gripper.yaml

name: "Gripper build/test"
on:
  pull_request:
    paths:
      - "gripper/**"
      - "common/**"
      - "can/**"
      - "spi/**"
      - "motor-control/**"
      - "include/**"
      - "!include/pipettes/**"
      - "!include/gantry/**"
      - "!include/head/**"
      - "cmake/*"
      - "!cmake/Arduino*"
      - "CMakeLists.txt"
      - "gripper/CMakeLists.txt"
      - "CMakePresets.json"
      - ".clang-format"
      - ".clang-tidy"
  push:
    paths:
      - "gripper/**"
      - "common/**"
      - "can/**"
      - "spi/**"
      - "motor-control/**"
      - "include/**"
      - "!include/pipettes/**"
      - "!include/gantry/**"
      - "!include/head/**"
      - "cmake/*"
      - "!cmake/Arduino*"
      - "CMakeLists.txt"
      - "gripper/CMakeLists.txt"
      - "CMakePresets.json"
      - ".clang-format"
      - ".clang-tidy"
      - ".github/workflows/gripper.yaml"
    branches:
      - "*"
    tags:
      - "gripper@*"
  workflow_dispatch:

env:
  ci: 1
  default-directory: ot-firmware

defaults:
  run:
    shell: bash
    working-directory: ${{ env.default-directory }}

jobs:
  cross-compile-check:
    name: "Cross-Compile/Check"
    runs-on: "ubuntu-20.04"
    timeout-minutes: 20
    steps:
      - name: Checkout github actions directory
        uses: actions/checkout@v4
        with:
          sparse-checkout: |
            .github/actions
          sparse-checkout-cone-mode: false
          path: actions

      - name: Setup main
        uses: ./actions/.github/actions/main-setup
        with:
          cache-version: ${{ secrets.CACHE_VERSION }}

      - name: Configure
        run: cmake --preset=cross .
      - name: "Format"
        run: cmake --build ./build-cross --target gripper-format-ci
      - name: "Build"
        run: cmake --build ./build-cross --target gripper-images gripper-applications
      - name: "Lint"
        run: cmake --build ./build-cross --target gripper-lint

  host-compile-test:
    name: "Host-Compile/Test"
    runs-on: "ubuntu-20.04"
    timeout-minutes: 10
    steps:
      - name: Checkout github actions directory
        uses: actions/checkout@v4
        with:
          sparse-checkout: |
            .github/actions
          sparse-checkout-cone-mode: false
          path: actions

      - name: Setup main
        uses: ./actions/.github/actions/main-setup
        with:
          cache-version: ${{ secrets.CACHE_VERSION }}

      - name: Configure
        run: cmake --preset=host-gcc10 .

      - name: 'Build and test'
        run: cmake --build ./build-host --target gripper-build-and-test

      - name: 'Setup state_manager'
        run: cmake --build ./build-host/ --target state-manager-setup

      - name: 'Build simulator'
        run: cmake --build ./build-host --target gripper-simulator

      - name: "Upload artifacts"
        if: github.event_name != 'pull_request'
        uses: actions/upload-artifact@v3
        with:
          name: "gripper-simulator-${{github.ref_name}}"
          path: |
            ot3-firmware/build-host/gripper/simulator/gripper-simulator