name: ubuntu-build

on: [push, pull_request, workflow_dispatch]
# paths:
# - "*"
# - "!README.md" <-- don't rebuild on doc change
concurrency:
  group: ci-${{github.workflow}}-${{ github.ref }}
  cancel-in-progress: true

jobs:
  build:
    runs-on: ubuntu-22.04
    name: ubuntu-build
    steps:
      - name: Checkout
        uses: actions/checkout@v3
        with:
          submodules: 'recursive'

      - name: Install Build Dependencies
        shell: bash
        run: |
          sudo apt update && sudo apt install --no-install-recommends -y \
          lsb-release \
          sudo \
          software-properties-common \
          wget \
          make \
          cmake \
          ccache \
          g++ \
          git
          sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
          echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
          sudo apt update && sudo apt install --no-install-recommends -y \
          rapidjson-dev \
          libopencv-dev \
          libunwind-dev \
          libgstreamer1.0-dev \
          libgstreamer-plugins-base1.0-dev \
          gstreamer1.0-plugins-bad \
          gstreamer1.0-libav \
          gstreamer1.0-gl \
          gz-harmonic

      # Put ccache into github cache for faster build
      - name: Prepare ccache timestamp
        id: ccache_cache_timestamp
        run: |
          NOW=$(date -u +"%F-%T")
          echo "::set-output name=timestamp::${NOW}"

      - name: Cache ccache files
        uses: actions/cache@v2
        with:
          path: ~/.ccache
          key: ${{github.workflow}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
          restore-keys: ${{github.workflow}}-ccache-  # restore ccache from either previous build on this branch or on master

      - name: Setup ccache
        run: |
          . .github/workflows/ccache.env

      - name: Build
        shell: bash
        run: |
          mkdir build && cd build
          cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo
          make -j4
