test.yml

name: Test

on:
  workflow_dispatch:
  workflow_call:
    secrets:
      MONGODB_TEST_OUTPUT_URI:
        required: true
      DOCKER_PUBLIC_READONLY_PAT:
        required: true

env:
  MONGODB_TEST_OUTPUT_URI: ${{ secrets.MONGODB_TEST_OUTPUT_URI }}

jobs:
  # test_go:
  #   # note: we have automations that match on platform_name. be careful changing this.
  #   name: ${{ matrix.platform_name }} Go Unit Tests
  #   strategy:
  #     fail-fast: false
  #     matrix:
  #       include:
  #         - arch: ubuntu-large
  #           image: ghcr.io/viamrobotics/rdk-devenv:amd64-cache
  #           platform: linux/amd64
  #           platform_name: linux-amd64
  #         - arch: ubuntu-large-arm
  #           image: ghcr.io/viamrobotics/rdk-devenv:arm64-cache
  #           platform: linux/arm64
  #           platform_name: linux-arm64
  #   runs-on: ${{ matrix.arch }}
  #   container:
  #     image: ${{ matrix.image }}
  #     options: --platform ${{ matrix.platform }}
  #   timeout-minutes: 30

  #   steps:
  #   - uses: actions/checkout@v3
  #     with:
  #       ref: ${{ github.event_name == 'pull_request_target' && github.event.pull_request.head.sha || github.event.ref }}

  #   - uses: actions/setup-python@v5
  #     with:
  #       cache: 'pip'

  #   - name: Set main env vars
  #     if: github.event_name != 'pull_request_target'
  #     run: |
  #       echo "GITHUB_X_HEAD_SHA=${GITHUB_SHA}" >> $GITHUB_ENV
  #       echo "GITHUB_X_HEAD_REF=${GITHUB_REF_NAME}" >> $GITHUB_ENV

  #   - name: Set PR env vars
  #     if: github.event_name == 'pull_request_target'
  #     env:
  #       GITHUB_HEAD_REF_SAN: ${{ github.event.pull_request.head.label }}
  #     run: |
  #       echo "GITHUB_X_HEAD_SHA=${{ github.event.pull_request.head.sha }}" >> $GITHUB_ENV
  #       echo "GITHUB_X_HEAD_REF=${GITHUB_HEAD_REF_SAN}" >> $GITHUB_ENV
  #       echo "GITHUB_X_PR_BASE_SHA=${{ github.event.pull_request.base.sha }}" >> $GITHUB_ENV
  #       echo "GITHUB_X_PR_BASE_REF=${{ github.event.pull_request.base.ref }}" >> $GITHUB_ENV

  #   - name: Chown
  #     run: chown -R testbot:testbot .

  #   - name: Run go unit tests
  #     run: |
  #       chmod -R a+rwx . # temporary fix for arm runners
  #       sudo apt update 
  #       sudo apt install -y python3.11-venv
  #       sudo --preserve-env=MONGODB_TEST_OUTPUT_URI,GITHUB_SHA,GITHUB_RUN_ID,GITHUB_RUN_NUMBER,GITHUB_RUN_ATTEMPT,GITHUB_X_PR_BASE_SHA,GITHUB_X_PR_BASE_REF,GITHUB_X_HEAD_REF,GITHUB_X_HEAD_SHA,GITHUB_REPOSITORY -Hu testbot bash -lc 'make test-go'

  #   - name: Upload test.json
  #     if: always()
  #     uses: actions/upload-artifact@v3
  #     with:
  #       name: test-${{ matrix.platform_name }}.json
  #       path: json.log
  #       retention-days: 30

  # test_coverage:
  #   name: Go Coverage Tests
  #   if: false # toggle this off, delete after 3/1/24 if nobody misses it
  #   # note: we split 'test_go' and 'test_coverage' steps because running race-detection + covprofile simultaneously is slow enough to cause flakes
  #   strategy:
  #     fail-fast: false
  #     matrix:
  #       include:
  #         - arch: ubuntu-large
  #           image: ghcr.io/viamrobotics/rdk-devenv:amd64-cache
  #           platform: linux/amd64
  #           platform_name: linux-amd64
  #         - arch: ubuntu-large-arm
  #           image: ghcr.io/viamrobotics/rdk-devenv:arm64-cache
  #           platform: linux/arm64
  #           platform_name: linux-arm64
  #   runs-on: ${{ matrix.arch }}
  #   container:
  #     image: ${{ matrix.image }}
  #     options: --platform ${{ matrix.platform }}
  #   timeout-minutes: 30

  #   steps:
  #   - uses: actions/checkout@v3
  #     with:
  #       ref: ${{ github.event_name == 'pull_request_target' && github.event.pull_request.head.sha || github.event.ref }}
  #       fetch-depth: ${{ github.event_name == 'pull_request_target' && '0' || '1' }} # 0 aka full history, so we can analyze history for coverage

  #   - name: Set main env vars
  #     if: github.event_name != 'pull_request_target'
  #     run: |
  #       echo "GITHUB_X_HEAD_SHA=${GITHUB_SHA}" >> $GITHUB_ENV
  #       echo "GITHUB_X_HEAD_REF=${GITHUB_REF_NAME}" >> $GITHUB_ENV

  #   - name: Set PR env vars
  #     if: github.event_name == 'pull_request_target'
  #     env:
  #       GITHUB_HEAD_REF_SAN: ${{ github.event.pull_request.head.label }}
  #     run: |
  #       echo "GITHUB_X_HEAD_SHA=${{ github.event.pull_request.head.sha }}" >> $GITHUB_ENV
  #       echo "GITHUB_X_HEAD_REF=${GITHUB_HEAD_REF_SAN}" >> $GITHUB_ENV
  #       echo "GITHUB_X_PR_BASE_SHA=${{ github.event.pull_request.base.sha }}" >> $GITHUB_ENV
  #       echo "GITHUB_X_PR_BASE_REF=${{ github.event.pull_request.base.ref }}" >> $GITHUB_ENV

  #   - name: chown
  #     run: chown -R testbot:testbot .

  #   - name: Verify no uncommitted changes from "make build-go lint-go generate-go"
  #     run: |
  #       sudo -Hu testbot bash -lc 'git init && git add . && make build-go lint-go generate-go'
  #       GEN_DIFF=$(git status -s)

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

  #   - name: Run go coverage tests
  #     run: |
  #       sudo --preserve-env=MONGODB_TEST_OUTPUT_URI,GITHUB_SHA,GITHUB_RUN_ID,GITHUB_RUN_NUMBER,GITHUB_RUN_ATTEMPT,GITHUB_X_PR_BASE_SHA,GITHUB_X_PR_BASE_REF,GITHUB_X_HEAD_REF,GITHUB_X_HEAD_SHA,GITHUB_REPOSITORY -Hu testbot bash -lc 'make cover-only'

  #   - name: Upload code coverage
  #     uses: actions/upload-artifact@v3
  #     with:
  #       name: pr-code-coverage
  #       path: |
  #         pr.env
  #         code-coverage-results.md
  #       retention-days: 1

  test32:
    name: Go 32-bit Unit Tests
    runs-on: ubuntu-large-arm
    timeout-minutes: 30

    steps:
    - uses: actions/checkout@v3
      with:
        ref: ${{ github.event_name == 'pull_request_target' && github.event.pull_request.head.sha || github.ref }}

    - uses: docker/login-action@v2
      with:
        username: viambuild
        password: ${{ secrets.DOCKER_PUBLIC_READONLY_PAT }}
    - uses: docker/setup-qemu-action@v3
    - uses: docker/setup-buildx-action@v3

    - name: Run go unit tests
      run: |
        chmod -R a+rwx . # temporary fix for arm runners
        docker run \
          --platform linux/arm/v7 \
          -v `pwd`:/rdk \
          ghcr.io/viamrobotics/rdk-devenv:armhf-cache \
          sudo -Hu testbot bash -lc 'apt update && apt install -y python3.11-venv && cd /rdk && go test -v -tags=no_tflite ./...'

  # test_pi:
  #   name: Test Raspberry Pi Code
  #   runs-on: pi4
  #   timeout-minutes: 5

  #   steps:
  #   - name: Clean workspace
  #     run: |
  #       shopt -s dotglob
  #       sudo chown -R `whoami` ./
  #       rm -rf ./*

  #   - uses: actions/checkout@v3
  #     with:
  #       ref: ${{ github.event_name == 'pull_request_target' && github.event.pull_request.head.sha || github.ref }}

  #   - name: Run go unit tests on Pi
  #     run: make test-pi

  # motion_tests:
  #   name: Test Longer-running Motion Plans if affected
  #   uses: viamrobotics/rdk/.github/workflows/motion-tests.yml@main

  # jsonschema:
  #   name: Test meta.json jsonschema
  #   runs-on: ubuntu-latest
  #   steps:
  #   - uses: actions/checkout@v4
  #   - uses: actions/setup-go@v5
  #   - uses: actions/setup-python@v5
  #     with:
  #       cache-dependency-path: cli/test-requirements.txt
  #   - run: |
  #       go run ./cli/viam/ module create --local-only --name schematest --public-namespace ns
  #       cat meta.json | jq '.models = [{"api": "x:y:z", "model": "x:y:z"}]' > meta2.json
  #       pip install -r cli/test-requirements.txt
  #       check-jsonschema --schemafile ./cli/module.schema.json meta2.json

  # test_web_e2e:
  #   name: Test End-to-End and Web
  #   runs-on: ubuntu-latest
  #   container: ghcr.io/viamrobotics/rdk-devenv:amd64-cache
  #   timeout-minutes: 15
  #   steps:
  #   - uses: actions/checkout@v3
  #     with:
  #       ref: ${{ github.event_name == 'pull_request_target' && github.event.pull_request.head.sha || github.ref }}

  #   - name: Chown
  #     run: chown -R testbot:testbot .

  #   - name: Verify no uncommitted changes from "make build-web lint-web"
  #     run: |
  #       sudo -Hu testbot bash -lc 'git init && git add . && make build-web lint-web'
  #       GEN_DIFF=$(git status -s)

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

  #   - name: Install dependencies
  #     run: |
  #       apt-get update && apt-get -qy install libgtk2.0-0 libgtk-3-0 libgbm-dev libnotify-dev libgconf-2-4 libnss3 libxss1 libasound2 libxtst6 xauth xvfb netcat-openbsd lsof

  #   - name: Run web tests
  #     run: sudo -Hu testbot bash -lc 'make test-web'

  #   - name: Run e2e tests
  #     run: sudo -Hu testbot bash -lc 'make test-e2e E2E_ARGS="-k"'

  # test_passing:
  #   name: All Tests Passing
  #   needs: [test_go, test_web_e2e, test_pi, test32, motion_tests]
  #   runs-on: [ubuntu-latest]
  #   if: always()
  #   steps:
  #     - name: Check Results
  #       run: |
  #         echo Go Unit Tests: ${{ needs.test_go.result }}
  #         echo Go 32-bit Tests: ${{ needs.test32.result }}
  #         echo Go Pi Tests: ${{ needs.test_pi.result }}
  #         echo Web/E2E Tests: ${{ needs.test_web_e2e.result }}
  #         echo Motion Tests: ${{ needs.motion_tests.result }}
  #         [ "${{ needs.test_go.result }}" == "success" ] && \
  #         [ "${{ needs.test32.result }}" == "success" ] && \
  #         [ "${{ needs.test_pi.result }}" == "success" ] && \
  #         [ "${{ needs.test_web_e2e.result }}" == "success" ] && \
  #         [ "${{ needs.motion_tests.result }}" == "success" ]

  #     # Now that RDK is public, can't directly comment without token having full read/write access
  #     # code-coverage-comment.yml will trigger seperately and post the actual comments
  #     - name: Prepare code comment
  #       run: echo "PR_NUMBER=${{ github.event.pull_request.number }}" >> pr.env

  #     - name: Mark appimage label
  #       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: Mark static label
  #       if: contains(github.event.pull_request.labels.*.name, 'static-build') || contains(github.event.pull_request.labels.*.name, 'static-ignore-tests')
  #       run: echo "STATIC=true" >> pr.env