tests.yml

name: tests

on:
  # Run action on certain pull request events
  pull_request:
    types: [opened, synchronize, reopened, ready_for_review]

  # Nightly job on default (main) branch
  schedule:
    - cron: '0 0 * * *'

# Ensures that only one workflow runs at a time for this branch
concurrency:
  group: ${{ github.ref }}
  cancel-in-progress: true

jobs:
  # Pure Python testing
  python-test:
    runs-on: ubuntu-latest
    steps:
      - name: Check out repository
        uses: actions/checkout@v3
      - name: Set up Python
        uses: actions/setup-python@v3
        with:
          python-version: '3.10'
      - name: Install dependencies
        run: |
          python3 -m pip install --upgrade pip
          pip3 install -e pyrobosim
          pip3 install -r test/python_test_requirements.txt
          setup/setup_pddlstream.bash
      - name: Run unit tests
        run: |
          export PYTHONPATH=./dependencies/pddlstream:$PYTHONPATH
          test/run_tests.bash
      - name: Upload test results
        uses: actions/upload-artifact@v3
        with:
          name: test-results
          path: test/results/
        # Always publish test results even when there are failures.
        if: ${{ always() }}

  # Build and test with ROS 2
  ros2-test:
    strategy:
      matrix:
        ros_distro: [humble, iron, rolling]

    name: ros-${{ matrix.ros_distro }}-test
    runs-on: ubuntu-latest
    steps:
      - name: Check out repository
        uses: actions/checkout@v3
      - name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v3
        with:
          driver: docker
      - name: Build Docker image
        uses: docker/build-push-action@v5
        with:
          file: docker/Dockerfile
          context: .
          build-args: |
            ROS_DISTRO=${{ matrix.ros_distro }}
          tags: pyrobosim:${{ matrix.ros_distro }}
      - name: Run tests
        run: |
          docker run \
            --volume ./test/:/pyrobosim_ws/test/:rw \
            --volume ./pytest.ini:/pyrobosim_ws/pytest.ini:rw \
            pyrobosim:${{ matrix.ros_distro }} \
            /bin/bash -c './test/run_tests.bash'
      - name: Upload test results
        uses: actions/upload-artifact@v3
        with:
          name: test-results-${{ matrix.ros_distro }}
          path: test/results/
        # Always publish test results even when there are failures.
        if: ${{ always() }}