ci_msbuild.yaml

# SPDX-FileCopyrightText: 2023, Yaskawa America, Inc.
# SPDX-FileCopyrightText: 2023, Delft University of Technology
#
# SPDX-License-Identifier: CC0-1.0

name: "CI: build VS proj"
on:
  # MSBuild CI only runs for PRs originating from this repository (due to
  # access to secrets). Enable CI runs on pushes to the 'main' branch, to
  # make sure MSBuild CI also gets run for contributions from external
  # repositories (after the PR has been merged, but it might still catch
  # problems that slipped past reviewers)
  push:
    branches:
      - main
  pull_request:
    branches:
      - main
  workflow_dispatch:

jobs:
  msbuild_filter:
    runs-on: ubuntu-latest
    outputs:
      needs_msbuild: ${{ steps.paths_filter.outputs.vsproj }}
    steps:
      - name: Checkout MotoROS2
        uses: actions/checkout@v4
      - name: Check VS proj has changed
        id: paths_filter
        uses: dorny/paths-filter@v3
        with:
          filters: |
            vsproj:
              - 'src/**'
              - 'lib/**'
              - 'MotoROS2.sln'

  msbuild:
    runs-on: windows-2022
    needs: msbuild_filter
    # only run this job if:
    #  - this is a manually triggered build, or
    #  - it's a PR and:
    #    - source files were changed,
    #    - AND the PR came from a feature branch on the main repository
    if: |
      github.event_name == 'workflow_dispatch' ||
      (
        needs.msbuild_filter.outputs.needs_msbuild == 'true' &&
        github.event.pull_request.head.repo.full_name == github.repository
      )

    strategy:
      # keep jobs running even if one fails (we want to know on which
      # controllers and for which ROS 2 versions builds fail / succeed)
      fail-fast: false
      matrix:
        controller: [dx200, yrc1000, yrc1000u]
        # officially matrix doesn't support non-scalar values, but it does
        # seem to work, so let's use it.
        uros: [
          { release: 20250207, codename: foxy     },
          { release: 20250207, codename: galactic },
          { release: 20250207, codename: humble   },
          { release: 20250207, codename: jazzy    },
        ]

    steps:
    - name: Uppercase controller identifier
      id: uppercaser
      shell: bash
      env:
        TEMP_VAR: "${{ matrix.controller }}"
      run: |
        echo "ctrlr=${TEMP_VAR^^}" >> $GITHUB_OUTPUT

    - name: Checkout MotoROS2
      uses: actions/checkout@v4
      with:
        path: 'motoros2'

    - name: Find MSBuild and add to PATH
      uses: microsoft/setup-msbuild@v2

    - name: Generate token (micro_ros_motoplus)
      id: gen_token
      uses: actions/create-github-app-token@v1
      with:
        app-id: ${{ secrets.MPLMB_APP_ID }}
        private-key: ${{ secrets.MPLMB_APP_PRIVATE_KEY }}
        owner: "yaskawa-global"
        repositories: "micro_ros_motoplus"

    - name: "Download M+ libmicroros (${{ matrix.uros.codename }}-${{ matrix.uros.release }} for ${{ steps.uppercaser.outputs.ctrlr }})"
      shell: bash
      env:
        GITHUB_TOKEN: ${{ steps.gen_token.outputs.token }}
        RELEASE_TYPE: ${{ (matrix.uros.prerelease && 'prerelease') || 'release' }}
      run: |
        gh \
          release \
            --repo="yaskawa-global/micro_ros_motoplus" \
          download \
            --pattern="micro_ros_motoplus*.zip" \
            --output="micro_ros_motoplus.zip" \
            ${{ env.RELEASE_TYPE }}-${{ matrix.uros.codename }}-${{ matrix.controller }}-${{ matrix.uros.release }}

    - name: Setup MotoROS2 build dir
      shell: bash
      run: |
        mkdir -p /c/build
        rm -rf /c/build/*
        # we do this to shorten the path. Windows/M+ SDK sometimes does
        cp -r "${{ github.workspace }}"/* /c/build/
        ls -al /c/build

    - name: Extract M+ libmicroros distribution
      shell: bash
      run: |
        unzip -q /c/build/micro_ros_motoplus.zip \
          -d /c/build/motoros2/libmicroros_${{ matrix.controller }}_${{ matrix.uros.codename }}

    - name: Download and setup M+ SDK (mpBuilder)
      shell: cmd
      run: |
        C:\msys64\usr\bin\wget.exe -q -O C:/build/mpsdk_ci.7z "${{ secrets.MPSDK_DOWNLOAD_URL }}"
        "C:\Program Files\7-Zip\7z.exe" x C:/build/mpsdk_ci.7z -oC:/build/
        del /q C:\build\mpsdk_ci.7z
    - name: Add M+ SDK to PATH
      shell: bash
      run: echo "C:/build/mpsdk" >> $GITHUB_PATH

    - name: "Build MotoROS2 (config: ${{ steps.uppercaser.outputs.ctrlr }}_${{ matrix.uros.codename }})"
      shell: cmd
      env:
        MP_VS_Install: "C:/build/mpsdk/"
        WIND_BASE: "C:/"
        WIND_HOST_TYPE: "x86-win32"
        WIND_USR: "C:/"
      run: |
        msbuild ^
          C:\build\motoros2\MotoROS2.sln ^
          -t:Build ^
          -nologo ^
          -v:minimal ^
          -p:Configuration=${{ steps.uppercaser.outputs.ctrlr }}_${{ matrix.uros.codename }}