reusable-platformio-ci.yml

name: Reusable PlatformIO CI

# Controls when this action will run.
on:
  workflow_call:
    inputs:
      ros_distro:
        description: 'ROS_DISTRO variable'
        required: true
        type: string

      reference:
        description: 'Branch or tag of repo to checkout for build.'
        default: ''
        required: false
        type: string

    
jobs:
  # This job is used to build the calibration firmware
  build-calibration:
    name: Build Calibration
    runs-on: ubuntu-latest

    steps:
      # Check out the repository
      - uses: actions/checkout@v3
        with:
          ref: ${{ inputs.reference }}
          path: repo

      # Cache dependencies to speed up workflows
      - uses: actions/cache@v3
        with:
          path: |
            ~/.cache/pip
            ~/.platformio/.cache
          key: ${{ runner.os }}-pio

      - name: Install environment
        uses: ./repo/.github/actions/platformio-env

      - name: Build Calibration
        run: |
          export PATH=$PATH:~/.platformio/penv/bin
          cd repo/calibration
          pio run


  # This job parses the firmware/platformio.ini file
  pio-fw-matrix:
    name: Parse firmware/platformio.ini
    runs-on: ubuntu-latest
    outputs:
      matrix: ${{ steps.set-matrix.outputs.matrix }}

    steps:
      # check out the repository
      - uses: actions/checkout@v3
        with:
          ref: ${{ inputs.reference }}

      - name: Set up Python
        uses: actions/setup-python@v4
        with:
          python-version: '3.9'

      # run the python script to parse the platformio.ini file and output as json to a matrix
      # pass the ros distros desired as arguments
      - name: Parse platformio.ini
        id: set-matrix
        run: |
          echo "matrix=$(python .github/parse_platformio.py)" >> $GITHUB_OUTPUT


  # This job builds the firmware for each environment parsed from the platformio.ini file
  build-firmware:
    # require the pio-fw-matrix job to complete before running
    needs: pio-fw-matrix
    runs-on: ubuntu-latest
    name: Build ${{ matrix.env }} firmware on ROS ${{ inputs.ros_distro }}
    strategy:
      # don't stop all jobs if one fails
      fail-fast: false
      # Build the firmware for each environment from parsing job in parallel
      matrix:
        include: ${{fromJson(needs.pio-fw-matrix.outputs.matrix)}}

    steps:
      # Check out the repository
      - uses: actions/checkout@v3
        with:
          ref: ${{ inputs.reference }}
          path: repo

      # Cache dependencies to speed up workflows
      - uses: actions/cache@v3
        with:
          path: |
            ~/.cache/pip
            ~/.platformio/.cache
          key: ${{ runner.os }}-pio

      - name: Install environment
        uses: ./repo/.github/actions/platformio-env
          
      # Build the firmware for each environment in parallel
      - name: Build Firmware
        env:
          ROS_DISTRO: ${{ inputs.ros_distro }}
        shell: bash
        run: |
          export PATH=$PATH:~/.platformio/penv/bin
          cd repo/firmware
          pio run -e ${{ matrix.env }}