dora/.github/workflows/test.yaml

name: Test

on:
  push:
    paths-ignore:
      - "**.md"

env:
  CARGO_TERM_COLOR: always

jobs:
  test:
    strategy:
      fail-fast: false

      matrix:
        rust:
          - 1.53.0 # MSRV
          - stable
          - beta
          - nightly

        ros:
          - { distro: foxy, os: ubuntu-20.04 }
          - { distro: galactic, os: ubuntu-20.04 }
          - { distro: rolling, os: ubuntu-20.04 }

    runs-on: ${{ matrix.ros.os }}

    steps:
      - uses: actions/checkout@v2

      - name: Install Rust toolchain
        uses: actions-rs/toolchain@v1
        with:
          profile: minimal
          toolchain: ${{ matrix.rust }}
          override: true

      - name: Setup ROS environment
        uses: ros-tooling/setup-ros@v0.2
        with:
          required-ros-distributions: ${{ matrix.ros.distro }}

      - name: Install DDS
        run: |
          sudo apt install -y \
            ros-${{ matrix.ros.distro }}-rmw-fastrtps-cpp \
            ros-${{ matrix.ros.distro }}-rmw-cyclonedds-cpp

      - name: Run cargo check
        run: |
          source /opt/ros/${{ matrix.ros.distro }}/setup.bash
          cargo check --features $ROS_DISTRO

      - name: Run cargo test
        run: |
          source /opt/ros/${{ matrix.ros.distro }}/setup.bash
          cargo test -p rclrust-msg -p rclrust-msg-gen
          cargo test -p rclrust --features $ROS_DISTRO -- --test-threads 1
          RMW_IMPLEMENTATION=rmw_fastrtps_cpp cargo test -p rclrust --features $ROS_DISTRO -- --test-threads 1
          RMW_IMPLEMENTATION=rmw_cyclonedds_cpp cargo test -p rclrust --features $ROS_DISTRO -- --test-threads 1

  format:
    strategy:
      matrix:
        ros:
          - { distro: foxy, os: ubuntu-20.04 }

    runs-on: ${{ matrix.ros.os }}

    steps:
      - uses: actions/checkout@v2

      - name: Install Rust toolchain
        uses: actions-rs/toolchain@v1
        with:
          profile: minimal
          toolchain: nightly
          override: true
          components: rustfmt

      - name: Setup ROS environment
        uses: ros-tooling/setup-ros@v0.2
        with:
          required-ros-distributions: ${{ matrix.ros.distro }}

      - name: Run cargo fmt
        run: |
          source /opt/ros/${{ matrix.ros.distro }}/setup.bash
          cargo fmt -- --check

  lint:
    strategy:
      matrix:
        ros:
          - { distro: foxy, os: ubuntu-20.04 }

    runs-on: ${{ matrix.ros.os }}

    steps:
      - uses: actions/checkout@v2

      - name: Install Rust toolchain
        uses: actions-rs/toolchain@v1
        with:
          profile: minimal
          toolchain: stable
          override: true
          components: clippy

      - name: Setup ROS environment
        uses: ros-tooling/setup-ros@v0.2
        with:
          required-ros-distributions: ${{ matrix.ros.distro }}

      - name: Run cargo clippy
        run: |
          source /opt/ros/${{ matrix.ros.distro }}/setup.bash
          cargo clippy --features $ROS_DISTRO -- -D warnings