ci.yaml

name: CI
on:
  push:
    branches: [main]
  pull_request:
  workflow_dispatch:
    inputs:
      image_tag:
        description: 'The tag of the image to use for the container'
        required: false
        default: ''
  # Run every 6 hours Mon-Fri
  schedule:
    - cron: "0 */6 * * 1-5"

jobs:
  # Lint and non-integration tests for all packages
  integration-test-in-studio-container:
    uses: PickNikRobotics/moveit_pro_ci/.github/workflows/workspace_integration_test.yaml@v0.0.7
    with:
      image_tag: ${{ github.event_name == 'pull_request' && github.event.pull_request.base.ref || github.ref_name }}
      colcon_test_args: "--executor sequential"
    secrets:
      moveit_license_key: ${{ secrets.STUDIO_CI_LICENSE_KEY }}

  # Per-config objective integration tests (run in parallel via matrix)
  objective-integration-test:
    strategy:
      fail-fast: false
      matrix:
        config_package:
          - lab_sim
          - kitchen_sim
          - april_tag_sim
          - grinding_sim
          - dual_arm_sim
          - factory_sim
          - hangar_sim
          - kinova_sim
          - space_satellite_sim
          - space_satellite_sim_camera_cal
          - mock_sim
          - multi_arm_sim
    uses: PickNikRobotics/moveit_pro_ci/.github/workflows/workspace_integration_test.yaml@v0.0.6
    with:
      image_tag: ${{ github.event_name == 'pull_request' && github.event.pull_request.base.ref || github.ref_name }}
      config_package: ${{ matrix.config_package }}
      colcon_test_args: "--executor sequential"
    secrets:
      moveit_license_key: ${{ secrets.STUDIO_CI_LICENSE_KEY }}

  ensure-no-ssh-in-gitmodules:
    name: Ensure no SSH URLs in .gitmodules
    runs-on: ubuntu-22.04
    steps:
      - uses: actions/checkout@v3
      - name: Check .gitmodules file for Git-over-SSH URLs
        run: "! grep 'git@' .gitmodules"

  validate_objectives:
    runs-on: ubuntu-22.04
    steps:
      - uses: actions/checkout@v3
      - uses: PickNikRobotics/moveit_pro_lint@v0.0.1