ci.yml

name: CI

on:
  pull_request:
    branches: [main]
  push:
    branches: [main]
  repository_dispatch:
    types: [ros2_medkit_updated]

permissions:
  contents: read

jobs:
  lint:
    runs-on: ubuntu-24.04
    steps:
      - name: Checkout repository
        uses: actions/checkout@v4

      - name: Check for trailing whitespace
        run: |
          ! git grep -I --line-number --perl-regexp '\s+$' -- \
            '*.md' '*.py' '*.yaml' '*.yml' || \
          (echo "Found trailing whitespace in the files above" && exit 1)

      - name: Check shell scripts with shellcheck
        run: |
          sudo apt-get update && sudo apt-get install -y shellcheck
          find . \( -name "*.sh" -o -name "*.bash" \) -type f | xargs shellcheck

      - name: Validate YAML files
        run: |
          sudo apt-get update && sudo apt-get install -y yamllint
          YAMLLINT_CONFIG="{extends: relaxed, rules: {line-length: {max: 120}}}"
          find . \( -name "*.yaml" -o -name "*.yml" \) -type f | xargs yamllint -d "$YAMLLINT_CONFIG"

  build-and-test-sensor:
    runs-on: ubuntu-24.04
    steps:
      - name: Show triggering source
        if: github.event_name == 'repository_dispatch'
        run: |
          SHA="${{ github.event.client_payload.sha }}"
          RUN_URL="${{ github.event.client_payload.run_url }}"
          echo "## Triggered by ros2_medkit" >> "$GITHUB_STEP_SUMMARY"
          echo "- Commit: \`${SHA:-unknown}\`" >> "$GITHUB_STEP_SUMMARY"
          if [ -n "$RUN_URL" ]; then
            echo "- Run: [View triggering run]($RUN_URL)" >> "$GITHUB_STEP_SUMMARY"
          else
            echo "- Run: (URL not provided)" >> "$GITHUB_STEP_SUMMARY"
          fi

      - name: Checkout repository
        uses: actions/checkout@v4

      - name: Build and start sensor_diagnostics demo
        working-directory: demos/sensor_diagnostics
        run: docker compose --profile ci up -d --build sensor-demo-ci

      - name: Run smoke tests
        run: ./tests/smoke_test.sh

      - name: Show container logs on failure
        if: failure()
        working-directory: demos/sensor_diagnostics
        run: docker compose --profile ci logs sensor-demo-ci --tail=200

      - name: Teardown
        if: always()
        working-directory: demos/sensor_diagnostics
        run: docker compose --profile ci down

  build-and-test-turtlebot:
    runs-on: ubuntu-24.04
    steps:
      - name: Checkout repository
        uses: actions/checkout@v4

      - name: Build and start turtlebot3 demo
        working-directory: demos/turtlebot3_integration
        run: docker compose --profile ci up -d --build turtlebot3-demo-ci

      - name: Run smoke tests
        run: ./tests/smoke_test_turtlebot3.sh

      - name: Show container logs on failure
        if: failure()
        working-directory: demos/turtlebot3_integration
        run: docker compose --profile ci logs turtlebot3-demo-ci --tail=200

      - name: Teardown
        if: always()
        working-directory: demos/turtlebot3_integration
        run: docker compose --profile ci down

  build-and-test-moveit:
    runs-on: ubuntu-24.04
    steps:
      - name: Checkout repository
        uses: actions/checkout@v4

      - name: Build and start moveit demo
        working-directory: demos/moveit_pick_place
        run: docker compose --profile ci up -d --build moveit-demo-ci

      - name: Run smoke tests
        run: ./tests/smoke_test_moveit.sh

      - name: Show container logs on failure
        if: failure()
        working-directory: demos/moveit_pick_place
        run: docker compose --profile ci logs moveit-demo-ci --tail=200

      - name: Teardown
        if: always()
        working-directory: demos/moveit_pick_place
        run: docker compose --profile ci down

  build-and-test-multi-ecu:
    needs: lint
    runs-on: ubuntu-24.04
    steps:
      - name: Show triggering source
        if: github.event_name == 'repository_dispatch'
        run: |
          SHA="${{ github.event.client_payload.sha }}"
          RUN_URL="${{ github.event.client_payload.run_url }}"
          echo "## Triggered by ros2_medkit" >> "$GITHUB_STEP_SUMMARY"
          echo "- Commit: \`${SHA:-unknown}\`" >> "$GITHUB_STEP_SUMMARY"
          if [ -n "$RUN_URL" ]; then
            echo "- Run: [View triggering run]($RUN_URL)" >> "$GITHUB_STEP_SUMMARY"
          else
            echo "- Run: (URL not provided)" >> "$GITHUB_STEP_SUMMARY"
          fi

      - name: Checkout repository
        uses: actions/checkout@v4

      - name: Build and start multi-ECU demo
        working-directory: demos/multi_ecu_aggregation
        run: docker compose --profile ci up -d --build perception-ecu-ci planning-ecu-ci actuation-ecu-ci

      - name: Run smoke tests
        run: ./tests/smoke_test_multi_ecu.sh

      - name: Show perception ECU logs on failure
        if: failure()
        working-directory: demos/multi_ecu_aggregation
        run: docker compose --profile ci logs perception-ecu-ci --tail=200

      - name: Show planning ECU logs on failure
        if: failure()
        working-directory: demos/multi_ecu_aggregation
        run: docker compose --profile ci logs planning-ecu-ci --tail=200

      - name: Show actuation ECU logs on failure
        if: failure()
        working-directory: demos/multi_ecu_aggregation
        run: docker compose --profile ci logs actuation-ecu-ci --tail=200

      - name: Teardown
        if: always()
        working-directory: demos/multi_ecu_aggregation
        run: docker compose --profile ci down

  build-and-test-ota:
    needs: lint
    runs-on: ubuntu-24.04
    steps:
      - name: Show triggering source
        if: github.event_name == 'repository_dispatch'
        run: |
          SHA="${{ github.event.client_payload.sha }}"
          RUN_URL="${{ github.event.client_payload.run_url }}"
          echo "## Triggered by ros2_medkit" >> "$GITHUB_STEP_SUMMARY"
          echo "- Commit: \`${SHA:-unknown}\`" >> "$GITHUB_STEP_SUMMARY"
          if [ -n "$RUN_URL" ]; then
            echo "- Run: [View triggering run]($RUN_URL)" >> "$GITHUB_STEP_SUMMARY"
          else
            echo "- Run: (URL not provided)" >> "$GITHUB_STEP_SUMMARY"
          fi

      - name: Checkout repository
        uses: actions/checkout@v4

      - name: Build and start OTA demo
        working-directory: demos/ota_nav2_sensor_fix
        run: docker compose up -d --build

      - name: Run smoke tests
        run: ./tests/smoke_test_ota.sh

      - name: Diagnostics on failure
        if: failure()
        run: ./tests/dump_ota_diagnostics.sh ota_diagnostics.log

      - name: Upload diagnostics
        if: failure()
        uses: actions/upload-artifact@v4
        with:
          name: ota-diagnostics-smoke
          path: ota_diagnostics.log

      - name: Teardown
        if: always()
        working-directory: demos/ota_nav2_sensor_fix
        run: docker compose down

  # Actually runs the OTA demo's own test suites (they never run in the demo
  # up/smoke jobs). The C++ gtest is built and executed inside the plugin test
  # stage of Dockerfile.gateway (a failing test fails the docker build); the two
  # pytest suites run natively.
  plugin-tests:
    needs: lint
    runs-on: ubuntu-24.04
    steps:
      - name: Checkout repository
        uses: actions/checkout@v4

      - name: Run ota_update_plugin C++ gtest (in image build)
        working-directory: demos/ota_nav2_sensor_fix
        run: docker build --target ota-plugin-test -f Dockerfile.gateway .

      - name: Set up Python
        uses: actions/setup-python@v5
        with:
          python-version: '3.12'

      - name: Install Python test dependencies
        run: pip install pytest fastapi 'uvicorn[standard]' httpx

      - name: Run ota_update_server pytest suite
        working-directory: demos/ota_nav2_sensor_fix/ota_update_server
        run: pytest tests

      - name: Run pack_artifact pytest suite
        working-directory: demos/ota_nav2_sensor_fix/scripts
        run: pytest test_pack_artifact.py

  # Separate job from build-and-test-ota: this one drives the full
  # latch/publish/apply/clear narrative through the operator scripts. The
  # entrypoint auto-applies broken_lidar_3_0_0 at boot; send-goal.sh then
  # drives the robot into the phantom sector so Nav2 cannot make progress
  # and navigate_to_pose aborts, which the log + action-status bridges
  # surface as ACTION_NAVIGATE_TO_POSE_ABORTED on bt-navigator (latched,
  # with a freeze-frame + MCAP capture). publish-fix.sh registers the
  # forward hotfix fixed_lidar_3_0_1 (not in the boot catalog), then
  # apply-fix.sh swaps scan_sensor_node to it, but the fault stays
  # latched (no self-heal) until clear-fault.sh explicitly clears it, and
  # only then does a fresh send-goal.sh resume clean. Catches regressions
  # in that loop (phantom not stalling Nav2, the bridges not promoting the
  # failure, fault_manager latching/capture, the fault clearing itself on
  # apply). Slower than the API-only smoke job because it has
  # to wait for nav2 lifecycle to settle and for /cmd_vel to actually
  # fire, so it's split out and can fail in isolation without blocking
  # the quick OTA-endpoint check.
  ota-demo-narrative:
    needs: lint
    runs-on: ubuntu-24.04
    steps:
      - name: Show triggering source
        if: github.event_name == 'repository_dispatch'
        run: |
          SHA="${{ github.event.client_payload.sha }}"
          RUN_URL="${{ github.event.client_payload.run_url }}"
          echo "## Triggered by ros2_medkit" >> "$GITHUB_STEP_SUMMARY"
          echo "- Commit: \`${SHA:-unknown}\`" >> "$GITHUB_STEP_SUMMARY"
          if [ -n "$RUN_URL" ]; then
            echo "- Run: [View triggering run]($RUN_URL)" >> "$GITHUB_STEP_SUMMARY"
          fi

      - name: Checkout repository
        uses: actions/checkout@v4

      - name: Build and start OTA demo
        working-directory: demos/ota_nav2_sensor_fix
        # docker compose up --build runs the multi-stage build for
        # ota_update_server which produces the catalog + tarballs
        # internally - no separate "build artifacts on host" step
        # needed (and the host wouldn't have ros2_medkit_msgs anyway).
        run: docker compose up -d --build

      - name: Run demo narrative smoke
        run: ./tests/smoke_test_demo_narrative.sh

      - name: Diagnostics on failure
        if: failure()
        run: ./tests/dump_ota_diagnostics.sh ota_diagnostics.log

      - name: Upload diagnostics
        if: failure()
        uses: actions/upload-artifact@v4
        with:
          name: ota-diagnostics-narrative
          path: ota_diagnostics.log

      - name: Teardown
        if: always()
        working-directory: demos/ota_nav2_sensor_fix
        run: docker compose down