build.yml

# build docker files with the gsplines installed
name: compilation
on: push
jobs:
  deploy:
    name: build image
    runs-on: ubuntu-latest
    strategy:
      fail-fast: false
      matrix:
        docker_image:
          - image_name: "rafa606/ros-gsplines-vim-dev:noetic"
            base_image: "rafa606/ros-vim:noetic"
            ros_distro: "noetic"
          - image_name: "rafa606/moveit-gsplines-vim-dev:noetic"
            base_image: "rafa606/moveit-vim:noetic"
            ros_distro: "noetic"
    steps:
      - name: checkout code
        uses: actions/checkout@main
        with:
          fetch-depth: 2
          submodules: recursive

      - name: Check last modified time of Foo Dockerfile
        id: image_modify_date
        run: |
          echo "image=$(date -d "$(curl -s https://hub.docker.com/v2/repositories/"$(echo ${{ matrix.docker_image.image_name }} | sed 's/:/\/tags\//')" | jq -r '.last_updated')" +%s)" >> $GITHUB_OUTPUT;
          echo "base_image=$(date -d "$(curl -s https://hub.docker.com/v2/repositories/"$(echo ${{ matrix.docker_image.base_image }} | sed 's/:/\/tags\//')" | jq -r '.last_updated')" +%s)" >> $GITHUB_OUTPUT;

      - name: Check last modified time of Foo Docker image
        id: file_modify_date
        run: |
          echo "docker_file=$(date -d "$(git log -1 --format=%cd --date=iso -- ./docker/docker.dockerfile)" +%s)" >> $GITHUB_OUTPUT
          echo "source=$(date -d "$(git log -1 --format=%cd --date=iso -- ./source)" +%s)" >> $GITHUB_OUTPUT
          echo "include=$(date -d "$(git log -1 --format=%cd --date=iso -- ./include)" +%s)" >> $GITHUB_OUTPUT
          echo "python=$(date -d "$(git log -1 --format=%cd --date=iso -- ./python)" +%s)" >> $GITHUB_OUTPUT
          echo "bindings=$(date -d "$(git log -1 --format=%cd --date=iso -- ./bindings)" +%s)" >> $GITHUB_OUTPUT
      - name: Login to DockerHub
        uses: docker/login-action@v3
        with:
          username: ${{ secrets.DOCKER_USERNAME }}
          password: ${{ secrets.DOCKER_PASSWORD }}

      - name: build and push ${{ matrix.docker_image.image_name }}
        uses: docker/build-push-action@v3
        with:
          tags: ${{ matrix.docker_image.image_name }}
          file: docker/docker.dockerfile
          push: true
          build-args: |
            BASEIMAGE=${{ matrix.docker_image.base_image }}
            ROS_DISTRO=${{ matrix.docker_image.ros_distro }}
        if: |
          steps.image_modify_date.outputs.image < steps.file_modify_date.outputs.docker_file ||
          steps.image_modify_date.outputs.image < steps.file_modify_date.outputs.source ||
          steps.image_modify_date.outputs.image < steps.file_modify_date.outputs.include ||
          steps.image_modify_date.outputs.image < steps.file_modify_date.outputs.python ||
          steps.image_modify_date.outputs.image < steps.file_modify_date.outputs.bindings ||
          steps.image_modify_date.outputs.image < steps.image_modify_date.outputs.base_image

  buildpackage:
    name: build dep package
    runs-on: ubuntu-latest
    container:
      image: ros:noetic-ros-core-focal
    steps:
      - name: Git Sumbodule Update ad build
        run: |
          apt-get update
          DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends -o Dpkg::Options::="--force-confnew"  git ros-noetic-ifopt libgtest-dev cmake build-essential libeigen3-dev
          git clone --recursive https://github.com/rafaelrojasmiliani/gsplines_cpp.git
          cd gsplines_cpp
          mkdir build
          cd build
          bash -c "source /opt/ros/noetic/setup.bash && cmake ..  -DBUILD_TESTING=OFF && make -j2 && cpack -G DEB"

      - name: Upload binaries to release
        uses: svenstaro/upload-release-action@v2
        with:
          repo_token: ${{ secrets.GITHUB_TOKEN }}
          file: gsplines_cpp/build/gsplines-0.0.1-amd64.deb
          asset_name: gsplines-0.0.1-amd64.deb
          tag: ${{ github.ref }}
          overwrite: true
          body: "Debian pack compiled with standard ros noetic docker image"

  buildpackage2:
    name: build dep package with g++-11
    runs-on: ubuntu-latest
    container:
      image: ros:noetic-ros-core-focal
    steps:
      - name: Git Sumbodule Update ad build
        run: |
          apt-get update
          DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends -o Dpkg::Options::="--force-confnew"  software-properties-common
          add-apt-repository ppa:ubuntu-toolchain-r/test
          apt-get update
          DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends -o Dpkg::Options::="--force-confnew"  git ros-noetic-ifopt libgtest-dev cmake build-essential libeigen3-dev gcc-11 g++-11
          bash -c 'update-alternatives \
                --install /usr/bin/gcc gcc /usr/bin/gcc-9 90 \
                --slave /usr/bin/g++ g++ /usr/bin/g++-9 \
                --slave /usr/bin/gcov gcov /usr/bin/gcov-9 \
                --slave /usr/bin/gcc-ar gcc-ar /usr/bin/gcc-ar-9 \
                --slave /usr/bin/gcc-ranlib gcc-ranlib /usr/bin/gcc-ranlib-9 &&
                update-alternatives \
                    --install /usr/bin/gcc gcc /usr/bin/gcc-11 110 \
                    --slave /usr/bin/g++ g++ /usr/bin/g++-11 \
                    --slave /usr/bin/gcov gcov /usr/bin/gcov-11 \
                    --slave /usr/bin/gcc-ar gcc-ar /usr/bin/gcc-ar-11 \
                    --slave /usr/bin/gcc-ranlib gcc-ranlib /usr/bin/gcc-ranlib-11'
          git clone --recursive https://github.com/rafaelrojasmiliani/gsplines_cpp.git
          cd gsplines_cpp
          mkdir build
          cd build
          bash -c "source /opt/ros/noetic/setup.bash && cmake ..  -DBUILD_TESTING=OFF && make -j2 && cpack -G DEB"

      - name: Upload binaries to release
        uses: svenstaro/upload-release-action@v2
        with:
          repo_token: ${{ secrets.GITHUB_TOKEN }}
          file: gsplines_cpp/build/gsplines-0.0.1-amd64.deb
          asset_name: gsplines-0.0.1-gcc-11-amd64.deb
          tag: ${{ github.ref }}
          overwrite: true
          body: "Debian pack compiled with g++-11"