ubuntu20_04.yml

name: mav_sensors
on:
  pull_request:
    branches:
      - "master"
  push:
    branches:
      - "master"

jobs:
  build:
    runs-on: [self-hosted, linux]
    strategy:
      fail-fast: false
      matrix:
        rosdistro: ['noetic']
        gcc: ['8', '9', '10']
        submodule: ['exclude', 'BMI08x-Sensor-API', 'BMP3-Sensor-API', 'all']
    container: ros:${{ matrix.rosdistro }}-ros-base-focal
    name: ROS ${{ matrix.rosdistro }} - GCC ${{ matrix.gcc }}
    steps:
    - uses: actions/checkout@v4
      name: Checkout lpp
      with:
        repository: ethz-asl/lpp
        token: ${{ secrets.PAT }}
        path: catkin_ws/src/lpp

    - name: Install newest git version
      run: sudo apt update && sudo apt-get install -y software-properties-common && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git

    - name: Install GCC version ${{ matrix.gcc }}
      run: sudo add-apt-repository ppa:ubuntu-toolchain-r/test -y && sudo apt update && sudo apt install -y gcc-${{ matrix.gcc }} g++-${{ matrix.gcc }} && sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-${{ matrix.gcc }} 100 --slave /usr/bin/g++ g++ /usr/bin/g++-${{ matrix.gcc }} && gcc --version && g++ --version

    - name: Install catkin tools
      run: sudo apt install -y python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential python3-catkin-tools

    - name: Install system dependencies
      run: sudo apt install -y libgoogle-glog-dev

    - uses: actions/checkout@v4
      name: Checkout mav_sensors
      with:
        repository: ethz-asl/mav_sensors
        submodules: recursive
        token: ${{ secrets.PAT }}
        path: catkin_ws/src/mav_sensors

    - name: Exclude submodules
      if: matrix.submodule == 'exclude'
      run: rm -rf mav_sensors_drivers/lib/*
      shell: bash
      working-directory: catkin_ws/src/mav_sensors

    - name: Exclude submodules except ${{ matrix.submodule }}
      if: matrix.submodule != 'exclude' && matrix.submodule != 'all'
      run: find . -mindepth 1 -type d ! -name ${{ matrix.submodule }} -exec rm -rf {} +
      working-directory: catkin_ws/src/mav_sensors/mav_sensors_drivers/lib
      shell: bash

    - name: Build mav_sensors
      run: source /opt/ros/${{ matrix.rosdistro }}/setup.bash && catkin build -v mav_sensors_demo --no-status && source ${GITHUB_WORKSPACE}/catkin_ws/devel/setup.bash
      shell: bash
      working-directory: catkin_ws