deploy.yml

name: Website

on:
  workflow_dispatch:
  pull_request:
  push:
    branches:
      - main
      - humble

permissions:
  contents: read
  pages: write
  id-token: write

jobs:
  htmlproofer:
    runs-on: ubuntu-latest
    container:
      image: moveit/moveit2:rolling-source
    steps:
    - uses: actions/checkout@v4

    - name: Install Python dependencies
      shell: bash
      run: |
        sudo apt-get update -y
        sudo apt-get install -y python3-pip python3-venv
        python3 -m venv .venv
        source .venv/bin/activate
        pip3 install --upgrade --requirement requirements.txt

    - name: Install doxygen and graphviz
      run: sudo apt-get install -y doxygen graphviz

    - uses: ruby/setup-ruby@v1
      with:
        ruby-version: '3'

    - name: Run htmlproofer.sh
      shell: bash
      run: |
        source /opt/ros/rolling/setup.bash
        source /root/ws_moveit/install/setup.bash
        source .venv/bin/activate
        ./htmlproofer.sh

  upload_site_artifacts:
    strategy:
      matrix:
        include:
          - container: 'moveit/moveit2:rolling-source'
            branch: 'main'
            rosdistro: 'rolling'
          - container: 'moveit/moveit2:humble-source'
            branch: 'humble'
            rosdistro: 'humble'
    runs-on: ubuntu-latest
    container:
      image: ${{ matrix.container }}
    steps:
    - uses: actions/checkout@v4

    - name: Install Python dependencies
      shell: bash
      run: |
        sudo apt-get update -y
        sudo apt-get install -y python3-pip python3-venv
        python3 -m venv .venv
        source .venv/bin/activate
        pip3 install --upgrade --requirement requirements.txt

    - name: Install doxygen and graphviz
      run: sudo apt-get install -y doxygen graphviz

    - name: Build Sphinx Artifacts
      shell: bash
      run: |
        source /opt/ros/${{ matrix.rosdistro }}/setup.bash
        source /root/ws_moveit/install/setup.bash
        source .venv/bin/activate
        make generate_api_artifacts BRANCH=${{ matrix.branch }}

    - name: Compress Artifact
      run: tar cvzf artifact.tar.gz --directory=build/html .

    - name: Upload HTML Artifact
      uses: actions/upload-artifact@v4
      with:
        name: '${{ matrix.branch }}_html_artifacts'
        path: artifact.tar.gz

  collate_site_artifacts:
    runs-on: ubuntu-latest
    needs: upload_site_artifacts
    steps:
    - uses: actions/checkout@v4
      with:
        fetch-depth: 0

    - uses: actions/setup-python@v5
      with:
        python-version: '3.10'
        cache: 'pip'

    - name: Install Python dependencies
      run: |
        python -m pip install --upgrade pip
        pip install --upgrade --requirement requirements.txt

    - name: Install doxygen and graphviz
      run: sudo apt-get install -y doxygen graphviz

    - uses: ruby/setup-ruby@v1
      with:
        ruby-version: '3'

    # TODO (peterdavidfagan): don't hardcode branches for downloads
    - name: Download Rolling Artifacts
      uses: actions/download-artifact@v4
      with:
        name: main_html_artifacts
        path: .

    - name: Decompress Rolling Artifact
      run: |
        mkdir -p build/html/main
        tar -xf artifact.tar.gz --directory=build/html/main
        rm artifact.tar.gz

    - name: Download Humble Artifacts
      uses: actions/download-artifact@v4
      with:
        name: humble_html_artifacts
        path: .

    - name: Decompress Humble Artifact
      run: |
        mkdir -p build/html/humble
        tar -xf artifact.tar.gz --directory=build/html/humble
        rm artifact.tar.gz

    - name: Create CNAME file
      run: echo "moveit.picknik.ai" > build/html/CNAME

    # TODO(henningkayser): fix hack for using python api artifact in multiversion
    - name: Build multiversion
      run: |
        cp -r build/html/main/doc/api/python_api/ .   # backup artifact html
        make multiversion
        cp -rf python_api/ build/html/main/doc/api/   # restore artifact html

    - name: Upload pages artifact
      uses: actions/upload-pages-artifact@v3
      if: github.repository_owner == 'moveit'
      with:
        path: build/html

  deploy:
    if: github.repository_owner == 'moveit' && github.ref == 'refs/heads/main'
    runs-on: ubuntu-latest
    needs: collate_site_artifacts
    environment:
      name: github-pages
      url: ${{ steps.deployment.outputs.page_url }}
    steps:
      - name: Deploy to GitHub Pages
        id: deployment
        uses: actions/deploy-pages@v4