ci.yml

name: CI

on:
  push:
    branches: [main]
  pull_request:
    branches: [main]
  schedule:
    - cron: '0 15 * * 0,4' # Every Monday and Friday at 00:00 JST

env:
  CARGO_INCREMENTAL: 0
  CARGO_NET_RETRY: 10
  CARGO_TERM_COLOR: always
  RUST_BACKTRACE: 1
  RUSTDOCFLAGS: -D warnings
  RUSTFLAGS: -D warnings
  RUSTUP_MAX_RETRIES: 10

defaults:
  run:
    shell: bash

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

jobs:
  build:
    strategy:
      fail-fast: false
      matrix:
        os: [ubuntu-latest, macos-latest]
    runs-on: ${{ matrix.os }}
    timeout-minutes: 60
    steps:
      - uses: actions/checkout@v4
      - uses: dtolnay/rust-toolchain@stable
      - run: cargo build

  test:
    name: Test Suite
    runs-on: ubuntu-22.04
    timeout-minutes: 60
    steps:
      - uses: actions/checkout@v4
      - uses: dtolnay/rust-toolchain@stable
      - run: echo "ROS2_DISTRO=humble" >>"${GITHUB_ENV}"
      - name: Install ROS2
        run: |
          # for tf_r2r
          sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
          echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
          sudo apt-get update
          sudo apt-get install -y ros-$ROS2_DISTRO-ros-core ros-$ROS2_DISTRO-geometry-msgs ros-$ROS2_DISTRO-tf2-msgs
      - name: cargo test
        run: |
          # for tf_r2r
          source /opt/ros/$ROS2_DISTRO/setup.bash
          cargo test --all-features

  fmt:
    name: Rustfmt
    runs-on: ubuntu-latest
    timeout-minutes: 60
    steps:
      - uses: actions/checkout@v4
      - uses: dtolnay/rust-toolchain@nightly
        with:
          components: rustfmt
      - run: cargo fmt --all --check

  clippy:
    name: Clippy
    runs-on: ubuntu-22.04
    timeout-minutes: 60
    steps:
      - uses: actions/checkout@v4
      - uses: dtolnay/rust-toolchain@stable
        with:
          components: clippy
      - run: echo "ROS2_DISTRO=humble" >>"${GITHUB_ENV}"
      - name: Install ROS2
        run: |
          # for tf_r2r
          sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
          echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
          sudo apt-get update
          sudo apt-get install -y ros-$ROS2_DISTRO-ros-core ros-$ROS2_DISTRO-geometry-msgs ros-$ROS2_DISTRO-tf2-msgs
      - name: cargo clippy
        run: |
          # for tf_r2r
          source /opt/ros/$ROS2_DISTRO/setup.bash
          cargo clippy --all-features --all-targets

  spell-check:
    runs-on: ubuntu-latest
    timeout-minutes: 60
    permissions:
      contents: write
      pull-requests: write
    steps:
      - uses: actions/checkout@v4
      - run: echo "REMOVE_UNUSED_WORDS=1" >>"${GITHUB_ENV}"
        if: github.repository_owner == 'openrr' && (github.event_name == 'schedule' || github.event_name == 'push' && github.ref == 'refs/heads/main')
      - run: tools/spell-check.sh
      - id: diff
        run: |
          set -euo pipefail
          git config user.name "Taiki Endo"
          git config user.email "taiki@smilerobotics.com"
          git add -N .github/.cspell
          if ! git diff --exit-code -- .github/.cspell; then
            git add .github/.cspell
            git commit -m "Update cspell dictionary"
            echo 'success=false' >>"${GITHUB_OUTPUT}"
          fi
        if: github.repository_owner == 'openrr' && (github.event_name == 'schedule' || github.event_name == 'push' && github.ref == 'refs/heads/main')
      - uses: peter-evans/create-pull-request@v7
        with:
          title: Update cspell dictionary
          body: |
            Auto-generated by [create-pull-request][1]
            [Please close and immediately reopen this pull request to run CI.][2]

            [1]: https://github.com/peter-evans/create-pull-request
            [2]: https://github.com/peter-evans/create-pull-request/blob/main/docs/concepts-guidelines.md#workarounds-to-trigger-further-workflow-runs
          branch: update-cspell-dictionary
        if: github.repository_owner == 'openrr' && (github.event_name == 'schedule' || github.event_name == 'push' && github.ref == 'refs/heads/main') && steps.diff.outputs.success == 'false'