ci.yml

name: CI
on:
  pull_request:
    types: [opened, synchronize, reopened]
  push:
    branches: [develop, master]
jobs:
  docker-build:
    strategy:
        matrix:
            include:
             - ubuntu-codename: bionic
               build_lanelet_aware: true
            # Currently install_lanelet2_dependencies.sh script only works for bionic. Disabled lanelet_aware build on newer distributions pending script updates.
             - ubuntu-codename: focal
               build_lanelet_aware: false
            # Currently install_lanelet2_dependencies.sh script only works for bionic. Disabled lanelet_aware build on newer distributions pending script updates.
             - ubuntu-codename: jammy
               build_lanelet_aware: false
    runs-on: ubuntu-latest
    steps:
      - name: Log in to the Container registry
        uses: docker/login-action@v2
        with:
            username: ${{ secrets.DOCKERHUB_USERNAME }}
            password: ${{ secrets.DOCKERHUB_TOKEN }}
      - name: Docker Build Streets Service Base
        uses: docker/build-push-action@v3
        with:
            push: true
            build-args: |
                UBUNTU_CODENAME=${{ matrix.ubuntu-codename }}
            tags: usdotfhwastoldev/streets_service_base:${{ matrix.ubuntu-codename }}
            file: ./streets_service_base/Dockerfile
      - name: Docker Build Streets Service Base Lanelet Aware
        if: ${{ matrix.build_lanelet_aware }} 
        uses: docker/build-push-action@v3
        with:
          push: true
          tags: usdotfhwastoldev/streets_service_base_lanelet_aware:bionic
          file: ./streets_service_base_lanelet_aware/Dockerfile          
  build:
    needs: docker-build
    defaults:
      run:
        shell: bash
    runs-on: ubuntu-latest-8-cores
    container:
      image: usdotfhwastoldev/streets_service_base_lanelet_aware:bionic
      env:
        DEBIAN_FRONTEND: noninteractive
        SONAR_SCANNER_VERSION: "5.0.1.3006"
        TERM: xterm
      options: "--user root"
    steps:
    # Bionic's git version is not sufficient for actions/checkout 0 fetch-depth,
    # remove this step after rebasing carma-streets to newer Ubuntu release
    - name: Install newer git for checkout
      run: |
        apt-get update
        apt-get install -y software-properties-common
        add-apt-repository -u ppa:git-core/ppa
        apt-get install -y git
    - name: Checkout ${{ github.event.repository.name }}
      uses: actions/checkout@v3.3.0
      with:
        path: ${{ github.event.repository.name }}
        fetch-depth: 0
    - name: Move source code
      run: mv $GITHUB_WORKSPACE/${{ github.event.repository.name }} /home/carma-streets
    - name: Install dependencies
      run: |
        # mkdir /home/carma-streets/.base-image
        # touch /home/carma-streets/.base-image/init-env.sh
        cd /home/carma-streets/build_scripts
        # ./install_dependencies.sh
        ./install_test_dependencies.sh
        mkdir -p /home/carma-streets/ext
        ./install_rest_server_dependencies.sh

    # - name: Install librdkafka
    #   run: |
    #     cd /home/carma-streets/ext/
    #     git clone --depth 1 https://github.com/confluentinc/librdkafka.git /home/carma-streets/ext/librdkafka
    #     cd /home/carma-streets/ext/librdkafka/
    #     cmake -H. -B_cmake_build
    #     cmake --build _cmake_build
    #     cmake --build _cmake_build --target install
    # - name: Install rapidjson
    #   run: |
    #     cd /home/carma-streets/ext/
    #     git clone https://github.com/Tencent/rapidjson /home/carma-streets/ext/rapidjson
    #     cd /home/carma-streets/ext/rapidjson
    #     git checkout a95e013b97ca6523f32da23f5095fcc9dd6067e5
    #     mkdir -p /home/carma-streets/ext/rapidjson/build
    #     cd /home/carma-streets/ext/rapidjson/build
    #     cmake ..
    #     make -j
    #     make install
    - name: Install net-snmp
      run: |
        cd /home/carma-streets/ext/
        apt-get install -y libperl-dev curl
        curl -k -L -O http://sourceforge.net/projects/net-snmp/files/net-snmp/5.9.1/net-snmp-5.9.1.tar.gz 
        tar -xvzf /home/carma-streets/ext/net-snmp-5.9.1.tar.gz
        cd net-snmp-5.9.1/
        ./configure --with-default-snmp-version="1" --with-sys-contact="@@no.where" --with-sys-location="Unknown" --with-logfile="/var/log/snmpd.log" --with-persistent-directory="/var/net-snmp"
        make -j
        make install
    # - name: Install PROJ for coordinate transformations
    #   run: |
    #     git clone --depth 1 https://github.com/OSGeo/PROJ.git /home/carma-streets/PROJ --branch 6.2.1
    #     cd /home/carma-streets/PROJ
    #     ./autogen.sh
    #     ./configure 
    #     make -j
    #     make install
    # - name: Download a cmake module for PROJ
    #   run: |
    #     cd /usr/share/cmake-3.10/Modules
    #     curl -O https://raw.githubusercontent.com/mloskot/cmake-modules/master/modules/FindPROJ4.cmake
    # - name: Install ROS melodic
    #   run: |
    #     apt install -y lsb-release
    #     sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
    #     curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc |apt-key add -
    #     apt-get update
    #     apt-get install -y ros-melodic-catkin
    #     cd /opt/ros/melodic/
    #     ls -a
    #     mkdir -p /home/carma-streets/.base-image
    #     echo "source /opt/ros/melodic/setup.bash" > "$INIT_ENV"
    # - name: Install carma_lanelet2
    #   run: |
    #     mkdir -p /home/carma-streets/carma_lanelet2/src
    #     cd /home/carma-streets/carma_lanelet2/src
    #     git init
    #     echo "temp"
    #     git remote add origin -f https://github.com/usdot-fhwa-stol/autoware.ai.git
    #     git config core.sparsecheckout true
    #     echo "common/hardcoded_params/*" >> .git/info/sparse-checkout
    #     echo "common/lanelet2_extension/*" >> .git/info/sparse-checkout
    #     echo "lanelet2/*" >> .git/info/sparse-checkout
    #     echo "mrt_cmake_modules/*" >> .git/info/sparse-checkout
    #     git pull --depth 1 origin refactor_lanelet2_extension
    #     git checkout refactor_lanelet2_extension
    #     rm -r lanelet2/lanelet2_python
    #     rm -r lanelet2/lanelet2_examples
    #     cd /home/carma-streets/carma_lanelet2
    #     source /opt/ros/melodic/setup.bash
    #     apt-get install -y libeigen3-dev python-rospkg
    #     ROS_VERSION=1 LANELET2_EXTENSION_LOGGER_TYPE=1 catkin_make install
    #     cd /home/carma-streets/carma_lanelet2/install/
    #     ls -a
    #     echo "source /home/carma-streets/carma_lanelet2/install/setup.bash" >> "$INIT_ENV"
    - name: Set up JDK 17
      uses: actions/setup-java@v3 # The setup-java action provides the functionality for GitHub Actions runners for Downloading and setting up a requested version of Java
      with:
        java-version: 17
        distribution: "temurin"        
    - name: Install Sonar
      run: |
        SONAR_DIR=/opt/sonarqube
        mkdir $SONAR_DIR
        curl -o $SONAR_DIR/sonar-scanner.zip https://binaries.sonarsource.com/Distribution/sonar-scanner-cli/sonar-scanner-cli-${SONAR_SCANNER_VERSION}-linux.zip
        curl -o $SONAR_DIR/build-wrapper.zip https://sonarcloud.io/static/cpp/build-wrapper-linux-x86.zip
        curl -sL https://deb.nodesource.com/setup_16.x | bash -
        apt-get install -y nodejs unzip
        # Set the JAVA_HOME to a compatible version of Java, e.g., Java 17
        export JAVA_HOME=$GITHUB_WORKSPACE/java-17
        cd $SONAR_DIR
        for ZIP in *.zip; do
          unzip "$ZIP" -d .
          rm "$ZIP"
        done
        mv $(ls $SONAR_DIR | grep "sonar-scanner-") $SONAR_DIR/sonar-scanner/
        mv $(ls $SONAR_DIR | grep "build-wrapper-") $SONAR_DIR/build-wrapper/
        echo $SONAR_DIR/sonar-scanner/bin >> $GITHUB_PATH
        echo $SONAR_DIR/build-wrapper >> $GITHUB_PATH
      env:
        JAVA_HOME: $GITHUB_WORKSPACE/java-17

    - name: Check Java Version
      run: |
        java -version
        echo $JAVA_HOME         
    - name: Build
      run: |
        cd /home/carma-streets/
        build-wrapper-linux-x86-64 --out-dir /home/carma-streets/bw-output ./build.sh
    - name: Tests
      run: |
        cd /home/carma-streets/
        ldconfig
        ./coverage.sh
    - name: Archive test results
      uses: actions/upload-artifact@v3
      with:
        name: Test Results
        path: /home/carma-streets/test_results
    - name: Run SonarScanner
      uses: usdot-fhwa-stol/actions/sonar-scanner@main
      with:
        sonar-token: ${{ secrets.SONAR_TOKEN }}
        working-dir: /home/carma-streets