name: SDF Parsing

on:
  push:
    branches:
      - '*'

jobs:
    build:
        runs-on: ubuntu-latest

        steps:
            - name: Checkout code
              uses: actions/checkout@v4
              with:
                fetch-depth: 2

            - name: Install packages
              id: install-packages
              run: |
                sudo apt install -y build-essential cmake python3-pip wget lsb-release gnupg curl
                sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
                wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
                sudo apt-get update
                sudo apt install -y libsdformat14-dev libsdformat14

            - name: Build check_sdf
              id: build-check-sdf
              run: |
                cd ./sdf_parsing
                mkdir build
                cd build/
                cmake .. -Wno-dev
                make

            - name: Get latest commit hash
              id: latest_commit
              run: echo "hash=$(git log --format="%H" -n 1 | tail -n 1)" >> $GITHUB_OUTPUT

            - name: Get second-to-last commit hash
              id: second_to_last_commit
              run: echo "hash=$(git log --format="%H" -n 2 | tail -n 1)" >> $GITHUB_OUTPUT

            # - name: Get changed files
            #   id: changed-files
            #   run:  echo "changed_files=$(git diff --name-only ${{ steps.second_to_last_commit.outputs.hash }} ${{ steps.latest_commit.outputs.hash }})" >> $GITHUB_OUTPUT

            - name: Iterate, find and check .sdf files
              run: |
                changed_files=$(git diff --name-only ${{ steps.second_to_last_commit.outputs.hash }} ${{ steps.latest_commit.outputs.hash }})
                for file in $changed_files; do
                  if [[ $file == *.sdf ]]; then
                    echo "Checking $file"

                    # Run sdf parser
                    ./sdf_parsing/build/check_sdf $file
                    exit_code=$?

                    # Exit if exit code not equal 0
                    if [ $exit_code -ne 0 ]; then
                        echo "sdf parsing error in $file, exit code: $exit_code"
                    fi

                  fi
                done