ci.yaml

name: CI

on: [push, pull_request]

jobs:
  quality_checks:
    name: "Lint, Compile & Test"
    runs-on: ubuntu-latest
    container:
      image: ros:rolling-perception
    defaults:
      run:
        shell: bash
    env:
      ROS_DISTRO: rolling
    steps:
      - name: Checkout code
        uses: actions/checkout@v3

      - name: Install Rust toolchain
        run: |
          set -euxo pipefail
          cd "$GITHUB_WORKSPACE"
          curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y \
            --default-toolchain stable --profile minimal
          $HOME/.cargo/bin/rustup component add clippy rustfmt

      - name: Install linting tools
        run: |
          set -euxo pipefail
          apt-get update
          apt-get install -y --no-install-recommends shellcheck yamllint

      - name: Install libclang (OpenCV binding codegen dependency)
        # Unversioned packages track each distro's default clang version
        # (18 on Jazzy/Noble, 21 on Rolling/Resolute) so one line covers both.
        run: |
          set -euxo pipefail
          apt-get update
          apt-get install -y --no-install-recommends libclang-dev clang

      - name: package.xml lint (ament_xmllint)
        run: |
          set -euxo pipefail
          set +u
          . /opt/ros/$ROS_DISTRO/setup.bash
          set -u
          cd "$GITHUB_WORKSPACE"
          ament_xmllint

      - name: launch file lint (ament_lint)
        run: |
          set -euxo pipefail
          set +u
          . /opt/ros/$ROS_DISTRO/setup.bash
          set -u
          cd "$GITHUB_WORKSPACE"
          ament_flake8 launch && ament_pep257 launch

      - name: bash script checks (shellcheck)
        run: |
          set -euxo pipefail
          cd "$GITHUB_WORKSPACE"
          while IFS= read -r -d '' script; do
            shellcheck -x "$script"
          done < <(find scripts -name '*.bash' -print0)

      - name: YAML checks (yamllint)
        run: |
          set -euxo pipefail
          cd "$GITHUB_WORKSPACE"
          yamllint -d "{extends: default, rules: {line-length: disable}}" \
            .github/workflows package.xml

      - name: Cargo fmt check
        run: |
          set -euxo pipefail
          cd "$GITHUB_WORKSPACE"
          $HOME/.cargo/bin/cargo fmt --check

      - name: Cargo clippy
        run: |
          set -euxo pipefail
          cd "$GITHUB_WORKSPACE"
          # OpenCV binding generator needs the C++ stdlib include dirs spelled out
          # on newer clang (resolute/clang-21). Extract the C++ stdlib search chain
          # from `g++ -v` into CPLUS_INCLUDE_PATH so clang prepends them before
          # /usr/include — see Dockerfile for details.
          export CPLUS_INCLUDE_PATH=$(g++ -x c++ -v -fsyntax-only - </dev/null 2>&1 \
            | awk '/#include <...> search starts here:/{f=1;next} /End of search list/{f=0} f && /c\+\+/{gsub(/^[ \t]+/, ""); print}' \
            | paste -sd: -)
          echo "CPLUS_INCLUDE_PATH=${CPLUS_INCLUDE_PATH}"
          $HOME/.cargo/bin/cargo clippy --all-targets -- -D warnings

      - name: Cargo test (unit + integration tests)
        run: |
          set -euxo pipefail
          set +u
          source /opt/ros/$ROS_DISTRO/setup.bash
          set -u
          export PKG_CONFIG_PATH="/opt/ros/$ROS_DISTRO/lib/pkgconfig${PKG_CONFIG_PATH:+:$PKG_CONFIG_PATH}"
          export CARGO_HOME="$HOME/.cargo"
          export RUSTUP_HOME="$HOME/.rustup"
          # C++ stdlib include chain from g++ -v (see Dockerfile / clippy step).
          export CPLUS_INCLUDE_PATH=$(g++ -x c++ -v -fsyntax-only - </dev/null 2>&1 \
            | awk '/#include <...> search starts here:/{f=1;next} /End of search list/{f=0} f && /c\+\+/{gsub(/^[ \t]+/, ""); print}' \
            | paste -sd: -)
          unset DISPLAY
          cd "$GITHUB_WORKSPACE"
          $HOME/.cargo/bin/cargo test --all-targets