name: Integration Tests

on:
  pull_request:
  push:
    branches: [develop, main]

env:
  FORCE_JAVASCRIPT_ACTIONS_TO_NODE24: true

jobs:
  integration:
    runs-on: ubuntu-latest
    strategy:
      fail-fast: false
      matrix:
        ros-distro: [melodic, noetic, humble, jazzy]
        include:
          - ros-distro: melodic
            dockerfile: Dockerfile.ros1-melodic
            container-name: integration-ros-melodic
          - ros-distro: noetic
            dockerfile: Dockerfile.ros1-noetic
            container-name: integration-ros-noetic
          - ros-distro: humble
            dockerfile: Dockerfile.ros2-humble
            container-name: integration-ros2-humble
          - ros-distro: jazzy
            dockerfile: Dockerfile.ros2-jazzy
            container-name: integration-ros2-jazzy

    name: ${{ matrix.ros-distro }}
    steps:
      - name: Checkout code
        uses: actions/checkout@v4

      - name: Set up Python
        uses: actions/setup-python@v5
        with:
          python-version: "3.11"

      - name: Install uv
        uses: astral-sh/setup-uv@v4

      - name: Install dependencies
        run: uv sync --extra dev

      - name: Start ROS container
        run: |
          ROS_DOCKERFILE=${{ matrix.dockerfile }} \
          ROS_CONTAINER_NAME=${{ matrix.container-name }} \
          docker compose -f tests/integration/docker-compose.yml up --build -d --wait
        timeout-minutes: 10

      - name: Detect ROS version
        run: uv run python tests/integration/test_quick_detect.py

      - name: Run integration tests
        run: |
          uv run pytest tests/integration/ -v \
            --ros-distro ${{ matrix.ros-distro }} --skip-compose

      - name: Tear down
        if: always()
        run: |
          ROS_DOCKERFILE=${{ matrix.dockerfile }} \
          ROS_CONTAINER_NAME=${{ matrix.container-name }} \
          docker compose -f tests/integration/docker-compose.yml down --volumes --remove-orphans