run-unit-tests.yaml

---
name: Run unit tests

on:
  workflow_dispatch:
  # TODO: ENABLE WHEN READY
  # pull_request:
  #     branches:
  #         - ros2-devel

jobs:
  test:
    name: Run unit tests
    runs-on: self-hosted
    env:
      HUSARION_ROS_BUILD_TYPE: hardware
      ROS_DISTRO: humble
      TEST_RESULT_FILENAME: last_run_results.txt
      COVERAGE_RESULT_FILENAME: coverage_results.log
    steps:
      - name: Prepare filesystem
        working-directory: ${{ runner.temp }}
        run: |
          touch ${{ env.TEST_RESULT_FILENAME }}
          touch ${{ env.COVERAGE_RESULT_FILENAME }}

      - name: Checkout repository
        uses: actions/checkout@v3
        with:
          ref: ${{ github.ref }}
          path: ros2_ws/src/wibotic_ros

      - name: Resolve dependencies
        working-directory: ros2_ws
        run: |
          sudo apt update
          rosdep update --rosdistro $ROS_DISTRO
          rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y

      - name: Build
        working-directory: ros2_ws
        run: |
          source /opt/ros/$ROS_DISTRO/setup.bash
          if [ -f install/setup.bash ]; then source install/setup.bash; fi
          colcon build --symlink-install --parallel-workers $(nproc) --packages-up-to panther --cmake-args -DCMAKE_CXX_FLAGS='-fprofile-arcs -ftest-coverage'

      - name: Test
        working-directory: ros2_ws
        run: |
          source install/setup.bash
          colcon test --packages-up-to panther --retest-until-pass 10 --event-handlers console_cohesion+ --return-code-on-test-failure
          echo "result=$?" >> ${{ runner.temp }}/${{ env.TEST_RESULT_FILENAME }}
          colcon lcov-result --packages-up-to panther --verbose >> ${{ runner.temp }}/${{ env.COVERAGE_RESULT_FILENAME }}
          lines_cov=$(cat ${{ runner.temp }}/${{ env.COVERAGE_RESULT_FILENAME }} | grep -E 'lines' | head -1)
          functions_cov=$(cat ${{ runner.temp }}/${{ env.COVERAGE_RESULT_FILENAME }}  | grep -E 'functions' | head -1)
          branches_cov=$(cat ${{ runner.temp }}/${{ env.COVERAGE_RESULT_FILENAME }}  | grep -E 'branches' | head -1)
          echo "lines_cov=$lines_cov">> ${{ runner.temp }}/${{ env.TEST_RESULT_FILENAME }}
          echo "functions_cov=$functions_cov" >> ${{ runner.temp }}/${{ env.TEST_RESULT_FILENAME }}
          echo "branches_cov=$branches_cov" >> ${{ runner.temp }}/${{ env.TEST_RESULT_FILENAME }}

      - name: Collect unit tests output
        working-directory: ${{ runner.temp }}
        id: unit-tests-output
        run: cat ${{ env.TEST_RESULT_FILENAME }} >> "$GITHUB_OUTPUT"

      - name: Validate tests result
        uses: nick-fields/assert-action@v1
        with:
          expected: 0
          actual: ${{ steps.unit-tests-output.outputs.result }}

      - name: Comment PR
        uses: thollander/actions-comment-pull-request@v2
        with:
          message: |
            **Test coverage of modified packages:**
            ${{ steps.unit-tests-output.outputs.lines_cov }}
            ${{ steps.unit-tests-output.outputs.functions_cov }}
            ${{ steps.unit-tests-output.outputs.branches_cov }}