aries.yml

name: Aries

on: push

env:
  CARGO_TERM_COLOR: always

jobs:
  unit-tests:
    name: Unit tests
    runs-on: ubuntu-22.04
    steps:
      - uses: actions/checkout@v3
        with:
          fetch-depth: 0
      - uses: dtolnay/rust-toolchain@stable
      - run: cargo test

  lints:
    name: Rustfmt and Clippy
    runs-on: ubuntu-22.04
    steps:
      - uses: actions/checkout@v3
        with:
          fetch-depth: 0
      - uses: dtolnay/rust-toolchain@1.80.1 # fixed version to avoid failures on rust version releases
        with:
          components: clippy, rustfmt
      - run: cargo fmt --all -- --check
      - run: cargo clippy -- -D warnings

  integration-tests:
    name: Solving
    runs-on: ubuntu-22.04
    steps:
      - uses: actions/checkout@v3
        with:
          fetch-depth: 0
      - uses: dtolnay/rust-toolchain@stable
      - name: Install GNU parallel
        run: sudo apt-get update && sudo apt-get install parallel
      - name: Get problems from LFS
        run: git lfs pull
      - name: SAT solving
        run: ./ci/sat.py debug
      - name: Scheduler testing
        run: ./ci/scheduling.py
      - name: GG solving
        run: ./ci/gg.py
      - name: LCP Solving (PDDL & HDDL)
        run: ./ci/lcp.sh

  unified-planning-api:
    name: Unified Planning API
    runs-on: ubuntu-22.04
    steps:
      - uses: actions/checkout@v3
        with:
          fetch-depth: 0
      - uses: dtolnay/rust-toolchain@stable
      - name: Check for new protobuf definitions
        run: |
          # Download the latest protobuf definitions
          printf "Checking for new protobuf definitions...\n"
          git submodule update --init  # get our own copy of unified-planning library
          cd planning
          rm grpc/api/src/unified_planning.proto
          cp unified/deps/unified-planning/unified_planning/grpc/unified_planning.proto grpc/api/src/
          git diff --exit-code
      - name: Install Protobuf
        run: sudo apt-get update && sudo apt-get install -y libprotobuf-dev protobuf-compiler
      - name: Check if generated bindings are up to date
        run: |
          printf "Checking if the API is up to date...\n"
          cd planning/grpc/api
          cargo build --features=generate_bindings
          cd ../../..
          git diff --exit-code

  unified-planning-integration:
    name: UP Integration Tests
    runs-on: ubuntu-22.04
    steps:
      - uses: actions/checkout@v3
      - uses: dtolnay/rust-toolchain@stable
      - name: Submodules initialization
        run: git submodule update --init # get our own copy of unified-planing repos
      - name: Install python dependencies
        run: python3 -m pip install -r planning/unified/requirements.txt "numpy<2"
      - name: Install just
        run: curl --proto '=https' --tlsv1.2 -sSf https://just.systems/install.sh | bash -s -- --to .
      - name: Solver tests
        run: ./just ci-up-solve
      - name: Validator tests
        run: ./just ci-up-val

  ipc-tests:
    name: IPC Tests
    runs-on: ubuntu-22.04
    steps:
      - uses: actions/checkout@v3
      - uses: dtolnay/rust-toolchain@stable
      - name: Submodules initialization
        run: git submodule update --init # get our own copy of unified-planing repos
      - name: Install python dependencies
        run: python3 -m pip install -r planning/unified/requirements.txt "numpy<2"
      - name: Install just
        run: curl --proto '=https' --tlsv1.2 -sSf https://just.systems/install.sh | bash -s -- --to .
      - name: Resolution
        run: ./just ci-ipc

  tests: # Meta-job that only requires all test-jobs to pass
    needs:
      [
        lints,
        unit-tests,
        integration-tests,
        unified-planning-api,
        unified-planning-integration,
        ipc-tests,
      ]
    runs-on: ubuntu-latest
    steps:
      - run: true

  # ================ Building & Releasing binaries.
  # Only active on the master branch and when the previous validation steps passed

  build: # Build release binaries for all architecture and save them as artifacts
    strategy:
      matrix:
        os: [ubuntu-latest, macos-latest, windows-latest]
        target: [amd64, arm64]
        exclude:
          - os: ubuntu-latest
            target: arm64 # linux-arm64 build has linker issues, done in a distinct job
      fail-fast: false
    name: Build - ${{ matrix.os }} - ${{ matrix.target }}
    runs-on: ${{ matrix.os }}
    if: (github.ref == 'refs/heads/master') || startsWith(github.ref, 'refs/tags/v')
    defaults:
      run:
        shell: bash
    steps:
      - name: Checkout repo
        uses: actions/checkout@master
        with:
          fetch-depth: 0
      - uses: dtolnay/rust-toolchain@stable
      - name: Setup python
        uses: actions/setup-python@v2
        with:
          python-version: "3.8"
      - name: Set Environment Variables
        run: |
          if [ "${{ matrix.os }}" == "ubuntu-latest" ] && [ "${{ matrix.target }}" == "amd64" ]; then
            echo "TARGET=x86_64-unknown-linux-musl" >> $GITHUB_ENV
            echo "BINARY=up-aries_linux_amd64" >> $GITHUB_ENV
          elif [ "${{ matrix.os }}" == "macos-latest" ] && [ "${{ matrix.target }}" == "amd64" ]; then
            echo "TARGET=x86_64-apple-darwin" >> $GITHUB_ENV
            echo "BINARY=up-aries_macos_amd64" >> $GITHUB_ENV
          elif [ "${{ matrix.os }}" == "windows-latest" ] && [ "${{ matrix.target }}" == "amd64" ]; then
            echo "TARGET=x86_64-pc-windows-msvc" >> $GITHUB_ENV
            echo "BINARY=up-aries_windows_amd64.exe" >> $GITHUB_ENV
          elif [ "${{ matrix.os }}" == "macos-latest" ] && [ "${{ matrix.target }}" == "arm64" ]; then
            echo "TARGET=aarch64-apple-darwin" >> $GITHUB_ENV
            echo "BINARY=up-aries_macos_arm64" >> $GITHUB_ENV
          elif [ "${{ matrix.os }}" == "windows-latest" ] && [ "${{ matrix.target }}" == "arm64" ]; then
            echo "TARGET=aarch64-pc-windows-msvc" >> $GITHUB_ENV
            echo "BINARY=up-aries_windows_arm64.exe" >> $GITHUB_ENV
          fi
      - name: Install toolchain
        run: rustup target add ${{ env.TARGET }}
      - name: Build release binary
        run: |
          cargo build --release --target ${{ env.TARGET }} --bin up-server
          mkdir -p bins/
          cp target/${{ env.TARGET }}/release/up-server bins/${{ env.BINARY }}
      - name: Upload artifact
        uses: actions/upload-artifact@v4
        with:
          name: ${{ env.BINARY }}
          path: bins/${{ env.BINARY }}
          retention-days: 1

  # Deactivated as induces very long CI times
  #  # Build linux-aarch64 binaries in a dedicated container.
  #  build-linux-arm64:
  #    runs-on: ubuntu-latest
  #    name: Build - ubuntu-latest - arm64
  #    if: github.ref == 'refs/heads/master'
  #    needs: [lints, unit-tests, integration-tests, unified-planning-api]
  #    steps:
  #      - uses: actions/checkout@v3
  #        with:
  #          fetch-depth: 0
  #      - uses: uraimo/run-on-arch-action@v2
  #        name: Build on ubuntu-latest targetting ARM64
  #        id: build
  #        with:
  #          arch: aarch64
  #          distro: ubuntu20.04
  #
  #          githubToken: ${{ secrets.GITHUB_TOKEN }}
  #
  #          dockerRunArgs: |
  #            --privileged --volume "${PWD}:/workdir" --workdir /workdir
  #
  #          shell: /bin/bash
  #          setup: mkdir -p bins/
  #          install: |
  #            apt-get update
  #            apt-get -y upgrade
  #            apt-get install -y libssl-dev libudev-dev pkg-config curl git
  #            apt-get install -y build-essential gcc-aarch64-linux-gnu python3.8
  #            curl https://sh.rustup.rs -sSf | sh -s -- -y
  #            echo $HOME/.cargo/bin >> ~/.bashrc
  #            source $HOME/.cargo/env
  #            rustup target add aarch64-unknown-linux-gnu
  #          run: |
  #            source $HOME/.cargo/env
  #            cargo build --release --target aarch64-unknown-linux-gnu --bin up-server
  #            cp target/aarch64-unknown-linux-gnu/release/up-server bins/up-aries_linux_arm64
  #            python3.8 ./ci/grpc.py --executable bins/up-aries_linux_arm64
  #
  #      - name: Upload artifact
  #        uses: actions/upload-artifact@v2
  #        with:
  #          name: up-aries_linux_arm64
  #          path: bins/up-aries_linux_arm64
  #          retention-days: 1

  package-python:
    name: Python Package (up_aries)
    needs: [build]
    runs-on: ubuntu-latest
    if: (github.ref == 'refs/heads/master') || startsWith(github.ref, 'refs/tags/v')
    steps:
      - uses: actions/checkout@v3
      - name: Retrieve git tags # need full git history to determine version number when packaging
        run: git fetch --prune --unshallow
      - name: Available tags
        run: |
          git tag
          git describe --tags --match v[0-9]*
      - uses: actions/setup-python@v4
        with:
          python-version: "3.8"
      - name: Install build tools
        run: pip install build
      - uses: actions/download-artifact@v4
        with:
          path: planning/unified/plugin/artifacts
      - name: Unpack artifacts
        run: |
          cd planning/unified/plugin/
          ls -lR
          mkdir -p up_aries/bin
          cp artifacts/*/* up_aries/bin/
          chmod +x up_aries/bin/*
          ls -lR
          python -m build --sdist
          cp dist/up_aries-*.tar.gz up_aries.tar.gz
      - uses: actions/upload-artifact@v4
        with:
          name: up_aries.tar.gz
          path: planning/unified/plugin/up_aries.tar.gz
          retention-days: 1

  pre-release: # If on master branch, Upload all artifacts as a pre-release "latest"
    name: Pre Release
    runs-on: ubuntu-latest
    if: github.ref == 'refs/heads/master'
    needs: [tests, build, package-python]
    steps:
      - name: Download artifact
        uses: actions/download-artifact@v4

      - name: Display artifacts
        run: ls -R

      - uses: marvinpinto/action-automatic-releases@latest
        with:
          repo_token: "${{ secrets.GITHUB_TOKEN }}"
          automatic_release_tag: "latest"
          prerelease: true
          title: "Development Build"
          files: |
            up-aries_linux_amd64
            up-aries_macos_amd64
            up-aries_macos_arm64
            up-aries_windows_amd64.exe
            up-aries_windows_arm64.exe
            up_aries.tar.gz

  release: # If on a "v*" tag, cut a new non-draft release
    name: Release
    runs-on: ubuntu-latest
    if: startsWith(github.ref, 'refs/tags/v')
    needs: [tests, build, package-python]
    steps:
      - name: Download artifact
        uses: actions/download-artifact@v4

      - name: Download TAR artifact for python package
        uses: actions/download-artifact@v4
        with:
          name: up_aries.tar.gz
          path: dist/
      - name: Rename python package with version
        run: mv dist/up_aries.tar.gz dist/up_aries-${{github.ref_name}}.tar.gz

      - name: Display artifacts
        run: ls -R

      - name: Publish package to PyPI
        uses: pypa/gh-action-pypi-publish@release/v1.6
        with:
          password: ${{ secrets.PYPI_TOKEN }}
          packages_dir: dist

      - uses: marvinpinto/action-automatic-releases@latest
        with:
          repo_token: "${{ secrets.GITHUB_TOKEN }}"
          prerelease: false
          title: "${{ github.ref_name }}"
          files: |
            up-aries_linux_amd64
            up-aries_macos_amd64
            up-aries_macos_arm64
            up-aries_windows_amd64.exe
            up-aries_windows_arm64.exe
            up_aries.tar.gz