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:
        python-version: "3.10"

    - 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
        which -a python3
        which python3
        python3 --version
        sudo apt update
        sudo apt install -y python3-virtualenv
        echo "installed venv"
        python3 -m venv .venv
        .venv/bin/python --version
        sudo -Hu testbot bash -lc 'go test ./cli -run TestGenerateModuleAction'

    - 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 '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