scenario_test.yaml

name: Scenario Test

on:
  pull_request:
    paths-ignore:
      - '**.md'
      - '.github/workflows/build_docker_image.yaml'
  workflow_dispatch:

permissions:
  pull-requests: write  # For uploading PR comments
  # For uploading docker image
  contents: read
  packages: write

env:
  PYTHON_VERSION: '3.10'
  CONSAI_TAG: humble-light-sha-${{ github.sha }}

jobs:
  create_docker_image:
    uses: ./.github/workflows/build_docker_image_for_ci.yaml

  setup_python_lib:
    runs-on: ubuntu-latest

    steps:
    - uses: actions/checkout@v4

    - name: Set up Python
      uses: actions/setup-python@v5
      with:
        python-version: ${{ env.PYTHON_VERSION }}

    - name: Setup virtual environment
      run: |
        python -m venv env
        source env/bin/activate

    - name: Cache virtual environment
      uses: actions/cache@v4
      with:
        path: env
        key: ${{ runner.os }}-env-${{ github.run_id }}
        restore-keys: |
          ${{ runner.os }}-env-

    - name: Install robocup_scenario_test library
      run: |
        source env/bin/activate
        python -m pip install --upgrade pip
        sudo apt update
        sudo apt install -y protobuf-compiler
        pip install -v git+https://github.com/SSL-Roots/robocup_scenario_test
        pip install pytest

  scenario_test:
    needs: [create_docker_image, setup_python_lib]

    strategy:
      fail-fast: false
      matrix:
        env:
          - {CONSAI_YELLOW: "false", CONSAI_INVERT: "false", TEST_NAME: "test_scenario_ball_placement.py"}
          - {CONSAI_YELLOW: "false", CONSAI_INVERT: "false", TEST_NAME: "test_scenario_force_start.py"}
          - {CONSAI_YELLOW: "false", CONSAI_INVERT: "false", TEST_NAME: "test_scenario_free_kick.py"}
          - {CONSAI_YELLOW: "false", CONSAI_INVERT: "false", TEST_NAME: "test_scenario_halt.py"}
          - {CONSAI_YELLOW: "false", CONSAI_INVERT: "false", TEST_NAME: "test_scenario_kickoff.py"}
          - {CONSAI_YELLOW: "false", CONSAI_INVERT: "false", TEST_NAME: "test_scenario_obstacle_avoidance.py"}
          - {CONSAI_YELLOW: "false", CONSAI_INVERT: "false", TEST_NAME: "test_scenario_penalty.py"}
          - {CONSAI_YELLOW: "false", CONSAI_INVERT: "false", TEST_NAME: "test_scenario_stop.py"}
          - {CONSAI_YELLOW: "false", CONSAI_INVERT: "false", TEST_NAME: "test_scenario_timeout.py"}
          - {CONSAI_YELLOW: "true", CONSAI_INVERT: "true", TEST_NAME: "yellow_invert/test_scenario_yellow_invert_kickoff.py"}

    runs-on: ubuntu-latest

    steps:
    - uses: actions/checkout@v4

    - name: Set up Python
      uses: actions/setup-python@v5
      with:
        python-version: ${{ env.PYTHON_VERSION }}

    - name: Cache virtual environment
      uses: actions/cache@v4
      with:
        path: env
        key: ${{ runner.os }}-env-${{ github.run_id }}
        restore-keys: |
          ${{ runner.os }}-env-

    - name: Setup virtual environment
      run: |
        python -m venv env
        source env/bin/activate
        python -m pip list

    - name: Start Docker Compose services
      run: |
        docker compose -f .docker/consai-grsim-compose.yml up -d
      env:
        CONSAI_TAG: ${{ env.CONSAI_TAG }}
        CONSAI_YELLOW: ${{ matrix.env.CONSAI_YELLOW }}
        CONSAI_INVERT: ${{ matrix.env.CONSAI_INVERT }}

    - name: Wait for game.py to start
      timeout-minutes: 5
      run: |
        CHECK_INTERVAL=5

        until docker top consai 2>/dev/null | grep -q game.py
        do
          echo "Waiting for game.py to start..."
          sleep $CHECK_INTERVAL
        done

        echo "game.py started!"

    - name: Download logger
      run: |
        cd tests
        curl -L https://github.com/RoboCup-SSL/ssl-go-tools/releases/download/v1.5.2/ssl-log-recorder_v1.5.2_linux_amd64 -o ssl-log-recorder
        chmod +x ssl-log-recorder

    - name: Run pytest
      run: |
        source env/bin/activate
        cd tests
        pytest ${{ matrix.env.TEST_NAME }} --vision_port=10020 --logging --log_recorder=./ssl-log-recorder

    - name: Check for log files
      if: ${{ failure() }}
      run: |
        if ls tests/*.log.gz 1> /dev/null 2>&1; then
          echo "LOG_EXISTS=true" >> $GITHUB_ENV
        else
          echo "LOG_EXISTS=false" >> $GITHUB_ENV
        fi

    - name: Get and print logs
      if: ${{ failure() || success() }}
      run: docker compose -f .docker/consai-grsim-compose.yml logs --tail 100

    - name: Clean up Docker Compose services
      if: ${{ failure() || success() }}
      run: docker compose -f .docker/consai-grsim-compose.yml down

    - name: Upload artifacts
      id: upload-artifact
      if: ${{ failure() && env.LOG_EXISTS == 'true' }}
      uses: actions/upload-artifact@v4
      with:
        name: ${{ matrix.env.TEST_NAME}}-failure-logs
        path: 'tests/*.log.gz'

    - name: Comment PR with Artifact URL
      if: ${{ failure() && env.LOG_EXISTS == 'true' }}
      uses: peter-evans/create-or-update-comment@v4
      with:
        issue-number: ${{ github.event.pull_request.number }}
        body: |
          ${{ matrix.env.TEST_NAME }} failed. Failure logs: ${{ steps.upload-artifact.outputs.artifact-url }}