name: ROS Translation Node Tests
on:
  push:
    branches:
    - 'main'
    paths-ignore:
      - 'docs/**'
  pull_request:
    branches:
      - '**'
    paths-ignore:
      - 'docs/**'
permissions:
  contents: read

defaults:
  run:
    shell: bash

concurrency:
  group: ${{ github.workflow }}-${{ github.ref }}
  cancel-in-progress: true

jobs:
  build_and_test:
    name: Build and test [${{ matrix.config.ros_version }}]
    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
    strategy:
      fail-fast: false
      matrix:
        config:
          - {ros_version: "humble", ubuntu: "jammy"}
          - {ros_version: "jazzy", ubuntu: "noble"}
    container:
      image: ros:${{ matrix.config.ros_version }}-ros-base-${{ matrix.config.ubuntu }}
    steps:
      - uses: runs-on/action@v2
      - uses: actions/checkout@v6
        with:
          fetch-depth: 0
      - name: Configure Git Safe Directory
        run: git config --system --add safe.directory '*'

      - uses: ./.github/actions/setup-ccache
        id: ccache
        with:
          cache-key-prefix: ccache-ros-translation-${{ matrix.config.ros_version }}
          max-size: 150M
          base-dir: /ros_ws
          install-ccache: 'true'

      - name: Check .msg file versioning
        if: github.event_name == 'pull_request'
        run: |
          ./Tools/ci/check_msg_versioning.sh ${{ github.event.pull_request.base.sha }} ${{github.event.pull_request.head.sha}}

      - name: Build - Translation Node
        run: |
          ros_ws=/ros_ws
          mkdir -p $ros_ws/src
          ./Tools/copy_to_ros_ws.sh $ros_ws
          cd $ros_ws
          source /opt/ros/${{ matrix.config.ros_version }}/setup.sh
          colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_C_COMPILER_LAUNCHER=ccache --symlink-install --event-handlers=console_cohesion+

      - name: Test - Translation Node Unit Tests
        run: |
          source /ros_ws/install/setup.sh
          /ros_ws/build/translation_node/translation_node_unit_tests

      - uses: ./.github/actions/save-ccache
        if: always()
        with:
          cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}