main.yaml

name: main

on:
  pull_request:
    branches:
      - main
  push:
    branches:
      - main

env:
  up_tamer_commit: "869e7ab06cf23c5541a47f46209159fd51d8021f"
  up_pyperplan_commit: "ac2b04d2d41c20b15f7c4143c19947f9704d1888"
  up_fast_downward_commit: "eb1f0d801e140fffbdd6c1eb2b13e483299ab240"

jobs:
  build-and-test:
    runs-on: ${{ matrix.os }}
    container:
      image: osrf/ros:humble-desktop
    strategy:
      matrix:
        os: [ubuntu-22.04]
      fail-fast: false
    steps:
      - name: Install deps
        run: sudo apt-get update && sudo apt-get install -y wget python3-vcstool python3-pytest python3-colcon-coveragepy-result libfl-dev pip && pip install ConfigSpace && pip install typing_extensions==4.7.1 --upgrade
      - name: fix pytest name
        run: sudo ln -s /usr/bin/pytest-3 /usr/bin/pytest
      - name: Install unified planning from sources
        run: |
          git clone https://github.com/aiplan4eu/unified-planning.git
          cd unified-planning
          python3 -m pip install -r requirements.txt
          python3 -m pip install -r dev-requirements.txt
          python3 -m pip install tarski[arithmetic]
          sudo apt install -y gringo
          python3 -m pip install black==22.6.0
          python3 -m black --check --exclude=unified_planning/grpc/generated/ .
          python3 -m mypy unified_planning
          python3 scripts/test_imports.py
          cd ..
          git clone https://github.com/aiplan4eu/up-tamer
          python3 -m pip install up-tamer/
          git clone https://github.com/aiplan4eu/up-pyperplan
          python3 -m pip install up-pyperplan/
          pip install unified_planning[tamer]

      - name: Create custom repos
        run: cp $GITHUB_WORKSPACE/upf.repos /tmp/all.repos
      - name: build and test
        uses: ros-tooling/action-ros-ci@0.3.15
        with:
          package-name: upf4ros2 upf_msgs
          target-ros2-distro: humble
          vcs-repo-file-url: /tmp/all.repos
          colcon-defaults: |
            {
              "test": {
                "parallel-workers" : 4
              }
            }
          colcon-mixin-name: coverage-gcc
          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/main/index.yaml
          extra-args: "--event-handlers console_direct+ --return-code-on-test-failure"
      - name: Codecov
        uses: codecov/codecov-action@v1.2.1
        with:
          file: ros_ws/lcov/total_coverage.info
          flags: unittests
          name: codecov-umbrella
          # yml: ./codecov.yml
          fail_ci_if_error: false