humble_test_mros_to_mros_twist.yaml

name: Humble_test_mros_to_mros_String

on:
  push:
    branches:
      - "main"
      - "feat/add_ci_config"
  pull_request:
    types: [opened, synchronize, labeled]
jobs:
  ci:
    runs-on: ${{ matrix.os }}
    if: |
      ((github.event.action == 'labeled') && (github.event.label.name == 'TESTING') && (github.base_ref == 'main' )) ||
      ((github.event.action == 'synchronize') && (github.base_ref == 'main') && contains(github.event.pull_request.labels.*.name, 'TESTING')) ||
      (github.ref_name == 'main')
    container:
      image: osrf/ros:${{ matrix.ros_distribution }}-desktop
    timeout-minutes: 3
    strategy:
      fail-fast: false
      matrix:
        os: [ubuntu-22.04]
        ros_distribution: [humble]
    steps:
      - uses: actions/checkout@v3
        with:
          submodules: recursive
      - name: update
        run: sudo apt-get update
      - name: setup and install tools
        run: >
          sudo apt-get install -y git wget build-essential gcc g++ libssl-dev libreadline-dev 
          zlib1g-dev make autoconf automake cmake pkg-config curl net-tools netcat python3-jinja2
      - name: Clone Test Stub
        uses: actions/checkout@v3
        with:
          repository: mROS-base/mros2-host-examples
          path: ws_host/src/mros2-host-examples
      - name: Run IP update script
        run: |
          chmod +x update_ip.sh
          ./update_ip.sh
      - name: Build echoback mROS
        shell: bash
        run: |
          bash build.bash clean
          bash build.bash all test_echoback_twist
          mv cmake_build/ cmake_build_test_echoback_twist/
      - name: Build reply mROS
        shell: bash
        run: |
          bash build.bash clean
          bash build.bash all test_echoback_twist_responder
      - name: Run mROS and Native ROS
        shell: bash
        run : |
            ./cmake_build_test_echoback_twist/mros2-posix &
            mros_pid=$!  # テストプログラムのプロセスIDを取得

            # テスト対象をバックグラウンドで実行
            ./cmake_build/mros2-posix &

            # mROSが終了するまで待つ
            wait $mros_pid
            mros_status=$?

            # 結果に基づいてCIの成否を判断
            if [ $mros_status -eq 0 ] ;then
              echo "Succeed pub/sub test process between mros2 and Native ROS"
              exit 0
            else
              echo "Fail pub/sub test process between mros2 and Native ROS"
              exit 1
            fi