test.yml

name: Test

on:
  workflow_dispatch:
  workflow_call:

jobs:
  build_and_test:
    name: Build and Test Cartographer
    strategy:
      matrix:
        include:
          - arch: [x64, qemu-host]
            image: ghcr.io/viamrobotics/canon:amd64-cache
            platform: linux/amd64
          - arch: [arm64, qemu-host]
            image: ghcr.io/viamrobotics/canon:arm64-cache
            platform: linux/arm64
    runs-on: ${{ matrix.arch }}
    container:
      image: ${{ matrix.image }}
      options: --platform ${{ matrix.platform }}
    timeout-minutes: 30
    steps:
    # Now that viam-cartographer is public, can't directly comment without token having full read/write access
    # appimage-comment.yml will trigger separately and post the actual comments

    - name: Set PR Number variable
      run: |
        echo "PR_NUMBER=${{ github.event.pull_request.number }}" >> pr.env

    - name: Set appimage variable
      if: contains(github.event.pull_request.labels.*.name, 'appimage') || contains(github.event.pull_request.labels.*.name, 'appimage-ignore-tests')
      run: |
        echo "APPIMAGE=true" >> pr.env

    - name: Upload PR variables
      uses: actions/upload-artifact@v3
      with:
        name: pr-variables
        path: |
         pr.env
        retention-days: 1

    - name: Check out main branch code
      if: github.event_name != 'pull_request_target'
      uses: actions/checkout@v3
      with:
        submodules: recursive

    - name: Check out PR branch code
      if: github.event_name == 'pull_request_target'
      uses: actions/checkout@v3
      with:
        ref: ${{ github.event.pull_request.head.sha }}
        submodules: recursive

    - name: Verify no uncommitted changes from make lint
      run: |
        git init
        git add .
        chown -R testbot:testbot .
        sudo -u testbot bash -lc 'make lint-setup lint'
        GEN_DIFF=$(git status -s)

        if [ -n "$GEN_DIFF" ]; then
            echo '"make lint" resulted in changes not in git' 1>&2
            git status
            exit 1
        fi

    - name: make bufinstall buf setup
      uses: nick-fields/retry@v2
      with:
        timeout_minutes: 5
        max_attempts: 3
        retry_on: timeout
        shell: bash
        command: |
          chown -R testbot:testbot .
          sudo -u testbot bash -lc 'make bufinstall buf setup'

    - name: make build
      run: |
        sudo -u testbot bash -lc 'make build'

    - name: make install-lua-files
      run: |
        sudo -u testbot bash -lc 'make install-lua-files'

    - name: make test
      run: |
        sudo -u testbot bash -lc 'make test'

    - name: Copy carto_grpc_server binary
      if: matrix.platform == 'linux/amd64'
      run: |
        sudo cp viam-cartographer/build/carto_grpc_server /usr/local/bin/carto_grpc_server

    - name: Run viam-cartographer cartographer integration tests
      if: matrix.platform == 'linux/amd64'
      run: |
        sudo -u testbot bash -lc 'sudo go test -v -race -run TestCartographerIntegration'