docs.yml

name: docs

on:
  push:
    branches: [main, master, gymnasium]
  pull_request:
    branches: [main, master, gymnasium]
  workflow_dispatch: {}

jobs:
  sphinx-build:
    runs-on: ubuntu-22.04

    steps:
      # Check out UniROS WITHOUT submodules; we'll clone the framework
      # repos individually below at branch refs matching the current run.
      # The submodule gitlinks in UniROS point at older multiros/realros
      # SHAs; using them here would render stale docstrings.
      - name: Check out UniROS
        uses: actions/checkout@v4
        with:
          path: UniROS

      # The framework + application packages live in separate repos.
      # Clone each at the SAME branch ref this workflow is running on
      # (gymnasium → gymnasium, feature branches → matching branch,
      # etc.) so the docs render the matching versions of every package.
      #
      # LOCKSTEP REQUIREMENT: these checkouts have no fallback — the
      # matching branch MUST exist in multiros / realros / sb3_ros_support
      # or actions/checkout fails the job. When opening a feature branch
      # in UniROS that touches docs, push the same branch name to the
      # other three repos first (an empty no-op commit is enough).
      # rl_environments / rl_training_validation are handled below with
      # an explicit gymnasium → main fallback because they don't use
      # the gymnasium branch convention.
      - name: Check out multiros
        uses: actions/checkout@v4
        with:
          repository: ncbdrck/multiros
          ref: ${{ github.head_ref || github.ref_name }}
          path: multiros

      - name: Check out realros
        uses: actions/checkout@v4
        with:
          repository: ncbdrck/realros
          ref: ${{ github.head_ref || github.ref_name }}
          path: realros

      - name: Check out sb3_ros_support
        uses: actions/checkout@v4
        with:
          repository: ncbdrck/sb3_ros_support
          ref: ${{ github.head_ref || github.ref_name }}
          path: sb3_ros_support

      # rl_environments and rl_training_validation use `main` as their
      # default branch, NOT `gymnasium` (that's a framework-side convention).
      # So when UniROS is on gymnasium, fall back to `main` for these two.
      # Other branches (feature / integration branches) still try to match.
      - name: Check out rl_environments
        uses: actions/checkout@v4
        with:
          repository: ncbdrck/rl_environments
          ref: ${{ (github.head_ref || github.ref_name) == 'gymnasium' && 'main' || (github.head_ref || github.ref_name) }}
          path: rl_environments

      - name: Check out rl_training_validation
        uses: actions/checkout@v4
        with:
          repository: ncbdrck/rl_training_validation
          ref: ${{ (github.head_ref || github.ref_name) == 'gymnasium' && 'main' || (github.head_ref || github.ref_name) }}
          path: rl_training_validation

      # Python 3.8 matches the project's actual runtime (ROS Noetic
      # ships only on Ubuntu 20.04 / Python 3.8). Running docs CI on a
      # newer interpreter pulled in Sphinx 8.x + docutils 0.21, which
      # is stricter about edge-case rST in legacy docstrings that
      # users on 3.8 / Sphinx 7.x never see — pure false positives.
      - uses: actions/setup-python@v5
        with:
          python-version: "3.8"

      - name: Install docs build deps
        working-directory: UniROS
        run: |
          python -m pip install --upgrade pip
          pip install -r docs/requirements.txt

      - name: Syntax-check Python code blocks in docs
        working-directory: UniROS
        run: python scripts/check_python_code_blocks.py docs -v

      - name: Build HTML docs (warnings-as-errors)
        working-directory: UniROS
        run: sphinx-build -W --keep-going -b html docs docs/_build/html

      - name: Upload built docs as artifact
        uses: actions/upload-artifact@v4
        with:
          name: html-docs
          path: UniROS/docs/_build/html
          retention-days: 14