# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

name: Build and Test

on:
  pull_request:
    branches:
      - devel
      - main

# Concurrency control to prevent parallel runs on the same PR
concurrency:
  group: ${{ github.workflow }}-${{ github.ref }}
  cancel-in-progress: true

permissions:
  contents: read
  pull-requests: write
  checks: write
  issues: read

env:
  NGC_API_KEY: ${{ secrets.NGC_API_KEY }}
  ISAACSIM_BASE_IMAGE: ${{ vars.ISAACSIM_BASE_IMAGE || 'nvcr.io/nvidia/isaac-sim' }}
  ISAACSIM_BASE_VERSION: ${{ vars.ISAACSIM_BASE_VERSION || '4.5.0' }}
  DOCKER_IMAGE_TAG: isaac-lab-dev:${{ github.event_name == 'pull_request' && format('pr-{0}', github.event.pull_request.number) || github.ref_name }}-${{ github.sha }}

jobs:
  test-isaaclab-tasks:
    runs-on: [self-hosted, gpu]
    timeout-minutes: 180
    continue-on-error: true

    steps:
    - name: Checkout Code
      uses: actions/checkout@v4
      with:
        fetch-depth: 0
        lfs: true

    - name: Build Docker Image
      uses: ./.github/actions/docker-build
      with:
        image-tag: ${{ env.DOCKER_IMAGE_TAG }}
        isaacsim-base-image: ${{ env.ISAACSIM_BASE_IMAGE }}
        isaacsim-version: ${{ env.ISAACSIM_BASE_VERSION }}

    - name: Run IsaacLab Tasks Tests
      uses: ./.github/actions/run-tests
      with:
        test-path: "tools"
        result-file: "isaaclab-tasks-report.xml"
        container-name: "isaac-lab-tasks-test-$$"
        image-tag: ${{ env.DOCKER_IMAGE_TAG }}
        pytest-options: ""
        filter-pattern: "isaaclab_tasks"

    - name: Copy Test Results from IsaacLab Tasks Container
      run: |
        CONTAINER_NAME="isaac-lab-tasks-test-$$"
        if docker ps -a | grep -q $CONTAINER_NAME; then
          echo "Copying test results from IsaacLab Tasks container..."
          docker cp $CONTAINER_NAME:/workspace/isaaclab/tests/isaaclab-tasks-report.xml reports/ 2>/dev/null || echo "No test results to copy from IsaacLab Tasks container"
        fi

    - name: Upload IsaacLab Tasks Test Results
      uses: actions/upload-artifact@v4
      if: always()
      with:
        name: isaaclab-tasks-test-results
        path: reports/isaaclab-tasks-report.xml
        retention-days: 1
        compression-level: 9

  test-general:
    runs-on: [self-hosted, gpu]
    timeout-minutes: 180

    steps:
    - name: Checkout Code
      uses: actions/checkout@v4
      with:
        fetch-depth: 0
        lfs: true

    - name: Build Docker Image
      uses: ./.github/actions/docker-build
      with:
        image-tag: ${{ env.DOCKER_IMAGE_TAG }}
        isaacsim-base-image: ${{ env.ISAACSIM_BASE_IMAGE }}
        isaacsim-version: ${{ env.ISAACSIM_BASE_VERSION }}

    - name: Run General Tests
      uses: ./.github/actions/run-tests
      with:
        test-path: "tools"
        result-file: "general-tests-report.xml"
        container-name: "isaac-lab-general-test-$$"
        image-tag: ${{ env.DOCKER_IMAGE_TAG }}
        pytest-options: ""
        filter-pattern: "not isaaclab_tasks"

    - name: Copy Test Results from General Tests Container
      run: |
        CONTAINER_NAME="isaac-lab-general-test-$$"
        if docker ps -a | grep -q $CONTAINER_NAME; then
          echo "Copying test results from General Tests container..."
          docker cp $CONTAINER_NAME:/workspace/isaaclab/tests/general-tests-report.xml reports/ 2>/dev/null || echo "No test results to copy from General Tests container"
        fi

    - name: Upload General Test Results
      uses: actions/upload-artifact@v4
      if: always()
      with:
        name: general-test-results
        path: reports/general-tests-report.xml
        retention-days: 1
        compression-level: 9

  combine-results:
    needs: [test-isaaclab-tasks, test-general]
    runs-on: [self-hosted, gpu]
    if: always()

    steps:
    - name: Checkout Code
      uses: actions/checkout@v4
      with:
        fetch-depth: 0
        lfs: false

    - name: Create Reports Directory
      run: |
        mkdir -p reports

    - name: Download Test Results
      uses: actions/download-artifact@v4
      with:
        name: isaaclab-tasks-test-results
        path: reports/
      continue-on-error: true

    - name: Download General Test Results
      uses: actions/download-artifact@v4
      with:
        name: general-test-results
        path: reports/

    - name: Combine All Test Results
      uses: ./.github/actions/combine-results
      with:
        tests-dir: "reports"
        output-file: "reports/combined-results.xml"

    - name: Upload Combined Test Results
      uses: actions/upload-artifact@v4
      if: always()
      with:
        name: pr-${{ github.event.pull_request.number }}-combined-test-results
        path: reports/combined-results.xml
        retention-days: 7
        compression-level: 9

    - name: Comment on Test Results
      id: test-reporter
      uses: EnricoMi/publish-unit-test-result-action@v2
      with:
        files: "reports/combined-results.xml"
        check_name: "Tests Summary"
        comment_mode: changes
        comment_title: "Test Results Summary"
        report_individual_runs: false
        deduplicate_classes_by_file_name: true
        compare_to_earlier_commit: true
        fail_on: errors
        action_fail_on_inconclusive: true

    - name: Report Test Results
      uses: dorny/test-reporter@v1
      with:
        name: IsaacLab Build and Test Results
        path: reports/combined-results.xml
        reporter: java-junit
        fail-on-error: true
        only-summary: false
        report-title: "IsaacLab Test Results - ${{ github.workflow }}"
