main.yml

# This workflow will install Python dependencies, run tests and lint with a single version of Python
# For more information see: https://help.github.com/actions/language-and-framework-guides/using-python-with-github-actions

name: test

on:
  push:
    branches: [ main ]
  pull_request:
    branches: [ main ]

jobs:
  code_style:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v2
      - name: Set up Python 3.12
        uses: actions/setup-python@v2
        with:
          python-version: 3.12
      - name: Check code style
        run: |
          pip install "yapf==0.30.0"
          bash format.sh --test

  code_docstring:
    if: github.event_name != 'push' || github.ref != 'refs/heads/main'
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v2
      - name: Set up Python 3.12
        uses: actions/setup-python@v2
        with:
          python-version: 3.12
      - name: Install software
        run: |
          sudo apt update && sudo apt install -y bc
          pip install "docstr-coverage==2.3.0"
      - name: Get post-PR docstring coverage
        run: |
          after=$(docstr-coverage --percentage-only --fail-under 0 metadrive/)
          echo "after=$after" >> "$GITHUB_ENV"
      - name: Checkout the main branch
        uses: actions/checkout@v4
        with:
          ref: main
      - name: Get pre-PR docstring coverage
        run: |
          before=$(docstr-coverage --percentage-only --fail-under 0 metadrive/)
          echo "before=$before" >> "$GITHUB_ENV"
      - name: Check if docstring coverage decreases
        run: |
          printf 'Docstring coverage before pull request: %s%%\n' "$before"
          printf 'Docstring coverage after pull request: %s%%\n' "$after"
          improvement=$(echo "$after - $before" | bc -l)
          if (( $(echo "$after < $before" |bc -l) )); then
            printf 'Docstring coverage check failed! We require the docstring coverage to be non-decreasing after PR. You have decreased the coverage by: %s%%\n' "$improvement"
            exit 1
          fi
          printf 'Docstring coverage check successful! We require the docstring coverage to be non-decreasing after PR. You have changed the coverage by: %s%%\n' "$improvement"
          roundedbefore=`printf "%.2f" $before`
          roundedafter=`printf "%.2f" $after`
          roundedimprovement=`printf "%.3f" $improvement`
          ROBOTMSG="[BOT] Great job! You have changed the docstring coverage from ${roundedbefore}\% to ${roundedafter}\%, improving ${roundedimprovement}\%."
          echo $ROBOTMSG
          echo "ROBOTMSG=$ROBOTMSG" >> "$GITHUB_ENV"
      - uses: actions/github-script@v6
        with:
          script: |
            github.rest.issues.createComment({
              issue_number: context.issue.number,
              owner: context.repo.owner,
              repo: context.repo.repo,
              body: `${{env.ROBOTMSG}}`
            })

  test:
    runs-on: ubuntu-latest
    strategy:
      matrix:
        version: [3.9, 3.11]
        test: [test_functionality, test_environment, test_policy, test_component, test_export_record_scenario, test_sensors]
    steps:
      - uses: actions/checkout@v2
      - name: tests
        run: |
          export PYTHON_VERSION=$ {{ matrix.version }}
          export TEST=$ {{ matrix.test }}
          ./tests/run.sh

  test_examples:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v2
      - name: Set up Python 3.12
        uses: actions/setup-python@v2
        with:
          python-version: 3.12
      - name: Prepare OpenGL
        run: |
          sudo apt-get -y install xvfb
          sudo /usr/bin/Xvfb :0 -screen 0 1280x1024x24 &
      - name: Blackbox tests
        run: |
          pip install cython
          pip install numpy
          pip install mediapy
          conda install ffmpeg
          pip install -e .
          python -m metadrive.pull_asset
          pip install pytest
          pip install pytest-cov
          pip install ray
          cd metadrive/
          pytest --cov=./ --cov-config=.coveragerc --cov-report=xml -sv tests/test_examples

  test_policy_windows:
    runs-on: windows-latest
    steps:
      - uses: actions/checkout@v2
      - name: Set up Python 3.12
        uses: actions/setup-python@v2
        with:
          python-version: 3.12
      - name: Blackbox tests
        run: |
          pip install cython
          pip install numpy
          pip install -e .
          python -m metadrive.pull_asset
          pip install pytest
          pip install pytest-cov
          pip install ray
          cd metadrive/
          pytest --cov=./ --cov-config=.coveragerc --cov-report=xml -sv tests/test_policy

  test_ipynb:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v2
      - name: Set up Python 3.12
        uses: actions/setup-python@v2
        with:
          python-version: 3.12
      - name: Prepare OpenGL
        run: |
          sudo apt-get -y install xvfb
          sudo /usr/bin/Xvfb :0 -screen 0 1280x1024x24 &
      - name: Blackbox tests
        run: |
          pip install cython
          pip install numpy
          pip install -e .
          python -m metadrive.pull_asset
          pip install pytest
          pip install pytest-cov
          pip install ray
          cd metadrive/
          pip install nbmake pytest-xdist
          mkdir ./tests/test_ipynb
          cp ./examples/Basic_MetaDrive_Usages.ipynb ./tests/test_ipynb/
          TEST_IPYNB=1 pytest --nbmake -n=auto ./tests/test_ipynb/

  test_doc_code:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v2
      - name: Set up Python 3.12
        uses: actions/setup-python@v2
        with:
          python-version: 3.12
      - name: Prepare OpenGL
        run: |
          sudo apt-get -y install xvfb
          sudo /usr/bin/Xvfb :0 -screen 0 1280x1024x24 &
      - name: Blackbox tests
        run: |
          pip install cython
          pip install numpy
          pip install -e .
          pip install -e .[gym]
          python -m metadrive.pull_asset
          pip install pytest
          pip install pytest-cov
          cd documentation
          pip install nbmake pytest-xdist
          TEST_DOC=1 pytest --nbmake -n=auto ./source

  test_ros:
    runs-on: ubuntu-22.04
    steps:
      - name: Set up ROS2 humble
        uses: ros-tooling/setup-ros@v0.7
        with:
          required-ros-distributions: humble
      - name: checkout code
        uses: actions/checkout@v2
      - name: Blackbox tests
        run: |
          
          ls -al
          pwd
          source /opt/ros/humble/setup.bash
          
          sudo rosdep update
          
          pwd
          
          pip install pyzmq
          pip install gymnasium==0.28
          ls -al
          pip install -e .
          python -m metadrive.pull_asset
          
          cd bridges/ros_bridge
          ls -al
          python _delete_rviz_line.py
          sudo rosdep install --from-paths src --ignore-src -y --rosdistro humble
          pwd
          colcon build
          source install/setup.bash
          pip install pyzmq
          nohup ros2 launch metadrive_example_bridge metadrive_example_bridge.launch.py > ros.txt 2>&1 &
          python ros_socket_server.py --test

#          python ros_socket_server.py --test

#      - name: Upload coverage to Codecov
#        uses: codecov/codecov-action@v1
#        with:
#          file: ./metadrive/coverage.xml
#          fail_ci_if_error: true