main.yml

name: Tbots CI

on:
  push:
    branches: [ master ]
  pull_request:
    branches: [ master ]
  schedule:
    - cron: '0 8 * * *'  # 12 AM PST / 8 AM UTC
  workflow_dispatch:
    inputs:
      clear_cache:
        description: 'Clear cache before building'
        required: false
        type: boolean
        default: true

permissions:
  actions: write
  contents: read

concurrency:
  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
  cancel-in-progress: true

jobs:
  check-and-clear-cache:
    runs-on: ubuntu-24.04
    outputs:
      should_run: ${{ steps.check.outputs.should_run }}
    steps:
      - uses: actions/checkout@v4
        if: github.event_name == 'schedule'
        with:
          fetch-depth: 50
      - name: Check conditions and optionally clear cache
        id: check
        env:
          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
        run: |
          SHOULD_RUN=true
          if [ "${{ github.event_name }}" == "schedule" ]; then
            COMMITS=$(git log --oneline --since="24 hours ago")
            if [ -z "$COMMITS" ]; then
              echo "No commits in the last 24 hours. Skipping."
              SHOULD_RUN=false
            else
              echo "Commits found in the last 24 hours. Clearing cache..."
              gh extension install actions/gh-actions-cache || true
              gh actions-cache delete --all --confirm || true
              gh cache delete --all || true
            fi
          elif [ "${{ github.event_name }}" == "workflow_dispatch" ]; then
            if [ "${{ github.event.inputs.clear_cache }}" == "true" ]; then
              echo "Manual trigger with clear_cache. Clearing cache..."
              gh extension install actions/gh-actions-cache || true
              gh actions-cache delete --all --confirm || true
              gh cache delete --all || true
            fi
          fi
          echo "should_run=$SHOULD_RUN" >> $GITHUB_OUTPUT

  multiplatform-build:
    needs: check-and-clear-cache
    if: needs.check-and-clear-cache.outputs.should_run == 'true'
    strategy:
      matrix:
        platform: [ ubuntu-24.04-arm ]

    name: Ubuntu Alternate Builds
    runs-on: ${{ matrix.platform }}
    steps:
      - uses: actions/checkout@v4
      - uses: ./.github/actions/environment-setup

      - name: Software Build Test
        run: |
          cd src
          bazel build --show_timestamps --copt=-O3 --verbose_failures \
            -- //... -//software:unix_full_system   \
            -//software/gameplay_tests/...         \
            -//software/ai/hl/...                   \
            -//software/embedded/...                \
            -//toolchains/cc/...                    \
            -//software:unix_full_system_tar_gen

      - name: Raspberry Pi Build Test
        run: |
          cd src
          bazel build //software/embedded:thunderloop_main --copt=-O3 --platforms=//toolchains/cc:robot

      - name: Motor Firmware build Test
        run: |
          cd src
          bazel build @mdv6_firmware//:mdv6_firmware_main --platforms=//toolchains/cc:motor_board

  motor-firmware:
    name: Motor Firmware
    runs-on: ubuntu-24.04
    steps:
      - uses: actions/checkout@v4
      - uses: ./.github/actions/environment-setup

      - name: Build Motor Firmware
        run: |
          cd src
          bazel build @mdv6_firmware//:mdv6_firmware_main --platforms=//toolchains/cc:motor_board

  software-tests:
    needs: check-and-clear-cache
    if: needs.check-and-clear-cache.outputs.should_run == 'true'
    name: Software Tests
    runs-on: ubuntu-24.04
    steps:
      - uses: actions/checkout@v4
      - uses: ./.github/actions/environment-setup

      - name: Software Test
        run: |
          cd src
          bazel test --copt=-O3 --show_timestamps --verbose_failures \
            -- //... -//software:unix_full_system \
            -//software/gameplay_tests/...  \
            -//software/ai/hl/...            \
            -//software/ai/navigator/...     \
            -//toolchains/cc/...             \
            -//software:unix_full_system_tar_gen

  robot-tests:
    needs: check-and-clear-cache
    if: needs.check-and-clear-cache.outputs.should_run == 'true'
    name: Robot Software Tests
    runs-on: ubuntu-24.04
    steps:
      - uses: actions/checkout@v4
      - uses: ./.github/actions/environment-setup
        
      - name: Raspberry Pi Build
        run: |
         cd src
         bazel build //software/embedded:thunderloop_main --copt=-O3 --platforms=//toolchains/cc:robot


  simulated-gameplay-tests:
    needs: check-and-clear-cache
    if: needs.check-and-clear-cache.outputs.should_run == 'true'
    name: Simulated Gameplay Tests
    runs-on: ubuntu-24.04
    steps:
      - uses: actions/checkout@v4
      - uses: ./.github/actions/environment-setup

      - name: Simulated Test Run
          # TODO (#2908): reenable once field tests can be ran as simulated
          # //software/gameplay_tests/...    \
        run: |
          cd src
          bazel test //software/gameplay_tests:requirements_test
          bazel test --copt=-O3 --flaky_test_attempts=3 --show_timestamps \
            --test_arg="--ci_mode"            \
            -- //software:unix_full_system       \
            -//software/gameplay_tests:requirements_test \
            //software/ai/hl/...              \
            //software/ai/navigator/...
            
      - name: Upload simulated test proto logs
        # Ensure that simulated test logs get uploaded
        if: always()
        uses: actions/upload-artifact@v4
        with:
          name: blue-sim-test-proto-logs
          path: |
            /tmp/tbots/blue/test/*/proto_*

      - name: Upload simulated test proto logs
        # Ensure that simulated test logs get uploaded
        if: always()
        uses: actions/upload-artifact@v4
        with:
          name: yellow-sim-test-proto-logs
          path: |
            /tmp/tbots/yellow/test/*/proto_*

  autorefd-game:
    needs: check-and-clear-cache
    if: needs.check-and-clear-cache.outputs.should_run == 'true'
    name: AutoRef'd Game (3 Minutes)
    runs-on: ubuntu-24.04
    steps:
      - uses: actions/checkout@v4
      - uses: ./.github/actions/environment-setup

      - name: AI vs AI (3 minutes)
        run: |
          cd src
          bazel run --run_under="xvfb-run" //software/thunderscope:thunderscope_main --copt=-O3 -- --enable_autoref --ci_mode

      - name: Upload AI vs AI logs
        # Ensure that simulated test logs get uploaded
        if: always()
        uses: actions/upload-artifact@v4
        with:
          name: blue-ai-vs-ai-proto-logs
          path: |
            /tmp/tbots/blue/proto_*

      - name: Upload AI vs AI logs
        # Ensure that simulated test logs get uploaded
        if: always()
        uses: actions/upload-artifact@v4
        with:
          name: yellow-ai-vs-ai-proto-logs
          path: |
            /tmp/tbots/yellow/proto_*