# Copyright 2025 Enactic, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

name: Release
on:
  - push
  - pull_request
jobs:
  build:
    name: Build
    runs-on: ubuntu-latest
    strategy:
      matrix:
        id:
          - "rolling"
          - "kilted"
          - "jazzy"
          - "humble"
    steps:
      - uses: actions/checkout@v5
      - name: Build URDF files
        run: |
          docker container run \
            --rm \
            --volume ${PWD}:/source \
            osrf/ros:${{ matrix.id }}-desktop-full \
            bash -c '
              cd /source
              colcon build
              source install/setup.bash
              for file in $(find urdf -name "*.xacro"); do
                xacro "${file}" bimanual:=true > "${file%.*}_${{ matrix.id }}_bimanual.urdf"
                xacro "${file}" bimanual:=false > "${file%.*}_${{ matrix.id }}.urdf"
              done'
      - uses: actions/upload-artifact@v5
        with:
          name: urdf-${{ matrix.id }}
          path: urdf/**/*.urdf
  publish:
    name: Publish
    needs: build
    runs-on: ubuntu-latest
    environment: release
    permissions:
      contents: write
      discussions: write
    steps:
      - name: Set environments
        run: |
          if [ "${GITHUB_REF_TYPE}" = "tag" ]; then
            echo "VERSION=${GITHUB_REF_NAME}" >> ${GITHUB_ENV}
          else
            echo "VERSION=x.y.z" >> ${GITHUB_ENV}
          fi
          if [ "${GITHUB_EVENT_NAME}" = "pull_request" ]; then
            echo "REF=${GITHUB_SHA}" >> ${GITHUB_ENV}
          else
            echo "REF=${GITHUB_REF_NAME}" >> ${GITHUB_ENV}
          fi
      - uses: actions/checkout@v5
      - uses: actions/download-artifact@v5
        with:
          pattern: urdf-*
          path: artifacts
          merge-multiple: true
      - name: Create source archive
        run: |
          name="openarm-description-${VERSION}"
          git archive --format=tar ${REF} \
            --prefix "${name}/" \
            --output "${name}.tar"

          mkdir "${name}"
          mv artifacts "${name}/urdf"
          find "${name}/urdf" -type f | tar -rf "${name}.tar" -T -
          gzip "${name}.tar"

          sha256sum "${name}.tar.gz" > "${name}.tar.gz.sha256"
          sha512sum "${name}.tar.gz" > "${name}.tar.gz.sha512"
      - uses: actions/upload-artifact@v5
        with:
          name: source-archive
          path: openarm-description-*.tar.gz*
      - name: Create GitHub Release
        if: github.ref_type == 'tag'
        env:
          GH_TOKEN: ${{ github.token }}
        run: |
          gh release create ${GITHUB_REF_NAME} \
            --discussion-category Announcements \
            --generate-notes \
            --repo ${GITHUB_REPOSITORY} \
            --title "OpenArm Description ${VERSION}" \
            --verify-tag \
            openarm-description-${VERSION}.tar.gz*