build-and-test-differential.yaml

name: build-and-test-differential

on:
  pull_request:
    branches: [main]
jobs:
  build_and_test_differential:
    strategy:
      matrix:
        os:
          - ubuntu-22.04
        rosdistro:
          - humble

    runs-on: ubuntu-latest

    container:
      image: ros:${{ matrix.rosdistro }}-ros-base

    steps:
      - name: Check out repository
        uses: actions/checkout@v3
        with:
          fetch-depth: 0

      - name: Setup Git Safe Directory
        run: |
          git config --global --add safe.directory /__w/wheel_stuck_ws/wheel_stuck_ws

      - name: Check for changed files
        id: changed-files
        run: |
          echo "Base: ${{ github.event.pull_request.base.sha }}"
          echo "Head: ${{ github.sha }}"

          CHANGED_FILES=$(git diff --name-only ${{ github.event.pull_request.base.sha }} ${{ github.sha }})

          CHANGED_PACKAGE_DIRS=$(echo "$CHANGED_FILES" | grep -E '^(src/[^/]+(/[^/]+)*)' | while read -r file; do
            dir=$(dirname "$file")
            while [ "$dir" != "." ]; do
              if [ -f "$dir/package.xml" ]; then
                echo "$dir"
                break
              fi
              dir=$(dirname "$dir")
            done
          done | sort -u)

          CHANGED_PACKAGES=$(echo "$CHANGED_PACKAGE_DIRS" | awk -F'/' '{print $NF}' | sort -u)

          if [ -z "$CHANGED_PACKAGES" ]; then
            echo "No changed packages found."
            echo "::set-output name=packages::"
          else
            echo "Changed packages: $CHANGED_PACKAGES"
            echo "::set-output name=packages::$CHANGED_PACKAGES"
          fi

          if [ $(echo "$CHANGED_FILES" | grep -c "depend_packages_ci.repos") -eq 1 ]; then
            echo "depend_packages_ci.repos is changed"
            echo "::set-output name=repos_file_changed::true"
          else
            echo "depend_packages_ci.repos is not changed"
            echo "::set-output name=repos_file_changed::false"
          fi

      - name: Install dependencies
        if: steps.changed-files.outputs.repos_file_changed == 'true' || steps.changed-files.outputs.packages != ''
        run: |
          rosdep update &&
          apt-get update &&
          vcs import src < depend_packages_ci.repos &&
          rosdep install --from-path . -i -y --rosdistro ${{ matrix.rosdistro }}

      - name: Install diagnostic-updater
        if: steps.changed-files.outputs.packages != ''
        run: apt-get install ros-${{ matrix.rosdistro }}-diagnostic-updater

      - name: Build tests
        if: steps.changed-files.outputs.packages != ''
        id: build_test
        run: |
          . /opt/ros/${{ matrix.rosdistro }}/setup.sh &&
          colcon build --packages-up-to ${{ steps.changed-files.outputs.packages }}
          exit_code=$?

          if [ "$exit_code" -eq 0 ]; then
            echo "Build succeeded"
          else
            echo "Build failed"
            exit 1
          fi

      - name: Run tests
        if: steps.changed-files.outputs.packages != ''
        id: run_test
        run: |
          . /opt/ros/${{ matrix.rosdistro }}/setup.sh &&
          colcon test --packages-select ${{ steps.changed-files.outputs.packages }} &&
          colcon test-result
          exit_code=$?

          if [ "$exit_code" -eq 0 ]; then
            echo "Test succeeded"
          else
            echo "Test failed"
            exit 1
          fi