ci_ubuntu.yml

# https://help.github.com/en/articles/workflow-syntax-for-github-actions

name: CI Linux

on:
  push:
    branches:
      - "**"
  pull_request:
    branches:
      - "**"
  schedule:
    - cron: "0 2 * * 0,3"
  workflow_dispatch:

concurrency:
  group: ${{ github.workflow }}-${{ github.ref }}
  cancel-in-progress: ${{ github.event_name != 'schedule' && github.ref != 'refs/heads/main' }}

jobs:
  changes:
    runs-on: ubuntu-latest
    outputs:
      code: ${{ steps.filter.outputs.code }}
    steps:
      - uses: actions/checkout@v6
      - uses: dorny/paths-filter@v3
        id: filter
        with:
          filters: |
            code:
              - '**'
              - '!.github/workflows/cache_*.yml'
              - '!docker/dev/**'
              - '!docs/**'
              - '!.readthedocs.yml'
              - '!tutorials/**'
              - '!**/*.md'
              - '!**/*.rst'
              - '!**/*.po'
              - '!**/*.pot'

  coverage:
    needs: changes
    # Skip for workflow_dispatch; bypass changes gate for schedule (no file-change payload)
    if: github.event_name != 'workflow_dispatch' && (github.event_name == 'schedule' || needs.changes.outputs.code == 'true')
    name: Coverage (Debug)
    runs-on: ubuntu-latest
    env:
      DART_PARALLEL_JOBS: 8
    strategy:
      fail-fast: false
    steps:
      - name: Checkout
        uses: actions/checkout@v6

      - name: Setup pixi (CI)
        uses: ./.github/actions/setup-pixi-ci
        with:
          pixi-bin-path: ${{ runner.temp }}/pixi/bin/pixi

      - name: Install system dependencies
        uses: awalsh128/cache-apt-pkgs-action@v1.6.0
        with:
          packages: libgl1-mesa-dev libglu1-mesa-dev
          version: 2

      - name: Configure environment for compiler cache
        uses: ./.github/actions/configure-compiler-cache

      - name: Build and generate coverage report
        run: |
          DART_VERBOSE=ON \
          BUILD_TYPE=Debug \
          pixi run coverage-report

      - name: Upload coverage to Codecov
        uses: codecov/codecov-action@v5
        with:
          token: ${{ secrets.CODECOV_TOKEN }}
          files: ./coverage.info
          flags: unittests
          name: codecov-umbrella
          fail_ci_if_error: false

  build-release:
    needs: changes
    if: github.event_name == 'schedule' || github.event_name == 'workflow_dispatch' || needs.changes.outputs.code == 'true'
    name: Release Tests
    runs-on: ubuntu-latest
    env:
      DART_PARALLEL_JOBS: 8
    steps:
      - name: Checkout
        uses: actions/checkout@v6

      - name: Setup pixi (CI)
        uses: ./.github/actions/setup-pixi-ci
        with:
          pixi-bin-path: ${{ runner.temp }}/pixi/bin/pixi

      - name: Install system dependencies
        uses: awalsh128/cache-apt-pkgs-action@v1.6.0
        with:
          packages: libgl1-mesa-dev libglu1-mesa-dev
          version: 2

      - name: Configure environment for compiler cache
        uses: ./.github/actions/configure-compiler-cache

      - name: Test DART and dartpy
        run: |
          DART_VERBOSE=ON \
          BUILD_TYPE=Release \
          DART_BUILD_SIMULATION_EXPERIMENTAL_OVERRIDE=OFF \
          pixi run test-all

      - name: Test with AddressSanitizer
        run: |
          DART_VERBOSE=ON \
          pixi run test-asan

      - name: Install
        run: |
          DART_VERBOSE=ON \
          BUILD_TYPE=Release \
          pixi run install

  build-debug:
    needs: changes
    if: github.event_name == 'schedule' || github.event_name == 'workflow_dispatch' || needs.changes.outputs.code == 'true'
    name: Debug Tests
    runs-on: ubuntu-latest
    env:
      DART_PARALLEL_JOBS: 8
    steps:
      - name: Checkout
        uses: actions/checkout@v6

      - name: Setup pixi (CI)
        uses: ./.github/actions/setup-pixi-ci
        with:
          pixi-bin-path: ${{ runner.temp }}/pixi/bin/pixi

      - name: Install system dependencies
        uses: awalsh128/cache-apt-pkgs-action@v1.6.0
        with:
          packages: libgl1-mesa-dev libglu1-mesa-dev
          version: 2

      - name: Configure environment for compiler cache
        uses: ./.github/actions/configure-compiler-cache

      - name: Test DART and dartpy
        run: |
          DART_VERBOSE=ON \
          BUILD_TYPE=Debug \
          DART_BUILD_SIMULATION_EXPERIMENTAL_OVERRIDE=OFF \
          pixi run test-all

  build-asserts:
    needs: changes
    if: github.event_name == 'schedule' || github.event_name == 'workflow_dispatch' || needs.changes.outputs.code == 'true'
    name: Asserts enabled (no -DNDEBUG)
    runs-on: ubuntu-latest
    env:
      DART_PARALLEL_JOBS: 8
    steps:
      - name: Checkout
        uses: actions/checkout@v6

      - name: Setup pixi (CI)
        uses: ./.github/actions/setup-pixi-ci
        with:
          pixi-bin-path: ${{ runner.temp }}/pixi/bin/pixi

      - name: Install system dependencies
        uses: awalsh128/cache-apt-pkgs-action@v1.6.0
        with:
          packages: libgl1-mesa-dev libglu1-mesa-dev
          version: 2

      - name: Configure environment for compiler cache
        uses: ./.github/actions/configure-compiler-cache

      - name: Build with assertions (no -DNDEBUG)
        run: |
          # NOTE: pixi tasks set BUILD_TYPE internally, so configure this
          # variant explicitly to ensure NDEBUG is not defined.
          pixi run -- bash -lc '
            set -euo pipefail
            BUILD_TYPE=None
            DART_VERBOSE=ON
            cmake \
              -G Ninja \
              -S . \
              -B build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \
              -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \
              -DCMAKE_BUILD_TYPE=$BUILD_TYPE \
              -DCMAKE_PREFIX_PATH=$CONDA_PREFIX \
              -DDART_BUILD_DARTPY=ON \
              -DDART_BUILD_COLLISION_BULLET=ON \
              -DDART_BUILD_PROFILE=ON \
              -DDART_USE_SYSTEM_GOOGLEBENCHMARK=ON \
              -DDART_USE_SYSTEM_GOOGLETEST=ON \
              -DDART_USE_SYSTEM_IMGUI=ON \
              -DDART_USE_SYSTEM_TRACY=ON \
              -DDART_VERBOSE=$DART_VERBOSE
            cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE -j
          '

  headless-rendering:
    needs: changes
    if: github.event_name == 'schedule' || github.event_name == 'workflow_dispatch' || needs.changes.outputs.code == 'true'
    name: Headless Rendering Tests
    runs-on: ubuntu-latest
    env:
      DART_PARALLEL_JOBS: 8
    steps:
      - name: Checkout
        uses: actions/checkout@v6

      - name: Setup pixi (CI)
        uses: ./.github/actions/setup-pixi-ci
        with:
          pixi-bin-path: ${{ runner.temp }}/pixi/bin/pixi

      - name: Install system dependencies
        uses: awalsh128/cache-apt-pkgs-action@v1.6.0
        with:
          packages: libgl1-mesa-dev libglu1-mesa-dev xvfb mesa-utils
          version: 3

      - name: Configure environment for compiler cache
        uses: ./.github/actions/configure-compiler-cache

      - name: Build examples
        run: |
          DART_VERBOSE=ON \
          BUILD_TYPE=Release \
          pixi run build-examples

      - name: Run headless rendering test (rigid_cubes)
        run: |
          mkdir -p /tmp/headless_output
          xvfb-run --auto-servernum --server-args="-screen 0 1024x768x24" \
            ./build/default/cpp/Release/bin/rigid_cubes \
            --headless --frames 10 --out /tmp/headless_output
          echo "Captured frames:"
          ls -la /tmp/headless_output/
          test -f /tmp/headless_output/frame_000000.png
          test -f /tmp/headless_output/frame_000008.png
          file /tmp/headless_output/frame_000000.png | grep -q "PNG image data"
          echo "Headless rendering test passed!"