rolling-semi-binary-build.yml

name: Rolling Semi Binary Build
on:
  pull_request:
    branches:
      - main
  push:
    branches:
      - main
  schedule:
    # Run every morning to detect flakiness and broken dependencies
    - cron: '13 4 * * *'

jobs:
  rolling_semi_binary:
    name: rolling semi-binary build
    runs-on: ubuntu-latest
    strategy:
      matrix:
        env:
          - {ROS_DISTRO: rolling, ROS_REPO: main}
          #TODO(moriarty): re-enable rolling testing after rolling feature freeze, known failure upstream
          #- {ROS_DISTRO: rolling, ROS_REPO: testing}
    env:
      UPSTREAM_WORKSPACE: ros2_kortex.${{ matrix.env.ROS_DISTRO }}.repos
      ROSDEP_SKIP_KEYS: robotiq_description
      CCACHE_DIR: ${{ github.workspace }}/.ccache
      BASEDIR: ${{ github.workspace }}/.work
      CACHE_PREFIX: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
    steps:
      - uses: actions/checkout@v3
      # The target directory cache doesn't include the source directory because
      # that comes from the checkout.  See "prepare target_ws for cache" task below
      - name: cache target_ws
        if: ${{ ! matrix.env.CCOV }}
        uses: pat-s/always-upload-cache@v2.1.5
        with:
          path: ${{ env.BASEDIR }}/target_ws
          key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
          restore-keys: |
            target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
      - name: cache ccache
        uses: pat-s/always-upload-cache@v2.1.5
        with:
          path: ${{ env.CCACHE_DIR }}
          key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
          restore-keys: |
            ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
            ccache-${{ env.CACHE_PREFIX }}
      - uses: 'ros-industrial/industrial_ci@master'
        with:
          config: ${{toJSON(matrix.env)}}
      - name: prepare target_ws for cache
        if: ${{ always() && ! matrix.env.CCOV }}
        run: |
          du -sh ${{ env.BASEDIR }}/target_ws
          sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
          sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
          du -sh ${{ env.BASEDIR }}/target_ws