ci.yaml

name: Python

on:
  workflow_call:
  pull_request:
    paths:
      - "python/**"
      - "src/pybind/**"
      - ".github/workflows/py.yaml"
      - "extensions/**"
  push:
    branches:
      - master

jobs:
  pythonpackage:
    runs-on: ubuntu-latest
    env:
      CC: clang
      CXX: clang++
      GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
    steps:
      - uses: actions/checkout@v4
      - name: Cache build directory
        uses: actions/cache@v4
        with:
          path: build
          key: ${{ runner.os }}-build-py-${{ hashFiles('src/**', 'include/**', 'CMakeLists.txt', 'pyproject.toml') }}
          restore-keys: |
            ${{ runner.os }}-build-py-
      - name: Install CPP dependencies
        run: sudo apt install $(cat debian_deps.txt)
      - name: Install virtual frame buffer tool
        run: sudo apt install xvfb
      - name: Set up Python 3.11
        uses: actions/setup-python@v5
        with:
          python-version: "3.11"
          cache: "pip"
      - name: Install building dependencies
        run: python -m pip install -r requirements.txt
      - name: Install wheel
        run: python -m pip install wheel
      - name: Install the package
        run: python -m pip install -v --no-build-isolation '.[dev]'
      - name: Check formatting
        run: make pycheckformat
      - name: Code linting
        run: make pylint
      - name: Check that stub files are up-to-date
        run: make stubgen && git diff --exit-code
      - name: Ensure all unittests(pytest) are passing
        run: xvfb-run make pytest

  check-paths:
    runs-on: ubuntu-latest
    outputs:
      extensions_changed: ${{ steps.changed-files.outputs.any_changed }}
    steps:
      - uses: actions/checkout@v4
        with:
          fetch-depth: 0
      - name: Get changed files for extensions
        id: changed-files
        uses: tj-actions/changed-files@v41
        with:
          files: |
            extensions/**

  build_extensions:
    needs: [pythonpackage, check-paths]
    if: needs.check-paths.outputs.extensions_changed == 'true'
    strategy:
      matrix:
        extension:
          # Python extensions
          - rcs_xarm7
          - rcs_realsense
          # - rcs_robotiq
          - rcs_tacto
          - rcs_usb_cam
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4
      - name: Cache apt packages
        uses: actions/cache@v4
        with:
          path: /var/cache/apt/archives
          key: ${{ runner.os }}-apt-${{ hashFiles('debian_deps.txt') }}
          restore-keys: |
            ${{ runner.os }}-apt-
      - name: Cache rcs build directory
        uses: actions/cache@v4
        with:
          path: build
          key: ${{ runner.os }}-build-py-${{ hashFiles('src/**', 'include/**', 'CMakeLists.txt', 'pyproject.toml') }}
          restore-keys: |
            ${{ runner.os }}-build-py-
      - name: Install dependencies
        run: sudo apt install $(cat debian_deps.txt)
      - name: Set up Python 3.11
        id: setup-python
        uses: actions/setup-python@v5
        with:
          python-version: "3.11"
          cache: "pip"

      - name: Install build dependencies
        run: pip install -r requirements.txt

      - name: Install rcs
        run: pip install -v --no-build-isolation '.[dev]'

      - name: Install extension
        run: pip install -v --no-build-isolation extensions/${{ matrix.extension }}

  build_cpp_extensions:
    needs: [pythonpackage, check-paths]
    if: needs.check-paths.outputs.extensions_changed == 'true'
    strategy:
      matrix:
        extension:
          - rcs_fr3
          - rcs_panda
          - rcs_robotics_library
          - rcs_so101
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4
      - name: Cache apt packages
        uses: actions/cache@v4
        with:
          path: /var/cache/apt/archives
          key: ${{ runner.os }}-apt-${{ hashFiles('debian_deps.txt') }}
          restore-keys: |
            ${{ runner.os }}-apt-
      - name: Cache rcs build directory
        uses: actions/cache@v4
        with:
          path: build
          key: ${{ runner.os }}-build-py-${{ hashFiles('src/**', 'include/**', 'CMakeLists.txt', 'pyproject.toml') }}
          restore-keys: |
            ${{ runner.os }}-build-py-
      - name: Cache extension build directory
        uses: actions/cache@v4
        with:
          path: extensions/${{ matrix.extension }}/build
          key: ${{ runner.os }}-build-ext-${{ matrix.extension }}-${{ hashFiles('extensions/${{ matrix.extension }}/**') }}
          restore-keys: |
            ${{ runner.os }}-build-ext-${{ matrix.extension }}-
      - name: Install dependencies
        run: sudo apt install $(cat debian_deps.txt)
      - name: Set up Python 3.11
        id: setup-python
        uses: actions/setup-python@v5
        with:
          python-version: "3.11"
          cache: "pip"
      - name: Install Python dependencies
        run: |
          pip install -r requirements.txt
          pip install -v --no-build-isolation '.[dev]'
          pip install -v --no-build-isolation extensions/${{ matrix.extension }}
      - name: Check that stub files are up-to-date
        run: make -C extensions/${{ matrix.extension }} stubgen && git diff --exit-code
      - name: Clang build
        run: make -C extensions/${{ matrix.extension }} clangcompile PYTHON_EXECUTABLE=${{ steps.setup-python.outputs.python-path }}
      - name: Check clang format
        run: make -C extensions/${{ matrix.extension }} cppcheckformat
      # - name: Clang Tidy
      #   run: make -C extensions/${{ matrix.extension }} cpplint