cicd.yml

name: CI/CD

on:
  push:
    branches: ["**"]
    tags-ignore: ["**"]
  pull_request:
  workflow_dispatch:
  release:
    types: [published]

jobs:

# =============
  build-colcon:
# =============
    name: 'colcon@${{ matrix.gazebo }}'
    if: |
      (github.event_name == 'push' && github.ref != 'refs/heads/master') ||
      (github.event_name == 'pull_request' && github.event.pull_request.base.ref != 'master')
    runs-on: ubuntu-latest
    strategy:
      fail-fast: false
      matrix:
        gazebo:
          # - dome
          # - edifice
          - garden
    env:
      CCACHE_DIR: ${{ github.workspace }}/.ccache
    steps:

      - name: '🔍️ Inspect Environment'
        run: |
          env | grep ^GITHUB
          echo ""
          cat ${GITHUB_EVENT_PATH}
          echo ""
          env

      - name: '⬇️️ Install dependencies'
        run: |
          sudo apt-get update
          sudo apt-get install -y --no-install-recommends \
            lz4 \
            git \
            wget \
            gpg-agent \
            ninja-build \
            build-essential \
            software-properties-common \
            libeigen3-dev \
            libxml2-dev \
            coinor-libipopt-dev \
            libassimp-dev \
            libirrlicht-dev \
            libglfw3-dev \
            swig 

      - name: '🐍 Initialize Python'
        uses: actions/setup-python@v5
        with:
          python-version: '3.10'

      - name: '🚚 Compilation cache'
        uses: actions/cache@v3
        with:
          path: ${{ env.CCACHE_DIR }}
          # We include the commit sha in the cache key, as new cache entries are
          # only created if there is no existing entry for the key yet.
          key: ${{ runner.os }}-ccache-${{ matrix.gazebo }}-${{ github.sha }}
          # Restore any ccache cache entry, if none for the key above exists
          restore-keys: ${{ runner.os }}-ccache-${{ matrix.gazebo }}

      - name: '🚚 Enable ccache'
        run: |
          sudo apt-get update
          sudo apt-get install -y ccache
          echo "/usr/lib/ccache" >> $GITHUB_PATH
          ccache --set-config=max_size=5.0G
          ccache --set-config=sloppiness=file_macro,locale,time_macros
          ccache -p
          ccache -s

      - name: '⚙️ Add osrf ppa'
        run: |
          sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" >\
            /etc/apt/sources.list.d/gazebo-stable.list'
          wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
          sudo apt-get update

      - name: '⚙️ Prepare colcon workspace'
        run: |
          pip install vcstool colcon-common-extensions
          sudo mkdir -p /workspace/src /workspace/install
          sudo chmod -R a+rw /workspace
          cd /workspace/src
          wget -O - ${TAGS_YAML} | vcs import
          echo $(sort -u $(find . -iname 'packages-'$(lsb_release -cs)'.apt' -o -iname 'packages.apt') | grep -v -E "^libgz|^libsdformat" | tr '\n' ' ') \
            > /workspace/install/pkg.txt
          xargs -a /workspace/install/pkg.txt sudo apt-get install -y --no-install-recommends
        env:
          TAGS_YAML: https://raw.githubusercontent.com/gazebo-tooling/gazebodistro/master/collection-${{ matrix.gazebo }}.yaml

      - name: '🏗️ Build idyntree'
        run: |
          cd /workspace/src
          pip install numpy
          git clone https://github.com/robotology/idyntree.git
          cd ..
          colcon build \
              --packages-select iDynTree \
              --cmake-args \
                  -GNinja \
                  -DIDYNTREE_USES_PYTHON:BOOL=ON \
                  -DIDYNTREE_USES_IPOPT:BOOL=ON \
                  -DCMAKE_BUILD_TYPE=Debug \
              --merge-install

      - name: '🏗️ Build colcon workspace'
        run: |
          cd /workspace
          colcon graph
          colcon build \
              --cmake-args \
                  -GNinja \
                  -DBUILD_TESTING:BOOL=OFF \
                  -DCMAKE_BUILD_TYPE=Debug \
              --merge-install

      - name: '📈 Ccache stats'
        run: ccache --show-stats

      - name: '📦️ Compress the workspace'
        run: tar -I lz4 -cf /tmp/workspace_install.tar.lz4 /workspace/install
      - name: '⬆️ Upload the workspace'
        uses: actions/upload-artifact@v4
        with:
          path: /tmp/workspace_install.tar.lz4
          name: workspace-${{ matrix.gazebo }}
          retention-days: 1

# ===============
  build-and-test:
# ===============
    name: 'Build and Test [${{matrix.type}}|${{matrix.gazebo}}|${{matrix.python}}]'
    if: always()
    needs: [ build-colcon ]
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        os:
          - ubuntu-latest
        type:
          - User
          - Developer
        gazebo:
          # - dome
          # - edifice
          - garden
        python:
          - '3.10'
    steps:

      - name: '🔍 Inspect Environment'
        run: |
          env | grep ^GITHUB
          echo ""
          cat ${GITHUB_EVENT_PATH}
          echo ""
          env

      - name: '⬇️ Install build dependencies'
        if: contains(matrix.os, 'ubuntu')
        run: |
          sudo apt-get update
          sudo apt-get install -y --no-install-recommends \
            lz4 \
            git \
            wget \
            cmake \
            gpg-agent \
            ninja-build \
            build-essential \
            software-properties-common

      - name: '🐍 Initialize Python'
        uses: actions/setup-python@v5
        with:
          python-version: ${{ matrix.python }}

      - name: '🔀 Clone repository'
        uses: actions/checkout@master
      - name: '🔀 Download all refs'
        run: git fetch --prune --unshallow

      # ================
      # Install Gazebo
      # ================

      - name: '⚙️ Add osrf ppa'
        if: contains(matrix.os, 'ubuntu')
        run: |
          sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" >\
            /etc/apt/sources.list.d/gazebo-stable.list'
          wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
          sudo apt-get update
      - name: '[🔒️|stable] Install Gazebo from ppa'
        if: |
          contains(matrix.os, 'ubuntu') && (
            github.event_name == 'release' ||
            github.ref == 'refs/heads/master' ||
            (github.event_name == 'pull_request' && github.event.pull_request.base.ref == 'master')
          )
        run: sudo apt-get install -y --no-install-recommends gz-${{ matrix.gazebo }}

      - name: '[🧪|nightly] Download pre-built colcon workspace'
        uses: actions/download-artifact@v4
        if: |
          contains(matrix.os, 'ubuntu') && (
            (github.event_name == 'push' && github.ref != 'refs/heads/master') ||
            (github.event_name == 'pull_request' && github.event.pull_request.base.ref != 'master')
          )
        with:
          path: /tmp
          name: workspace-${{ matrix.gazebo }}
      - name: '[🧪|nightly] Setup colcon workspace'
        if: |
          contains(matrix.os, 'ubuntu') && (
            (github.event_name == 'push' && github.ref != 'refs/heads/master') ||
            (github.event_name == 'pull_request' && github.event.pull_request.base.ref != 'master')
          )
        run: |
          sudo tar -I lz4 -xf /tmp/workspace_install.tar.lz4 -C /
          xargs -a /workspace/install/pkg.txt sudo apt-get install -y --no-install-recommends
          echo "source /workspace/install/setup.bash" | sudo tee -a /etc/bash.bashrc

      # =============
      # Build project
      # =============

      # This is required because ScenarIO needs to import the iDynTree targets
      - name: '⬇️ Install iDynTree dependencies'
        if: contains(matrix.os, 'ubuntu')
        run: |
          sudo apt-get update
          sudo apt-get install -y --no-install-recommends \
            libxml2-dev coinor-libipopt-dev libeigen3-dev libassimp-dev swig 
          pip install numpy
      - name: '🤖 Install iDynTree'
        shell: bash -i -e {0}
        run: |
          export PYTHONPATH=/workspace/install/iDynTree/lib/python3/dist-packages:$PYTHONPATH 
          IDYNTREE_PYTHON_PKG=$(python3 -c 'import idyntree, pathlib; print(pathlib.Path(idyntree.__file__).parent)')
          echo "PYTHONPATH=/workspace/install/iDynTree/lib/python3/dist-packages:$PYTHONPATH" >> $GITHUB_ENV
          echo "CMAKE_PREFIX_PATH=$IDYNTREE_PYTHON_PKG" >> $GITHUB_ENV

      # Note: In order to execute the setup.sh script, the file /etc/bash.bashrc must be sourced.
      #       To do that, we change the shell to a bash interactive session with 'bash -i -e'.

      # Developer installation
      - name: '[👷|developer] Build and Install C++ ScenarIO'
        if: matrix.type == 'Developer'
        shell: bash -i -e {0}
        run: |
          env
          cmake -S . -B build/ \
            -GNinja \
            -DCMAKE_BUILD_TYPE=Debug \
            -DGAZEBO_DISTRIBUTION=$(python3 -c "print('${{ matrix.gazebo }}'.capitalize())")
          sudo cmake --build build/ --target install
      - name: '[👷|developer] Install Python ScenarIO'
        if: matrix.type == 'Developer'
        run: pip install -e ./scenario

      # User installation
      - name: '[👤|user] Create wheel (default gazebo)'
        if: matrix.type == 'User' && matrix.gazebo == 'garden'
        shell: bash -i -e {0}
        run: pip wheel -v -w dist/ ./scenario
      # Note: Calling "pip wheel" with "--global-option" forces all dependencies to be built from their sdist.
      #       Since it's very slow, we create the wheel from setup.py without isolation (requires system deps).
      - name: '[👤|user] Create wheel (custom gazebo)'
        if: matrix.type == 'User' && matrix.gazebo != 'gardern'
        shell: bash -i -e {0}
        run: |
          pip install wheel setuptools-scm cmake-build-extension
          python3 ./scenario/setup.py bdist_wheel \
            build_ext -DGAZEBO_DISTRIBUTION=$(python3 -c "print('${{ matrix.gazebo }}'.capitalize())")
      - name: '[👤|user] Install local wheel'
        if: matrix.type == 'User'
        run: pip install -v dist/scenario-*.whl

      - name: '🔍️ Inspect installed ScenarIO package'
        if: matrix.type == 'User' && contains(matrix.os, 'ubuntu')
        run: |
          sudo apt-get install -y --no-install-recommends tree
          tree $(python3 -c "import scenario, pathlib; print(pathlib.Path(scenario.__file__).parent)")

      # ====================
      # Install gym-gz
      # ====================

      - name: '🐍 Install gym-gz'
        run: |
          pip install -i https://test.pypi.org/simple/ gym-gz-models
          pip install wheel && pip install .[all]

      # ============
      # Test project
      # ============

      - name: '🔍 Inspect installed versions'
        run: pip list | grep -E "^scenario|^gym-gz"

      - name: '[🐍|scenario] Python Tests'
        shell: bash -i -e {0}
        run: pytest -m "scenario"

      - name: '[🚨|scenario] Python Tests with Valgrind'
        shell: bash -i -e {0}
        if: failure()
        run: |
          sudo apt-get install -y --no-install-recommends valgrind
          pip install colour-valgrind
          valgrind --log-file=/tmp/valgrind.log pytest -m "scenario" || colour-valgrind -t /tmp/valgrind.log

      - name: '[🐍|gym-gz] Python Tests'
        shell: bash -i -e {0}
        run: pytest -m "gym_gz"

      - name: '[🚨|gym-gz] Python Tests with Valgrind'
        shell: bash -i -e {0}
        if: failure()
        run: |
          sudo apt-get install -y --no-install-recommends valgrind
          pip install colour-valgrind
          valgrind --log-file=/tmp/valgrind.log pytest -m "gym_gz" || colour-valgrind -t /tmp/valgrind.log

      # ============================
      # Upload artifacts (only User)
      # ============================

      - name: '🗑️ Remove external wheels'
        if: matrix.type == 'User'
        run: find dist/ -type f -not -name 'scenario-*' -delete -print

      # We have to trick PyPI that our wheels are manylinux2014 even if they are not.
      # Unfortunately we cannot create self-contained wheels (neither the PEP600 perennial)
      # due to the Gazebo architecture.
      - name: '📝 Rename scenario wheel'
        if: matrix.type == 'User' && contains(matrix.os, 'ubuntu')
        run: |
          ls dist/
          find dist/ -type f -name "*.whl" -exec rename.ul linux manylinux2014 {} +
          ls dist/

      - name: '🔍 Inspect dist folder'
        if: matrix.type == 'User'
        run: ls -lah dist/

      - name: '⬆️ Upload artifacts'
        uses: actions/upload-artifact@v4
        if: matrix.type == 'User' && matrix.gazebo == 'gardern'
        with:
          path: dist/*
          name: dist

      # =======
      # Website
      # =======

      - name: '⬇️ Install website dependencies'
        run: |
          sudo apt-get update
          sudo apt-get install -y doxygen texlive-font-utils

      - name: '🔍 Inspect metadata'
        run: sphinx-multiversion --dump-metadata docs/sphinx/ build/

      # This is necessary because otherwise the check for uncommitted apidoc
      # only detects additions, not removals.
      - name: '🗑️ Remove apidoc folder'
        run: rm -r docs/sphinx/apidoc

      - name: '🏗️ Build sphinx website'
        shell: bash -i -e {0}
        run: |
          [[ -d build ]] && sudo chown -R $(id -u):$(id -g) build/
          cmake -S . -B build/ -DBUILD_DOCS:BOOL=ON
          cmake --build build/ --target sphinx

      - name: '🔍 Check new uncommitted apidoc'
        run: test $(git status --porcelain | wc -l) -eq 0

      - name: '🔍 git status'
        if: ${{ failure() }}
        run: |
          git status
          git diff

      - name: '⬆️ Upload website folder'
        uses: actions/upload-artifact@v4
        if: matrix.type == 'User' && matrix.gazebo == 'garden' && contains(matrix.os, 'ubuntu')
        with:
          path: build/html
          name: website
          retention-days: 1

# ===================
  website-deployment:
# ===================
    name: 'Website Deployment'
    if: always() && needs.build-and-test.result == 'success'
    needs: [ build-and-test ]
    runs-on: ubuntu-latest
    steps:

      - name: '⬇️ Download website folder'
        uses: actions/download-artifact@v4
        with:
          path: build/html
          name: website

      - name: '🔍 Inspect html folder'
        run: ls -lah build/html

      - name: '🚀 Deploy'
        uses: JamesIves/github-pages-deploy-action@releases/v3
        if: |
          github.event_name == 'push' &&
          github.repository == 'andreaostuni/gym-gz' &&
          (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/devel')
        with:
          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
          BRANCH: gh-pages
          FOLDER: build/html
          CLEAN: true
          CLEAN_EXCLUDE: '[".gitignore", ".nojekyll"]'

# =================
  python-packaging:
# =================
    name: 'Python packaging'
    if: always() && needs.build-and-test.result == 'success'
    needs: [ build-and-test ]
    runs-on: ubuntu-latest
    steps:

      - name: '🔍️ Inspect Environment'
        run: |
          env | grep ^GITHUB
          echo ""
          cat ${GITHUB_EVENT_PATH}
          echo ""
          env

      # Any Python3 version is ok in this job
      - name: '🐍 Initialize Python'
        uses: actions/setup-python@v5
        with:
          python-version: '3.10'

      - name: '🔀 Clone repository'
        uses: actions/checkout@master
      - name: '🔀 Download all refs'
        run: git fetch --prune --unshallow

      # ===============
      # Download wheels
      # ===============

      - name: '⬇️ Download scenario wheels'
        uses: actions/download-artifact@v4
        with:
          path: dist
          name: dist

      - name: '🔍 Inspect dist folder'
        run: ls -lah dist/

      # ===============
      # Create packages
      # ===============

      # We use build to create sdist. Also pipx would work.
      # https://github.com/pypa/build
      # Compared to calling setup.py, the advantage of these tools is that
      # they automatically handle the build dependencies.
      - name: '🐍️️ Install dependencies'
        run: pip install build

      - name: '[📦|scenario]️ Create sdist'
        run: python -m build --sdist scenario/ -o dist/

      - name: '[📦|gym-gz]️ Create sdist and wheel'
        run: python -m build .

      # ================
      # Upload artifacts
      # ================

      - name: '🗑️ Remove external packages'
        run: find dist/ -type f -not \( -name '*scenario-*' -o -name '*gym_gz-*' \) -delete -print

      - name: '🔍 Check packages'
        run: pipx run twine check dist/*

      - name: '🔍 Inspect dist folder'
        run: ls -lah dist/

      - name: '⬆️ Upload artifacts'
        uses: actions/upload-artifact@v4
        with:
          path: dist/*
          name: dist

# ============
  upload_pypi:
# ============
    name: Publish to PyPI
    if: always() && needs.build-and-test.result == 'success' && needs.python-packaging.result == 'success'
    needs:
      - build-and-test
      - python-packaging
    runs-on: ubuntu-latest
    # Devel branch produces pre-releases.
    # GitHub releases produce stable releases.

    steps:

      # Needed only to extract from the git repo the last revision
      - name: '🔀 Clone repository'
        uses: actions/checkout@master
      - name: '🔀 Download all refs'
        run: git fetch --prune --unshallow

      - name: '⬇️ Download Python packages'
        uses: actions/download-artifact@v4
        with:
          path: dist
          name: dist

      - name: '🔍 Inspect dist folder'
        run: ls -lah dist/

      # Validate the last tag accordingly to PEP440
      # From https://stackoverflow.com/a/37972030/12150968
      - name: '📌 Check PEP440 compliance'
        if: github.event_name == 'release'
        run: |
          sudo apt-get update
          sudo apt-get install -y source-highlight
          last_tag_with_v="$(git describe --abbrev=0 --tags)"
          last_tag=${last_tag_with_v#v}
          rel_regexp='^(\d+!)?(\d+)(\.\d+)+([\.\-\_])?((a(lpha)?|b(eta)?|c|r(c|ev)?|pre(view)?)\d*)?(\.?(post|dev)\d*)?$'
          echo ""
          echo $last_tag
          echo ""
          check-regexp ${rel_regexp} ${last_tag}
          match=$(check-regexp ${rel_regexp} ${last_tag} | grep matches | cut -d ' ' -f 5)
          test $match -eq 1 && true

      - name: '⬆️ Publish packages to PyPI'
        if: |
          github.repository == 'andreaostuni/gym-gz' &&
          ((github.event_name == 'release' && github.event.action == 'published') ||
           (github.event_name == 'push' && github.ref == 'refs/heads/devel'))
        uses: pypa/gh-action-pypi-publish@release/v1
        with:
          user: __token__
          password: ${{ secrets.PYPI_TOKEN }}
          skip-existing: true