ci.yml

name: CI

on:
  workflow_dispatch:
    inputs:
      name:
        description: "Manual trigger"
  pull_request:
    branches: ["rolling", "kilted", "jazzy", "humble"]

jobs:

  micro_ros_zephyr_module:
    runs-on: ubuntu-latest
    strategy:
      fail-fast: false
      matrix:
        zephyr_version: ["v4.0.0", "v4.1.0"]
    steps:
      - uses: actions/checkout@v4
        with:
          path: micro_ros_zephyr_module

      - name: Free disk space
        run: |
          sudo rm -rf /usr/share/dotnet
          sudo rm -rf /usr/local/lib/android
          sudo rm -rf /opt/ghc
          sudo docker image prune --all --force

      - name: Create build script
        run: |
          cat << 'EOF' > build.sh
          #!/bin/bash
          set -e

          # Zephyr setup
          apt -y update
          west init
          cd zephyr
          git checkout $ZEPHYR_VERSION
          cd ..
          west update --narrow

          # Installing micro-ROS prerequisites
          pip3 install catkin_pkg lark-parser empy colcon-common-extensions

          if [[ "$REF_NAME" == "humble" ]] || [[ "$HEAD_REF" == *"humble"* ]]; then
            # Use empy version 3.3.4 for Humble
            pip3 install empy==3.3.4
          fi

          # Build with Serial USB transport
          west build -b disco_l475_iot1 /github/workspace/micro_ros_zephyr_module -p -- -DCONFIG_MICROROS_TRANSPORT_SERIAL_USB=y

          # Build with Serial transport
          west build -b disco_l475_iot1 /github/workspace/micro_ros_zephyr_module -p -- -DCONFIG_MICROROS_TRANSPORT_SERIAL=y
          EOF
          chmod +x build.sh

      - name: Build
        run: |
          sudo docker run --rm \
            --user root \
            -v ${{ github.workspace }}:/github/workspace \
            -w /github/workspace \
            -e CMAKE_PREFIX_PATH=/opt/toolchains \
            -e ZEPHYR_VERSION=${{ matrix.zephyr_version }} \
            -e REF_NAME=${{ github.ref_name }} \
            -e HEAD_REF=${{ github.head_ref }} \
            zephyrprojectrtos/ci:v0.26.17 \
            /github/workspace/build.sh