package_debian.yml

name: Package-Debian-Build

on:
  push:
    tags:
      - '*'

  # allow manually starting this workflow
  workflow_dispatch:

jobs:
  get-tag:
    # Pre-job to fetch the latest tag
    runs-on: ubuntu-latest
    outputs:
      major: ${{ steps.extract_tag.outputs.major }}
      minor: ${{ steps.extract_tag.outputs.minor }}
    steps:
      - name: Checkout repository
        uses: actions/checkout@v4
        with:
          fetch-depth: 0  # Ensure all history and tags are fetched

      - name: Get latest tag
        id: extract_tag
        run: |
          latest_tag=$(git describe --tags `git rev-list --tags --max-count=1`)
          echo "Latest tag: $latest_tag"

          # Extract major and minor version from the tag
          IFS='.' read -r major minor patch <<< "$latest_tag"
          echo "Major: $major"
          echo "Minor: $minor"

          # Set as output variables
          echo "::set-output name=major::$major"
          echo "::set-output name=minor::$minor"

  Debian:
    name: ${{ matrix.distro }}
    needs: get-tag  # Make sure the 'ci' job waits for the 'get-tag' job to finish
    runs-on: ubuntu-latest
    strategy:
      fail-fast: false
      matrix:
        distro: [focal, jammy, noble]
    container:
      image: ghcr.io/tesseract-robotics/tesseract:${{ matrix.distro }}-${{ needs.get-tag.outputs.major }}.${{ needs.get-tag.outputs.minor }}
      env:
        DEBIAN_FRONTEND: noninteractive
        TZ: Etc/UTC

    steps:
      - name: Checkout repository
        uses: actions/checkout@v4
        with:
          path: target_ws/src

      - name: Install dependencies
        run: |
          apt update
          apt upgrade -y
          apt install -y clang-tidy

      - name: Build and test
        uses: tesseract-robotics/colcon-action@v11
        with:
          before-script: source /opt/tesseract/install/setup.bash
          ccache-enabled: false
          vcs-file: dependencies.repos
          upstream-args: --cmake-args -DCMAKE_BUILD_TYPE=Release
          target-path: target_ws/src
          target-args: --cmake-args -DCMAKE_BUILD_TYPE=Release -DTRAJOPT_PACKAGE=ON
          run-tests: false

      - name: Create artifacts directory
        run: |
          mkdir $GITHUB_WORKSPACE/artifacts

      - name: Package osqp
        shell: bash
        run: |
          if [ -d $GITHUB_WORKSPACE/target_ws/build/osqp ]; then
            cd $GITHUB_WORKSPACE/target_ws/build/osqp
            cpack --config CPackConfig.cmake
            cp ./*.deb $GITHUB_WORKSPACE/artifacts
            cp ./*.tar.xz $GITHUB_WORKSPACE/artifacts
          fi

      - name: Package osqp_eigen
        shell: bash
        run: |
          if [ -d $GITHUB_WORKSPACE/target_ws/build/osqp_eigen ]; then
            cd $GITHUB_WORKSPACE/target_ws/build/osqp_eigen
            cpack --config CPackConfig.cmake
            cp ./*.deb $GITHUB_WORKSPACE/artifacts
            cp ./*.tar.xz $GITHUB_WORKSPACE/artifacts
          fi

      - name: Package qpoases
        shell: bash
        run: |
          if [ -d $GITHUB_WORKSPACE/target_ws/build/qpoases ]; then
            cd $GITHUB_WORKSPACE/target_ws/build/qpoases
            cpack --config CPackConfig.cmake
            cp ./*.deb $GITHUB_WORKSPACE/artifacts
            cp ./*.tar.xz $GITHUB_WORKSPACE/artifacts
          fi

      - name: Package trajopt_common
        working-directory: target_ws/build/trajopt_common
        shell: bash
        run: |
          cpack --config CPackConfig.cmake
          cp ./*.deb $GITHUB_WORKSPACE/artifacts
          cp ./*.tar.xz $GITHUB_WORKSPACE/artifacts

      - name: Package trajopt_sco
        working-directory: target_ws/build/trajopt_sco
        shell: bash
        run: |
          cpack --config CPackConfig.cmake
          cp ./*.deb $GITHUB_WORKSPACE/artifacts
          cp ./*.tar.xz $GITHUB_WORKSPACE/artifacts

      - name: Package trajopt
        working-directory: target_ws/build/trajopt
        shell: bash
        run: |
          cpack --config CPackConfig.cmake
          cp ./*.deb $GITHUB_WORKSPACE/artifacts
          cp ./*.tar.xz $GITHUB_WORKSPACE/artifacts

      - name: Package trajopt_sqp
        working-directory: target_ws/build/trajopt_sqp
        shell: bash
        run: |
          cpack --config CPackConfig.cmake
          cp ./*.deb $GITHUB_WORKSPACE/artifacts
          cp ./*.tar.xz $GITHUB_WORKSPACE/artifacts

      - name: Package trajopt_ifopt
        working-directory: target_ws/build/trajopt_ifopt
        shell: bash
        run: |
          cpack --config CPackConfig.cmake
          cp ./*.deb $GITHUB_WORKSPACE/artifacts
          cp ./*.tar.xz $GITHUB_WORKSPACE/artifacts

      - uses: actions/upload-artifact@v4
        with:
          name: debian_package_${{ matrix.distro }}
          path: ${{ github.workspace }}/artifacts/*.deb

      - uses: actions/upload-artifact@v4
        with:
          name: archive_package_${{ matrix.distro }}
          path: ${{ github.workspace }}/artifacts/*.tar.xz