main.yml

# Copyright (c) 2020, Massachusetts Institute of Technology.
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---
name: CI
on:
  pull_request:
    types:
      - opened
      - reopened
      - synchronize
  push:
    branches:
      - master
  schedule:
    - cron: '0 8 * * *'
jobs:
  jammy:
    name: ubuntu 22.04 jammy
    runs-on: ubuntu-22.04
    container: ubuntu:22.04
    steps:
      - name: pre-checkout setup
        run: |
          export APT_KEY_DONT_WARN_ON_DANGEROUS_USAGE=1 DEBIAN_FRONTEND=noninteractive
          apt-get update -o APT::Acquire::Retries=4 -qq
          apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends ca-certificates gnupg
          apt-key adv --keyserver keyserver.ubuntu.com --recv-keys E1DD270288B4E6030699E45FA1715D88E1DF1F24
          echo 'deb http://ppa.launchpad.net/git-core/ppa/ubuntu focal main' > /etc/apt/sources.list.d/git.list
          apt-get update -o APT::Acquire::Retries=4 -qq
          apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends git
          rm -rf /var/cache/apt/archives/*.deb /var/cache/apt/archives/partial/*.deb /var/cache/apt/*.bin /var/lib/apt/lists/* /var/log/apt/*
        shell: bash
      - name: checkout
        uses: actions/checkout@v2
      - name: submodule checkout
        run:  ./setup/submodule_checkout
        shell: bash
      - name: post-checkout setup
        run: ./book/htmlbook/workflows/ci/jammy/setup
        shell: bash
      - name: test
        run: ./book/htmlbook/workflows/ci/jammy/test
        shell: bash
  monterey:
    name: macos monterey 12
    runs-on: macos-12
    steps:
      - name: checkout
        uses: actions/checkout@v2
      - name: submodule checkout
        run:  ./setup/submodule_checkout
        shell: zsh -efuo pipefail {0}
      - name: setup
        run: ./book/htmlbook/workflows/ci/monterey/setup
        shell: zsh -efuo pipefail {0}
      - name: test
        run: ./book/htmlbook/workflows/ci/monterey/test
        shell: zsh -efuo pipefail {0}
  lint:
    runs-on: ubuntu-latest
    steps:
      - name: checkout repo
        uses: actions/checkout@v3
      - name: setup python
        uses: actions/setup-python@v4
      - name: black
        uses: psf/black@stable
      - name: isort
        uses: isort/isort-action@master
        with:
            configuration: "--profile black"
      - name: Install and configure Poetry
        uses: snok/install-poetry@v1
        with:
          version: 1.7.1
          virtualenvs-create: true
          virtualenvs-in-project: true
      - name: build the docs
        run: |
          poetry install --only docs
          source .venv/bin/activate
          sphinx-build -M html underactuated book/python
        shell: bash
      - name: Test full poetry install
        run: poetry install
  docker:
    name: dockerfile
    runs-on: ubuntu-latest
    container: russtedrake/underactuated:latest
    steps:
      - name: checkout
        uses: actions/checkout@v2
      - name: submodule checkout
        run:  ./setup/submodule_checkout
        shell: bash
      - name: post-checkout setup
        # Force bazel to use user pip instead of re-downloading everything to 
        # be hermetic:
        run: |
          truncate -s0 requirements.txt 
          sed -i '/PYTHONNOUSERSITE/d' .bazelrc
        shell: bash
      - name: test
        run: ./book/htmlbook/workflows/ci/jammy/test
        shell: bash
  jammy-pip:
    # This should emulate a student's experience if they are doing the psets
    # via pip install underactuated.
    #
    # TODO(russt): Revisit the pip3 install -r requirements.txt below. Maybe I
    # need to separate out testing requirements from notebook requirements.
    name: pip on jammy
    runs-on: ubuntu-22.04
    container: ubuntu:22.04
    steps:
      - name: pre-checkout setup
        run: |
          apt-get update -o APT::Acquire::Retries=4 -qq
          apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends python3-pip git xvfb
          pip3 install underactuated --extra-index-url https://drake-packages.csail.mit.edu/whl/nightly/
        shell: bash
      - name: checkout
        uses: actions/checkout@v2
      - name: submodule checkout
        run:  ./setup/submodule_checkout
        shell: bash
      - name: post-checkout setup
        # Force bazel to use user pip instead of re-downloading everything to
        # be hermetic. Also apply patches to avoid bazel dependency on
        # installed drake.
        run: |
          ./setup/ubuntu/22.04/install_prereqs.sh
          pip3 install -r requirements.txt  # poetry does not publish dependency groups https://github.com/python-poetry/poetry/issues/6727
          truncate -s0 requirements.txt
          sed -i '/PYTHONNOUSERSITE/d' .bazelrc
        shell: bash
      - name: test
        run: DRAKE_RESOURCE_ROOT=`python3 -c "from pathlib import Path; from pydrake.all import GetDrakePath; print(Path(GetDrakePath()).parent)"` ./book/htmlbook/workflows/ci/jammy/test_w_installed_deps
        shell: bash