# GitLab CI 配置 - ROS2 项目自动 build + test
#
# 触发:
#   - 推送到 master / develop
#   - Merge Request
#
# 阶段:
#   1. lint  - 静态检查(ruff + flake8 + cpp linter)
#   2. build - Docker 镜像 + colcon build
#   3. test  - colcon test(全部包)
#   4. docs  - (可选)生成 sphinx 文档

stages:
  - lint
  - build
  - test

variables:
  DOCKER_IMAGE: "ros2-humble-dev:latest"
  DOCKER_COMPOSE_PROJECT: "ros2-ci"
  PACKAGES: "py_pubsub cpp_pubsub py_srv py_action_demo cpp_robot_tf2 py_vision_demo py_params cpp_custom_interface py_lifecycle_composable cpp_qos_demo py_overlay_dds bringup"

# ---------- 共享缓存 ----------
.cache-template: &docker-cache
  key: docker-cache
  paths:
    - docker/.cache/

# ---------- Lint ----------
lint:python:
  stage: lint
  image: python:3.10
  before_script:
    - pip install ruff flake8
  script:
    - ruff check src/ || true
    - flake8 src/ --max-line-length=120 || true
  rules:
    - if: $CI_PIPELINE_SOURCE == "merge_request_event"
    - if: $CI_COMMIT_BRANCH == "master"
    - if: $CI_COMMIT_BRANCH == "develop"

# ---------- Build ----------
build:docker:
  stage: build
  image: docker:24
  services:
    - docker:dind
  variables:
    DOCKER_TLS_CERTDIR: ""
    DOCKER_HOST: tcp://docker:2375
  before_script:
    - docker info
  script:
    - docker compose -p ${DOCKER_COMPOSE_PROJECT} -f docker/docker-compose.yml build
  rules:
    - if: $CI_PIPELINE_SOURCE == "merge_request_event"
    - if: $CI_COMMIT_BRANCH == "master"
    - if: $CI_COMMIT_BRANCH == "develop"

# ---------- Test ----------
test:colcon:
  stage: test
  image: ${DOCKER_IMAGE}
  needs: ["build:docker"]
  before_script:
    - apt-get update -qq
    - apt-get install -y --no-install-recommends colcon
  script:
    - source /opt/ros/humble/setup.bash
    - cd /root/ros2_ws
    - colcon build --symlink-install --packages-select ${PACKAGES}
    - colcon test --packages-select ${PACKAGES}
    - colcon test-result --verbose
  artifacts:
    when: always
    paths:
      - build/**/test_results/
      - log/
    expire_in: 7 days
  rules:
    - if: $CI_PIPELINE_SOURCE == "merge_request_event"
    - if: $CI_COMMIT_BRANCH == "master"
    - if: $CI_COMMIT_BRANCH == "develop"