cross-ci.yaml

name: Cross CI workflow

on:
  pull_request:
  push:
    branches:
      - master

jobs:

  build-cross:

    runs-on: ${{ matrix.os }}
    strategy:
      matrix:
        os: [ubuntu-latest]
      fail-fast: false

    env:
      VCS_FILE: autoware.ai.repos
      ROS_DISTRO: melodic
      AUTOWARE_CROSS_TARGET_PLATFORM: generic-aarch64
      AUTOWARE_TARGET_ARCH: aarch64
      AUTOWARE_TOOLCHAIN_FILE_PATH: ${{ github.workspace }}/cross_toolchain.cmake
      AUTOWARE_SYSROOT: /sysroot/generic-aarch64

    container:
      image: autoware/build:generic-aarch64-melodic-bleedingedge

    steps:

    - name: Checkout repo
      uses: actions/checkout@v2

    - name: Build repo
      run: |
        mkdir -p src_tmp/ && mv `find -maxdepth 1 -not -name . -not -name src_tmp -not -name $VCS_FILE` src_tmp/ && mv src_tmp/ src/
        sudo apt-get update -qq && sudo apt-get install -y python3-vcstool gcc git wget
        wget https://raw.githubusercontent.com/Autoware-AI/docker/master/crossbuild/cross_toolchain.cmake
        vcs validate < $VCS_FILE
        vcs import src/ < $VCS_FILE
        bash -c 'source $AUTOWARE_SYSROOT/opt/ros/${ROS_DISTRO}/setup.bash; \
        colcon build --merge-install \
          --packages-skip citysim \
          --cmake-args \
          -DCMAKE_TOOLCHAIN_FILE=$AUTOWARE_TOOLCHAIN_FILE_PATH \
          -DCMAKE_SYSTEM_PROCESSOR=$AUTOWARE_TARGET_ARCH \
          -DCMAKE_PREFIX_PATH="$(pwd)/install;${AUTOWARE_SYSROOT}/opt/ros/${ROS_DISTRO}" \
          -DCMAKE_FIND_ROOT_PATH=$(pwd)/install/;'