ci.yml

name: Integration tests
on:
  workflow_dispatch:
  pull_request:
  push:
    branches:
      - master
  schedule:
    - cron: '38 2 * * *'

jobs:
  ubuntu_build:
    name: ubuntu_build
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v6
      - name: Install build-tools
        run: sudo apt-get update && sudo apt-get install -y build-essential cmake python3-pandas python3-lxml
      - name: configure
        run: >
          mkdir build &&
          cd build &&
          cmake ..
          -DBUILDING_TESTS=1
          -DINTEGRATION_TESTS=1
          -DWITH_ASAN=ON
          -DPRIMARY_CLIENT_STRICT_PARSING_=ON
          -DCMAKE_COMPILE_WARNING_AS_ERROR=ON
          -DCHECK_RTDE_DOCS_RECIPE=ON
        env:
          CXXFLAGS: -g -O2 -fprofile-arcs -ftest-coverage
          CFLAGS: -g -O2 -fprofile-arcs -ftest-coverage
          LDFLAGS: -fprofile-arcs -ftest-coverage
      - name: build
        id: build
        run: cmake --build build --config Debug
      - name: Archive CMake build directory
        if: steps.build.outcome == 'success'
        run: tar -czf build.tar.gz build
      - name: Upload CMake build archive
        if: steps.build.outcome == 'success'
        uses: actions/upload-artifact@v7
        with:
          path: build.tar.gz
          if-no-files-found: error
          retention-days: 5
          archive: false

  run_tests:
    timeout-minutes: 60
    runs-on: ubuntu-latest
    name: run_tests (${{matrix.env.URSIM_VERSION}}-${{matrix.env.ROBOT_MODEL}})
    needs: ubuntu_build
    strategy:
      fail-fast: false
      matrix:
        env:
          - ROBOT_MODEL: 'ur5'
            URSIM_VERSION: '3.14.3'
            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/cb3'
          - ROBOT_MODEL: 'ur5e'
            URSIM_VERSION: '5.9.4'
            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
          - ROBOT_MODEL: 'ur20'
            URSIM_VERSION: 'latest'
            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
          - ROBOT_MODEL: 'ur5e'
            URSIM_VERSION: '10.7.0'
            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/polyscopex'
          - ROBOT_MODEL: 'ur5e'
            URSIM_VERSION: '10.11.0'
            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/polyscopex'
          - ROBOT_MODEL: 'ur5e'
            URSIM_VERSION: '10.12.0'
            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/polyscopex'

    steps:
      - uses: actions/checkout@v6
      - name: start ursim
        run: |
          scripts/start_ursim.sh -m $ROBOT_MODEL -v $URSIM_VERSION -p $PROGRAM_FOLDER -d -f DISABLED
        env:
          DOCKER_RUN_OPTS: --network ursim_net
          ROBOT_MODEL: ${{matrix.env.ROBOT_MODEL}}
          URSIM_VERSION: ${{matrix.env.URSIM_VERSION}}
          PROGRAM_FOLDER: ${{matrix.env.PROGRAM_FOLDER}}
      - id: check_polyscopex
        run: |
          if [[ "${{matrix.env.URSIM_VERSION}}" == "10."* ]]; then
            echo "is_polyscopex=true" >> $GITHUB_OUTPUT
          else
            echo "is_polyscopex=false" >> $GITHUB_OUTPUT
          fi
      - name: setup chrome
        uses: browser-actions/setup-chrome@v2
      - name: Download CMake build archive
        uses: actions/download-artifact@v8
        with:
          name: build.tar.gz
      - name: Extract CMake build directory
        run: tar -xzf build.tar.gz
      - name: Create folder for test artifacts
        run: mkdir -p test_artifacts
      - name: Access PolyScope
        if: ${{ steps.check_polyscopex.outputs.is_polyscopex  == 'true' }}
        run: chrome --no-sandbox --disable-settuid-sandbox --headless=new 192.168.56.101 &
      - name: Install Python dependencies
        run: sudo apt-get update && sudo apt-get install -y python3-pandas python3-lxml
      - name: Generate rtde outputs lists
        run: python3 tests/resources/generate_rtde_outputs.py 
      - name: test
        run: cd build && ctest --output-on-failure --output-junit junit.xml
        env:
          URSIM_VERSION: ${{matrix.env.URSIM_VERSION}}
      - name: Upload test results to Codecov
        uses: codecov/codecov-action@v7
        with:
          fail_ci_if_error: true
          files: build/junit.xml
          report_type: test_results
        env:
          CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
      - name: run examples
        run: ./run_examples.sh "192.168.56.101" 1
      - name: install gcovr
        run: sudo apt-get install -y gcovr
      - name: gcovr
        run: cd build && gcovr -r .. --xml coverage.xml --gcov-ignore-parse-errors negative_hits.warn_once_per_file --exclude "../3rdparty"
      - name: Upload coverage reports to Codecov with GitHub Action
        uses: codecov/codecov-action@v7
        with:
          fail_ci_if_error: true
          files: build/coverage.xml
          flags: ${{ matrix.env.ROBOT_MODEL }}-${{ matrix.env.URSIM_VERSION }}
        env:
          CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
      - name: Generate URSim log files
        if: ${{ always() &&  steps.check_polyscopex.outputs.is_polyscopex  == 'false' }}
        run: |
          nc -q 1 192.168.56.101 29999 <<END
          saveLog
          END
          mkdir -p ursim_logs
          docker cp ursim:/ursim/URControl.log ursim_logs/URControl.log
          docker cp ursim:/ursim/polyscope.log ursim_logs/polyscope.log
          docker cp ursim:/ursim/log_history.txt ursim_logs/log_history.txt
      - name: Copy flight reports
        if: ${{ failure() &&  steps.check_polyscopex.outputs.is_polyscopex  == 'false' }}
        run: |
          mkdir -p ursim_logs/flightreports
          docker cp ursim:/ursim/flightreports/. ursim_logs/flightreports/
      - name: Upload logfiles
        uses: actions/upload-artifact@v7
        if: ${{ always() &&  steps.check_polyscopex.outputs.is_polyscopex  == 'false' }}
        with:
          name: ${{matrix.env.ROBOT_MODEL}}_${{matrix.env.URSIM_VERSION}}_URSim_Logs
          path: ursim_logs
          if-no-files-found: error
          retention-days: 10
      - name: Upload test artifacts
        uses: actions/upload-artifact@v7
        if: ${{ always() &&  steps.check_polyscopex.outputs.is_polyscopex  == 'false' }}
        with:
          name: ${{matrix.env.ROBOT_MODEL}}_${{matrix.env.URSIM_VERSION}}_test_artifacts
          path: test_artifacts
          if-no-files-found: error
          retention-days: 10
      - name: Upload generated scripts
        uses: actions/upload-artifact@v6
        if: ${{ always() }}
        with:
          name: ${{matrix.env.ROBOT_MODEL}}_${{matrix.env.URSIM_VERSION}}_generated_scripts
          path: test_artifacts/generated_scripts
          if-no-files-found: warn
          retention-days: 10

  robot_model_check:
    timeout-minutes: 60
    runs-on: ubuntu-latest
    needs: ubuntu_build
    name: check_model (${{matrix.env.URSIM_VERSION}}-${{matrix.env.ROBOT_MODEL}})
    strategy:
      fail-fast: false
      matrix:
        env:
          - ROBOT_MODEL: 'ur3'
            URSIM_VERSION: '3.14.3'
            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/cb3'
          - ROBOT_MODEL: 'ur5'
            URSIM_VERSION: '3.15.8'
            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/cb3'
          - ROBOT_MODEL: 'ur10'
            URSIM_VERSION: '3.15.8'
            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/cb3'
          - ROBOT_MODEL: 'ur3e'
            URSIM_VERSION: '5.9.4'
            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
          - ROBOT_MODEL: 'ur5e'
            URSIM_VERSION: '5.12.8'
            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
          - ROBOT_MODEL: 'ur7e'
            URSIM_VERSION: '5.22.2'
            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
          - ROBOT_MODEL: 'ur10e'
            URSIM_VERSION: '5.15.2'
            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
          - ROBOT_MODEL: 'ur12e'
            URSIM_VERSION: '5.25.1'
            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
          - ROBOT_MODEL: 'ur16e'
            URSIM_VERSION: '5.25.1'
            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
          - ROBOT_MODEL: 'ur8long'
            URSIM_VERSION: '5.25.1'
            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
          - ROBOT_MODEL: 'ur15'
            URSIM_VERSION: '5.25.1'
            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
          - ROBOT_MODEL: 'ur18'
            URSIM_VERSION: '5.25.1'
            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
          - ROBOT_MODEL: 'ur20'
            URSIM_VERSION: '5.25.1'
            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
          - ROBOT_MODEL: 'ur30'
            URSIM_VERSION: '5.25.1'
            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series'
          - ROBOT_MODEL: 'ur3e'
            URSIM_VERSION: '10.11.0'
            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/polyscopex'
          - ROBOT_MODEL: 'ur5e'
            URSIM_VERSION: '10.11.0'
            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/polyscopex'
          - ROBOT_MODEL: 'ur7e'
            URSIM_VERSION: '10.11.0'
            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/polyscopex'
          - ROBOT_MODEL: 'ur10e'
            URSIM_VERSION: '10.11.0'
            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/polyscopex'
          - ROBOT_MODEL: 'ur12e'
            URSIM_VERSION: '10.12.1'
            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/polyscopex'
          - ROBOT_MODEL: 'ur16e'
            URSIM_VERSION: '10.12.1'
            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/polyscopex'
          - ROBOT_MODEL: 'ur8long'
            URSIM_VERSION: '10.12.1'
            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/polyscopex'
          - ROBOT_MODEL: 'ur15'
            URSIM_VERSION: '10.12.1'
            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/polyscopex'
          - ROBOT_MODEL: 'ur18'
            URSIM_VERSION: '10.12.1'
            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/polyscopex'
          - ROBOT_MODEL: 'ur20'
            URSIM_VERSION: '10.12.1'
            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/polyscopex'
          - ROBOT_MODEL: 'ur30'
            URSIM_VERSION: '10.12.1'
            PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/polyscopex'

    steps:
      - uses: actions/checkout@v6
      - name: start ursim
        run: |
          scripts/start_ursim.sh -m $ROBOT_MODEL -v $URSIM_VERSION -p $PROGRAM_FOLDER -d -f DISABLED
        env:
          DOCKER_RUN_OPTS: --network ursim_net
          ROBOT_MODEL: ${{matrix.env.ROBOT_MODEL}}
          URSIM_VERSION: ${{matrix.env.URSIM_VERSION}}
          PROGRAM_FOLDER: ${{matrix.env.PROGRAM_FOLDER}}
      - name: Download CMake build archive
        uses: actions/download-artifact@v8
        with:
          name: build.tar.gz
      - name: Extract CMake build directory
        run: tar -xzf build.tar.gz
      - name: inspect build folder
        run: ls -la build && ls -la build/tests
      - name: test robot type
        run: cd build && ctest -R PrimaryClientTest.test_robot_type --verbose --output-junit junit.xml
        env:
          URSIM_VERSION: ${{matrix.env.URSIM_VERSION}}
          ROBOT_MODEL: ${{matrix.env.ROBOT_MODEL}}
      - name: install gcovr
        run: sudo apt-get install -y gcovr
      - name: gcovr
        run: cd build && gcovr -r .. --xml coverage.xml --gcov-ignore-parse-errors negative_hits.warn_once_per_file --exclude "../3rdparty"
      - name: Upload coverage reports to Codecov with GitHub Action
        uses: codecov/codecov-action@v7
        with:
          fail_ci_if_error: true
          files: build/coverage.xml
          flags: check_version_${{ matrix.env.ROBOT_MODEL }}-${{ matrix.env.URSIM_VERSION }}
        env:
          CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}

  test_start_ursim:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v6
      - uses: ruby/setup-ruby@v1
        with:
          ruby-version: '3.3'  # Not needed with a .ruby-version, .tool-versions or mise.toml
          bundler-cache: true  # runs 'bundle install' and caches installed gems automatically
      - name: Setup Bats and bats libs
        id: setup-bats
        uses: bats-core/bats-action@4.0.0
      - name: Install Ruby dependencies
        run: bundle update --bundler && bundle install
      - name: Run unittests
        shell: bash
        env:
          BATS_LIB_PATH: ${{ steps.setup-bats.outputs.lib-path }}
        run: bundle exec bashcov --skip-uncovered bats tests/test_start_ursim.bats
      - name: Upload coverage reports to Codecov with GitHub Action
        uses: codecov/codecov-action@v7
        with:
          fail_ci_if_error: true
          flags: start_ursim
        env:
          CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}