test.yml

name: CI

on:
    push:
        branches: [ main ]
    pull_request:
        branches: [ main ]
    workflow_dispatch:

jobs:
    coverage:
        name: "Coverage"
        runs-on: ubuntu-latest

        steps:
            - name: "Checkout sources"
              uses: actions/checkout@v3

            - name: "Set up Python"
              uses: actions/setup-python@v4
              with:
                  python-version: "3.9"

            - name: "Install dependencies"
              run: |
                  python -m pip install --upgrade pip
                  python -m pip install coveralls tox tox-gh-actions

            - name: "Check coverage"
              run: |
                  tox -e coverage

            - name: "Coveralls"
              env:
                  GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
              run: |
                  coveralls --service=github

    lint:
        name: "Code style"
        runs-on: ubuntu-latest

        steps:
            - name: "Checkout sources"
              uses: actions/checkout@v3

            - name: "Set up Python"
              uses: actions/setup-python@v4
              with:
                  python-version: "3.9"

            - name: "Install dependencies"
              run: |
                  python -m pip install --upgrade pip
                  python -m pip install tox tox-gh-actions

            - name: "Check code format"
              run: |
                  tox -e lint

    loader:
        name: "Loader: ${{ matrix.loader }} with Python ${{ matrix.python-version }}"
        runs-on: ubuntu-latest

        strategy:
            matrix:
                python-version: ["3.9"]
                loader: ["idyntree", "mujoco", "pybullet", "robomeshcat", "yourdfpy"]

        steps:
            - name: "Checkout sources"
              uses: actions/checkout@v3

            - name: "Set up Python"
              uses: actions/setup-python@v4
              with:
                  python-version: "${{ matrix.python-version }}"

            - name: "Install dependencies"
              run: |
                  python -m pip install --upgrade pip
                  python -m pip install tox tox-gh-actions

            - name: "Run loader tests"
              run: |
                  tox -e loader-${{ matrix.loader }}

    loader-pinocchio:
        name: "Loader: pinocchio with Python ${{ matrix.python-version }}"
        runs-on: ubuntu-latest

        strategy:
            matrix:
                python-version: ["3.9"]

        defaults:
            run:
                # See https://github.com/mamba-org/setup-micromamba?tab=readme-ov-file#about-login-shells
                shell: bash -leo pipefail {0}

        steps:
            - name: "Checkout sources"
              uses: actions/checkout@v4

            - name: "Install Conda environment with Micromamba"
              uses: mamba-org/setup-micromamba@v1
              with:
                  micromamba-version: '1.5.8-0'
                  environment-name: pinocchio_test_env
                  create-args: >-
                      python=${{ matrix.python-version }}
                      pinocchio>=3.1.0
                  cache-environment: true
                  post-cleanup: 'all'

            - name: "Run loader tests"
              run: |
                  python -m unittest tests/loaders/test_pinocchio.py --failfast

    ci_success:
        name: "CI success"
        runs-on: ubuntu-latest
        needs: [coverage, lint, loader]
        steps:
            - run: echo "CI workflow completed successfully"