build_and_test.yml

name: build_and_test

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 * * *'

  # Whenever certain branches are pushed
  push:
    branches: [main]

  # On demand from github.com for testing
  workflow_dispatch:

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

jobs:

  ubuntu_build_and_test:
    timeout-minutes: 30
    strategy:
      fail-fast: false
      matrix:
        ubuntu_version: [22.04, 24.04, 26.04]

    runs-on: ubuntu-latest
    steps:
      - name: Check out repository
        uses: actions/checkout@v4
        with:
          submodules: true
      - name: Sanitize tag name
        id: sanitize_tag
        run: |
          BRANCH="${{ github.head_ref || github.ref_name }}"
          TAG="${BRANCH//\//-}"
          echo "tag=$TAG" >> $GITHUB_OUTPUT
      - name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v3
      - name: Build and push
        uses: docker/build-push-action@v5
        with:
          context: .
          file: .docker/ubuntu/Dockerfile
          tags: roboplan_ubuntu:${{ steps.sanitize_tag.outputs.tag }}
          build-args: |
            UBUNTU_VERSION=${{ matrix.ubuntu_version }}
          push: false
          load: true
          cache-from: type=gha,scope=ubuntu-${{ matrix.ubuntu_version }}
          cache-to: type=gha,mode=max,scope=ubuntu-${{ matrix.ubuntu_version }}
      - name: Run tests
        run: |
          docker run --rm \
            roboplan_ubuntu:${{ steps.sanitize_tag.outputs.tag }} \
            /bin/bash -c './scripts/run_tests.bash'

  # Build ROS docker images and run tests.
  ros_build_and_test:
    timeout-minutes: 30
    strategy:
      fail-fast: false
      matrix:
        ros_distro: [humble, jazzy, kilted, lyrical, rolling]

    runs-on: ubuntu-latest
    steps:
      - name: Check out repository
        uses: actions/checkout@v4
        with:
          submodules: true
      - name: Sanitize tag name
        id: sanitize_tag
        run: |
          BRANCH="${{ github.head_ref || github.ref_name }}"
          TAG="${BRANCH//\//-}"
          echo "tag=$TAG" >> $GITHUB_OUTPUT
      - name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v3
      - name: Build and push
        uses: docker/build-push-action@v5
        with:
          context: .
          file: .docker/ros/Dockerfile
          tags: roboplan_ros:${{ steps.sanitize_tag.outputs.tag }}
          build-args: |
            ROS_DISTRO=${{ matrix.ros_distro }}
            GENERATE_PYTHON_STUBS=${{ matrix.ros_distro == 'humble' && 'OFF' || 'ON' }}
          push: false
          load: true
          cache-from: type=gha,scope=ros-${{ matrix.ros_distro }}
          cache-to: type=gha,mode=max,scope=ros-${{ matrix.ros_distro }}
      - name: Run tests
        run: |
          docker run --rm \
            roboplan_ros:${{ steps.sanitize_tag.outputs.tag }} \
            /bin/bash -c './src/roboplan/scripts/run_tests.bash'

  pixi_build_and_test:
    timeout-minutes: 30
    env:
      SCCACHE_DIR: ${{ github.workspace }}/.sccache
    strategy:
      fail-fast: false
      matrix:
        include:
          - os: ubuntu-22.04
            cache-key: ubuntu-22.04
          - os: ubuntu-24.04
            cache-key: ubuntu-24.04
          - os: ubuntu-26.04
            cache-key: ubuntu-26.04
          - os: macos-14
            cache-key: macos-arm64

    runs-on: ${{ matrix.os }}
    steps:
      - name: Check out repository
        uses: actions/checkout@v4
        with:
          submodules: true
      - name: Cache sccache
        uses: actions/cache@v4
        with:
          path: ${{ env.SCCACHE_DIR }}
          key: ${{ matrix.cache-key }}-sccache-${{ github.head_ref || github.ref_name }}
          restore-keys: |
            ${{ matrix.cache-key }}-sccache-main
            ${{ matrix.cache-key }}-sccache
      - uses: prefix-dev/setup-pixi@v0.8.14
        with:
          cache: true
          cache-write: ${{ github.event_name == 'push' && github.ref_name == 'main' }}
          frozen: true
          manifest-path: pixi.toml
      - name: Build and test
        run: |
          pixi run -e ci install_all
          pixi run -e ci build_tests
          pixi run -e ci test_all
      - name: Check bindings stub files
        run: |
          if ! git diff --exit-code --shortstat -- '*.pyi'; then
            echo "::error::The .pyi stub files are out of sync with the source code. Make sure to rebuild the Python bindings without symlink builds using 'pixi run -e ci install_all' and commit the changes."
            echo "Git Diff:"
            git diff -- '*.pyi'
            exit 1
          fi
          echo "✅ .pyi stub files look good!"
      - name: Run clang-tidy
        if: matrix.os == 'ubuntu-26.04'
        run: |
          pixi run -e ci clang-tidy
      # TODO: Decide on a method for automated benchmark performance testing.
      # TODO: These are currently running in debug mode due to `-e ci`. We should fix this.
      - name: Run benchmarks
        if: matrix.os != 'ubuntu-26.04'  # Just to not share time with clang-tidy
        run: |
          pixi run -e ci test_benchmarks