action.yml

name: Test all targets

on:
  push:
  pull_request:
  workflow_dispatch:

permissions:
  contents: write

jobs:
  quick-tests:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@master
      - uses: dtolnay/rust-toolchain@stable
        with:
          toolchain: stable
      - name: Check Type
        run: cargo fmt -- --check
      - name: Check Clippy
        run: cargo clippy -- -Dwarnings
      - name: Run internal tests
        run: cargo test --verbose -- --nocapture
      - name: Build
        run: cargo build

  build:
    needs: quick-tests
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@master
      - uses: dtolnay/rust-toolchain@stable
        with:
          toolchain: stable
      - name: Build docs
        run: cargo doc
      - name: Move documentation
        run: mkdir -p pages/doc && mv target/doc/* pages/doc/
      - name: Get previous benchmark data
        if: ${{ github.ref == 'refs/heads/master' }}
        run: |
            echo "Fetching gh-pages branch"
            git fetch origin gh-pages
            echo "Checking out gh-pages branch"
            git checkout gh-pages
            echo "Copying data file from gh-pages to cache"
            mkdir -p pages/dev && cp -r dev/* pages/dev/ || { echo "Failed to copy dev folder" ; exit 1; }
            echo "Checking out current previous branch"
            git checkout -
      - name: Deploy
        uses: peaceiris/actions-gh-pages@v3
        if: ${{ github.ref == 'refs/heads/master' }}
        with:
          github_token: ${{ secrets.GITHUB_TOKEN }}
          publish_dir: ./pages

  cross-compile-bench:
      needs: build
      if: ${{ github.repository_owner == 'bluerobotics' }}
      runs-on: ubuntu-latest
      strategy:
        matrix:
          TARGET: [armv7-unknown-linux-gnueabihf]
      steps:
      - uses: actions/checkout@master
      - name: Cross-compile benchmark
        uses: RaulTrombin/actions-rust-cross@add_bench
        with:
          command: bench
          target: ${{ matrix.TARGET }}
          args: "--no-run"
      - name: List benchmark files
        run: |
          echo "Available files in target directory:"
          find target/${{ matrix.TARGET }}/release -type f -name "bench-*" -not -name "*.d"
      - name: Upload benchmark binary
        uses: actions/upload-artifact@v3
        with:
          name: benchmark-binary
          # Exclude .d files and only get the actual binary
          path: target/${{ matrix.TARGET }}/release/deps/bench-[0-9a-f]*
          retention-days: 1

  run-bench:
    needs: cross-compile-bench
    if: ${{ github.repository_owner == 'bluerobotics' }}
    runs-on: raspbian-armv7-kernel-5.10.33
    steps:
    - uses: actions/checkout@master
    - name: Download benchmark binary
      uses: actions/download-artifact@v3
      with:
        name: benchmark-binary
        path: ./bench-binary
    - name: Get previous benchmark data
      run: |
          echo "Fetching gh-pages branch"
          git fetch origin gh-pages

          echo "Checking out gh-pages branch"
          git checkout gh-pages

          if [ ! -d "cache" ]; then
            echo "Cache folder does not exist, creating it"
            mkdir cache
          fi

          echo "Copying data file from gh-pages to cache"
          cp dev/cache/benchmark-data.json cache/benchmark-data.json || { echo "Failed to copy data file" ; exit 1; }

          echo "Checking out current previous branch"
          git checkout -
    - name: Debug downloaded files
      run: |
        echo "Files in bench-binary directory:"
        ls -la ./bench-binary/
    - name: Make benchmark executable
      run: |
        chmod +x ./bench-binary/*
        find ./bench-binary -type f -executable -name "bench-*" -not -name "*.d"
    - name: Run benchmark
      run: |
        BENCH_BINARY=$(find ./bench-binary -type f -executable -name "bench-*" -not -name "*.d" | head -n 1)
        echo "Found benchmark binary: $BENCH_BINARY"
        if [ -z "$BENCH_BINARY" ]; then
          echo "No benchmark binary found!"
          exit 1
        fi
        $BENCH_BINARY --jobs 1 --bench bench -- --output-format bencher | tee output.txt || { echo "Benchmark failed"; exit 1; }
    - name: Compare results & store cached results
      uses: benchmark-action/github-action-benchmark@v1.18.0
      with:
        tool: 'cargo'
        output-file-path: output.txt
        summary-always: true
        alert-threshold: "130%"
        fail-on-alert: true
        external-data-json-path: ./cache/benchmark-data.json
        skip-fetch-gh-pages: "true"
    - name: Update data file
      if: ${{ github.ref == 'refs/heads/master' }}
      run: |
        git config user.name "GitHub Actions Bot"
        git config user.email "actions@github.com"
        git fetch origin gh-pages
        git checkout gh-pages
        if [ ! -d "dev/cache" ]; then
          echo "Cache folder does not exist, creating it"
          mkdir -p dev/cache
        fi
        cp cache/benchmark-data.json dev/cache/benchmark-data.json
        tree cache
        git add dev/cache/benchmark-data.json
        git commit -m "Update benchmark-data file"
        git push origin gh-pages

  deploy:
    needs: build
    runs-on: ubuntu-latest
    if: startsWith(github.ref, 'refs/tags/')
    steps:
      - name: Checkout to repository
        uses: actions/checkout@v2
      - name: Setup Rust toolchain
        uses: actions-rs/toolchain@v1.0.7
        with:
          toolchain: stable
          override: true
      - name: Install cargo-bump
        run: cargo install cargo-bump --force
      - name: Modify version with tag
        run: cargo bump ${{ github.ref_name }}
      - name: Automatic commit for crate version upgrade
        uses: stefanzweifel/git-auto-commit-action@v4
        with:
          branch: master
          commit_message: "Cargo: Update the crate version to ${{ github.ref_name }}"
      - name: Publish to crates.io
        uses: katyo/publish-crates@v1
        with:
          registry-token: ${{ secrets.CARGO_REGISTRY_TOKEN }}