From 554d1c72680eacd576b3686b3bfa17e336aeccff Mon Sep 17 00:00:00 2001
From: Mikael Arguedas <mikael.arguedas@gmail.com>
Date: Wed, 8 May 2024 15:22:54 +0200
Subject: [PATCH] [CI] Reenabling source test and coverage workflow (#301)

* test reenabling test_latest and use custom action-ros-ci
* bump action versions
* explicitly skip installing rti-connext for now
* enable coverage
* build latest from source
* run job on push only for rolling branch
* add token for codecov v4
* test once more
* osrf/ros2:devel now includes pytest-cov

---------

Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
---
 .github/workflows/test.yml | 88 ++++++++++++++++++++++----------------
 1 file changed, 52 insertions(+), 36 deletions(-)

diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index 2828786a..63f30df5 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -2,52 +2,68 @@ name: SROS2 CI
 on:
   pull_request:
   push:
+    branches:
+      rolling
   schedule:
     # Run daily
     - cron:  '0 20 * * *'
 
 jobs:
-  # test_latest:
-  #   runs-on: ubuntu-latest
-  #   # 'osrf/ros2:devel' does *not* include RTI Connext or its' security plugins
-  #   # the former gets installed via rosdep in 'action-ros-ci' but the latter do *not* get installed
-  #   container: osrf/ros2:devel
-  #   steps:
-  #   - name: Install prerequisites for action-ros-ci and FastRTPS
-  #     run: |
-  #       apt-get -qq update
-  #       apt-get -qq upgrade -y
-  #       apt-get -qq install -y curl libasio-dev libssl-dev libtinyxml2-dev python3-colcon-coveragepy-result
-  #   - uses: ros-tooling/action-ros-ci@v0.3
-  #     with:
-  #       package-name: |
-  #         sros2
-  #         sros2_cmake
-  #         test_security
-  #       extra-cmake-args: '-DSECURITY=ON --no-warn-unused-cli'
-  #       target-ros2-distro: rolling
-  #       rosdep-skip-keys: rti-connext-dds-6.0.1
-  #   - name: Upload coverage to Codecov
-  #     uses: codecov/codecov-action@v1
-  #     if: github.event_name == 'pull_request' || (github.event_name == 'push' && github.ref == 'refs/heads/rolling')
-  #     with:
-  #       file: ros_ws/build/sros2/coverage.xml
-  #       flags: unittests
-  #       name: sros2-coverage
-  #       fail_ci_if_error: true
-  #   - name: Upload Logs
-  #     uses: actions/upload-artifact@v1
-  #     if: failure()
-  #     with:
-  #       name: colcon-logs
-  #       path: ros_ws/log
+  test_latest:
+    runs-on: ubuntu-latest
+    # 'osrf/ros2:devel' does *not* include RTI Connext or its' security plugins
+    # the former gets installed via rosdep in 'action-ros-ci' but the latter do *not* get installed
+    container: osrf/ros2:devel
+    steps:
+    - name: Install prerequisites for action-ros-ci and FastRTPS
+      run: |
+        apt-get -qq update
+        apt-get -qq upgrade -y
+        apt-get -qq install -y curl libasio-dev libssl-dev libtinyxml2-dev python3-colcon-coveragepy-result
+    - uses: ros-tooling/action-ros-ci@v0.3
+      with:
+        rosdep-skip-keys: rti-connext-dds-6.0.1
+        package-name: |
+          sros2
+          sros2_cmake
+          test_security
+        extra-cmake-args: '-DSECURITY=ON --no-warn-unused-cli'
+        colcon-defaults: |
+          {
+            "build": {
+              "mixin": ["coverage-pytest"]
+            },
+            "test": {
+              "mixin": ["coverage-pytest"]
+            }
+          }
+        colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+        target-ros2-distro: rolling
+        vcs-repo-file-url: https://raw.githubusercontent.com/ros2/ros2/rolling/ros2.repos
+
+    - name: Upload coverage to Codecov
+      uses: codecov/codecov-action@v4
+      env:
+        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
+      if: github.event_name == 'pull_request' || (github.event_name == 'push' && github.ref == 'refs/heads/rolling')
+      with:
+        file: ros_ws/build/sros2/coverage.xml
+        flags: unittests
+        name: sros2-coverage
+        fail_ci_if_error: true
+    - name: Upload Logs
+      uses: actions/upload-artifact@v4
+      if: failure()
+      with:
+        name: colcon-logs
+        path: ros_ws/log
   test_nightly:
     runs-on: ubuntu-latest
     # 'osrf/ros2:nightly-rmw-nonfree' includes RTI Connext but
     # does *not* include the security plugins or a license allowing the use of Security
     container: osrf/ros2:nightly-rmw-nonfree
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v4
     - name: Installing dependencies
       run: |
         apt-get -qq update
@@ -62,7 +78,7 @@ jobs:
     - name: Check test results
       run: colcon test-result
     - name: Upload Logs
-      uses: actions/upload-artifact@v1
+      uses: actions/upload-artifact@v4
       if: failure()
       with:
         name: colcon-logs