tests.yml

name: Tests

on: 
  pull_request: 
  push: 
    branches: 
      - og-develop
      - main

concurrency:
  group: ${{ github.workflow }}-${{ github.event_name == 'pull_request' && github.head_ref || github.sha }}
  cancel-in-progress: true

jobs:
  run_test:
    name: Run Tests
    runs-on: [self-hosted, linux, gpu, dataset-enabled]

    strategy:
      fail-fast: false
      matrix:
        test_file:
          - test_controllers
          - test_curobo
          - test_data_collection
          - test_dump_load_states
          - test_envs
          - test_multiple_envs
          - test_object_removal
          - test_object_states
          - test_primitives
          - test_robot_states_flatcache
          - test_robot_states_no_flatcache
          - test_robot_teleoperation
          - test_scene_graph
          - test_sensors
          - test_symbolic_primitives
          - test_systems
          - test_transform_utils
          - test_transition_rules

    defaults:
      run:
        shell: micromamba run -n omnigibson /bin/bash -leo pipefail {0}

    steps:
      - name: Checkout source
        uses: actions/checkout@v4
        with:
          submodules: true

      - name: Install
        run: pip install -e .[dev,primitives] --no-build-isolation

      - name: Print env
        run: printenv

      - name: Run tests
        run: pytest -s tests/${{ matrix.test_file }}.py --junitxml=${{ matrix.test_file }}.xml && cp ${{ matrix.test_file }}.xml ${GITHUB_WORKSPACE}/
        continue-on-error: true

      - name: Deploy artifact
        uses: actions/upload-artifact@v3
        with:
          name: ${{ github.run_id }}-tests-${{ matrix.test_file }}
          path: ${{ matrix.test_file }}.xml

      - name: Check for failures, errors, or missing XML
        run: |
          if [ ! -f ${{ matrix.test_file }}.xml ]; then
            echo "Error: XML file not found, probably due to segfault"
            exit 1
          elif grep -Eq 'failures="[1-9][0-9]*"|errors="[1-9][0-9]*"' ${{ matrix.test_file }}.xml; then
            echo "Error: Test failures or errors found"
            exit 1
          else
            echo "All tests passed successfully"
            exit 0
          fi

  upload_report:
    name: Compile Report
    runs-on: ubuntu-latest
    defaults:
      run:
        shell: micromamba run -n omnigibson /bin/bash -leo pipefail {0}
    needs: [run_test]
    if: always()
    steps:
      - name: Checkout source
        uses: actions/checkout@v2
        with:
          submodules: true
          path: omnigibson-src
      - name: Pull reports
        uses: actions/download-artifact@v3
        with:
          path: omnigibson-src
      - name: Test Report0
        uses: dorny/test-reporter@v1
        with:
          name: Test Results
          working-directory: omnigibson-src
          path: ${{ github.run_id }}-tests-*/test_*.xml
          reporter: java-junit
          fail-on-error: 'false'
          fail-on-empty: 'false'

      # - name: Upload coverage to Codecov
      #   uses: codecov/codecov-action@v2.1.0
      #   with:
      #     token: ${{ secrets.CODECOV_TOKEN }}