# 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: Test
on:
  push:
    branches:
      - '**'
      - '!dependabot/**'
    tags:
      - '**'
  pull_request:
concurrency:
  group: ${{ github.head_ref || github.sha }}-${{ github.workflow }}
  cancel-in-progress: true
jobs:
  lint:
    name: Lint
    runs-on: ubuntu-latest
    timeout-minutes: 5
    steps:
      - uses: actions/checkout@v6
        with:
          submodules: recursive
      - name: Install pre-commit
        run: |
          python -m pip install pre-commit
      - uses: actions/cache@v4
        with:
          path: ~/.cache/pre-commit
          key: pre-commit-${{ hashFiles('.pre-commit-config.yaml') }}
      - name: Run pre-commit
        run: |
          pre-commit run --show-diff-on-failure --color=always --all-files

  build:
    name: Build
    runs-on: ${{ matrix.runs-on }}
    timeout-minutes: 5
    strategy:
      fail-fast: false
      matrix:
        runs-on:
          - ubuntu-22.04
    steps:
      - uses: actions/checkout@v6
      - name: Install dependencies
        run: |
          sudo apt update
          sudo apt install -y -V \
            cmake \
            libkdl-parser-dev \
            liborocos-kdl-dev \
            liburdfdom-headers-dev \
            libyaml-cpp-dev \
            ninja-build
      - uses: actions/checkout@v6
        with:
          path: openarm_can
          repository: enactic/openarm_can
      - name: "OpenArm CAN: CMake"
        run: |
          cmake \
            -B openarm_can.build \
            -S openarm_can \
            -GNinja \
            -DCMAKE_INSTALL_PREFIX=$PWD/install \
            -DCMAKE_BUILD_TYPE=Debug
      - name: "OpenArm CAN: Build"
        run: |
          ninja -C openarm_can.build
      - name: "OpenArm CAN: Install"
        run: |
          ninja -C openarm_can.build install
      - name: CMake
        run: |
          cmake \
            -B build \
            -S . \
            -GNinja \
            -DCMAKE_INSTALL_PREFIX=$PWD/install \
            -DCMAKE_BUILD_TYPE=Debug
      - name: Build
        run: |
          ninja -C build