ci_msbuild.yaml

# SPDX-FileCopyrightText: 2023, Yaskawa America, Inc.
# SPDX-FileCopyrightText: 2023, Delft University of Technology
#
# SPDX-License-Identifier: CC0-1.0

name: "CI: build VS proj"
on:
  pull_request:
    branches:
      - main
  workflow_dispatch:

jobs:
  msbuild_filter:
    runs-on: ubuntu-latest
    outputs:
      needs_msbuild: ${{ steps.paths_filter.outputs.vsproj }}
    steps:
      - name: Checkout MotoROS2
        uses: actions/checkout@v3
      - name: Check VS proj has changed
        id: paths_filter
        uses: dorny/paths-filter@v2
        with:
          filters: |
            vsproj:
              - 'src/**'
              - 'MotoROS2.sln'

  msbuild:
    runs-on: windows-2022
    needs: msbuild_filter
    # only run this job if source files were changed,
    # AND the PR came from a feature branch on the main repository
    if: |
      needs.msbuild_filter.outputs.needs_msbuild == 'true' &&
        github.event.pull_request.head.repo.full_name == github.repository

    strategy:
      # keep jobs running even if one fails (we want to know on which
      # controllers and for which ROS 2 versions builds fail / succeed)
      fail-fast: false
      matrix:
        controller: [yrc1000, yrc1000u]
        ros2_codename: [humble, galactic, foxy]

    steps:
    - name: Uppercase controller identifier
      id: uppercaser
      shell: bash
      env:
        TEMP_VAR: "${{ matrix.controller }}"
      run: |
        echo "ctrlr=${TEMP_VAR^^}" >> $GITHUB_OUTPUT

    - name: Checkout MotoROS2
      uses: actions/checkout@v3
      with:
        path: 'motoros2'

    - name: Find MSBuild and add to PATH
      uses: microsoft/setup-msbuild@v1.3

    - name: "Download M+ libmicroros (${{ matrix.ros2_codename }} on ${{ steps.uppercaser.outputs.ctrlr }})"
      id: download_libmicroros
      uses: dsaltares/fetch-gh-release-asset@1.1.1
      with:
        repo: 'yaskawa-global/motoros2'
        version: 'latest'
        regex: true
        # download the M+ libmicroros distribution for the latest release of
        # MotoROS2 corresponding to the controller this workflow is run for
        file: ".*_libmicroros_${{ matrix.ros2_codename }}-.*_${{ matrix.controller }}\\.zip"
        # work-around for https://github.com/dsaltares/fetch-gh-release-asset/issues/48
        target: "./"

    - name: Setup MotoROS2 build dir
      shell: bash
      run: |
        mkdir -p /c/build
        rm -rf /c/build/*
        # we do this to shorten the path. Windows/M+ SDK sometimes does
        cp -r "${{ github.workspace }}"/* /c/build/
        ls -al /c/build

    - name: "Find downloaded M+ libmicroros (${{ matrix.ros2_codename }} on ${{ steps.uppercaser.outputs.ctrlr }})"
      id: find_libmicroros
      shell: bash
      # bit of a kludge, but works for now.
      # we need to do this as 'fetch-gh-release-asset' will try to rename downloaded
      # files if we use a regex to match 'unknown' files instead of hard-coding
      # everything.
      run: |
        LIBM_ZIP=$(find /c/build -type f -regextype posix-extended -regex ".*[[:digit:]]+_libmicroros_${{ matrix.ros2_codename }}.*${{ matrix.controller}}\.zip")
        echo "libmicroros_zip=${LIBM_ZIP}" >> $GITHUB_OUTPUT
        echo "libmicroros_zip_win=$(cygpath -w ${LIBM_ZIP})" >> $GITHUB_OUTPUT
        echo "Found libmicroros zip: '${LIBM_ZIP}'"
    - name: Extract M+ libmicroros distribution
      shell: bash
      run: |
        unzip -q "${{ steps.find_libmicroros.outputs.libmicroros_zip }}" \
          -d /c/build/motoros2/libmicroros_${{ matrix.controller }}_${{ matrix.ros2_codename }}

    - name: Download and setup M+ SDK (mpBuilder)
      shell: cmd
      run: |
        C:\msys64\usr\bin\wget.exe -q -O C:/build/mpsdk_ci.7z "${{ secrets.MPSDK_DOWNLOAD_URL }}"
        "C:\Program Files\7-Zip\7z.exe" x C:/build/mpsdk_ci.7z -oC:/build/
        del /q C:\build\mpsdk_ci.7z
    - name: Add M+ SDK to PATH
      shell: bash
      run: echo "C:/build/mpsdk" >> $GITHUB_PATH

    - name: Register mpBuilder problem matcher
      run: echo "::add-matcher::motoros2/.github/matchers/mpbuilder.json"

    - name: "Build MotoROS2 (config: ${{ steps.uppercaser.outputs.ctrlr }}_${{ matrix.ros2_codename }})"
      shell: cmd
      env:
        MP_VS_Install: "C:/build/mpsdk/"
        WIND_BASE: "C:/"
        WIND_HOST_TYPE: "x86-win32"
        WIND_USR: "C:/"
      run: |
        msbuild ^
          C:\build\motoros2\MotoROS2.sln ^
          -t:Build ^
          -nologo ^
          -v:minimal ^
          -p:Configuration=${{ steps.uppercaser.outputs.ctrlr }}_${{ matrix.ros2_codename }}