches:
    - '*'
    paths-ignore:
      - 'docs/**'
      - '.github/**'
defaults:
  run:
    shell: bash
jobs:
  build_and_test:
    name: Build and test
    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    strategy:
      fail-fast: false
      matrix:
        config:
          - {ros_version: "humble", ubuntu: "jammy"}
          - {ros_version: "jazzy", ubuntu: "noble"}
    container:
      image: rostooling/setup-ros-docker:ubuntu-${{ matrix.config.ubuntu }}-latest
    steps:
      - name: Setup ROS 2 (${{ matrix.config.ros_version }})
        uses: ros-tooling/setup-ros@v0.7
        with:
          required-ros-distributions: ${{ matrix.config.ros_version }}
      - name: Checkout repository
        uses: actions/checkout@v4
        with:
          fetch-depth: 0

      # Workaround for https://github.com/actions/runner/issues/2033
      - name: ownership workaround
        run: git config --system --add safe.directory '*'

      - name: Check .msg file versioning
        if: github.event_name == 'pull_request'
        run: |
          ./Tools/ci/check_msg_versioning.sh ${{ github.event.pull_request.base.sha }} ${{github.event.pull_request.head.sha}}

      - name: Build and test
        run: |
          ros_ws=/ros_ws
          mkdir -p $ros_ws/src
          ./Tools/copy_to_ros_ws.sh $ros_ws
          cd $ros_ws
          source /opt/ros/${{ matrix.config.ros_version }}/setup.sh
          colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install --event-handlers=console_cohesion+
          source ./install/setup.sh
          ./build/translation_node/translation_node_unit_tests