main.yml

on:
  push:
    branches:
      - master
  pull_request:
    branches:
      - master

name: cactus-rt

jobs:
  build-and-test:
    runs-on: [self-hosted, noble, real-time]
    env:
      CACTUS_RT_BUILD_DIR: build
    steps:
      - uses: actions/checkout@v3

      - name: Check if clang format is necessary
        run: docker/scripts/00-format.sh

      - name: Setup dependencies
        run: sudo apt-get update && sudo apt-get install -y libspdlog-dev liblttng-ust-dev libboost-dev doxygen graphviz protobuf-compiler libgtest-dev libbenchmark-dev

      - name: Build library
        run: docker/scripts/01-build.sh

      - name: Test
        run: docker/scripts/02-test.sh

      - name: Benchmark
        run: docker/scripts/03-benchmark.sh

      # - name: Run example
      #   run: docker/scripts/04-example.sh

  build-and-test-no-tracing:
    runs-on: [self-hosted, noble, real-time]
    env:
      CACTUS_RT_BUILD_DIR: build
      ENABLE_TRACING: "OFF"
    steps:
      - uses: actions/checkout@v3

      - name: Check if clang format is necessary
        run: docker/scripts/00-format.sh

      - name: Setup dependencies
        run: sudo apt-get update && sudo apt-get install -y libspdlog-dev liblttng-ust-dev libboost-dev doxygen graphviz protobuf-compiler libgtest-dev libbenchmark-dev

      - name: Build library
        run: docker/scripts/01-build.sh

      - name: Test
        run: docker/scripts/02-test.sh

      - name: Benchmark
        run: docker/scripts/03-benchmark.sh

      # - name: Run example
      #   run: docker/scripts/04-example.sh

  build-and-test-ros:
    runs-on: [self-hosted, noble, real-time]
    env:
      image_name: ${{ github.workflow }}-ci-${{ github.ref_name }}
    steps:
      - uses: actions/checkout@v3

      - name: Test ROS in docker
        run: scripts/test-ros-in-docker