install_and_test.yml

name: Install and test
on:
  pull_request: {}
  push:
    branches:
    - main

jobs:
  python_lint:
    runs-on: ubuntu-latest
    steps:
    - uses: actions/checkout@v4.1.1
    - name: Setup python
      uses: actions/setup-python@v5.0.0
      with:
        python-version: '3.9.16'
    - name: setup
      run: |-
        pip install -U pip
        pip install -U --prefer-binary \
          black==23.1.0 \
          flake8 \
          flake8-bugbear==22.6.22 \
          flake8-builtins \
          flake8-comprehensions \
          flake8-return \
          flake8-simplify \
          hypothesis==6.29.3 \
          isort==5.12.0 \
          mypy \
          numpy==1.26.4 \
          pytest \
          sphinx \
          tqdm
        pip install --prefer-binary -r requirements.txt torch --progress-bar off
    - name: run black
      run: |-
        black --version
        black --exclude '/(\.eggs|\.git|\.hg|\.mypy_cache|\.nox|\.tox|\.venv|_build|buck-out|build|dist)|examples/tutorials/(notebooks|nb_python)'  src_python/habitat_sim/. examples/. tests/. setup.py --diff
        black --exclude '/(\.eggs|\.git|\.hg|\.mypy_cache|\.nox|\.tox|\.venv|_build|buck-out|build|dist)|examples/tutorials/(notebooks|nb_python)'  src_python/habitat_sim/. examples/. tests/. setup.py --check
    - name: run isort
      run: |-
        isort --version
        isort src_python/habitat_sim/. examples/. tests/. setup.py --diff
        isort src_python/habitat_sim/. examples/. tests/. setup.py --check-only
    - name: run flake8
      run: |-
        flake8 --version
        flake8 src_python/habitat_sim/. examples/. tests/. setup.py
    - name: run mypy
      run: mypy

  install_and_test_ubuntu:
    runs-on: 4-core-ubuntu-gpu-t4
    env:
      FPS_THRESHOLD: 900
    defaults:
      run:
        shell: bash -el {0}
    steps:
    - uses: actions/checkout@v4.1.1
      with:
        path: "./habitat-sim"
    - name: CPU info
      run: cat /proc/cpuinfo
    - uses: "./habitat-sim/.github/actions/install_ubuntu_deps"
    - uses: "./habitat-sim/.github/actions/install_ubuntu_gpu_deps"
    - name: Build, install habitat-sim
      run: |-
        #give cmake ownership to the runner for installation
        sudo chown runner -R /opt/cmake312/
        #activate conda env
        export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
        conda init
        source ~/.bashrc
        conda activate habitat
        #install habitat-sim
        cd habitat-sim
        pip install -r requirements.txt --progress-bar off
        git submodule update --init --recursive --jobs 8
        python -u setup.py install --build-type "Release" --lto --headless --bullet
    - name: Download test data
      run: |-
        # Disable clone protection for git lfs
        export GIT_CLONE_PROTECTION_ACTIVE=false

        git --version
        git-lfs --version
        export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
        conda init
        source ~/.bashrc
        conda activate habitat
        conda install -y gitpython git-lfs
        cd habitat-sim
        git lfs install
        python src_python/habitat_sim/utils/datasets_download.py --uids ci_test_assets ycb rearrange_dataset_v2 --replace --data-path data/ --no-prune
        ls -la data/scene_datasets/habitat-test-scenes/
    - name: Run sim benchmark
      run: |-
        export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
        conda init
        source ~/.bashrc
        conda activate habitat
        cd habitat-sim
        python examples/example.py --scene data/scene_datasets/habitat-test-scenes/van-gogh-room.glb --silent --test_fps_regression $FPS_THRESHOLD
    - name: Debugging with tmate
      uses: mxschmitt/action-tmate@v3.18
    - name: Run sim tests
      run: |-
        #give cmake ownership to the runner for installation
        sudo chown runner -R /opt/cmake312/
        #activate conda env
        export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
        conda init
        source ~/.bashrc
        conda activate habitat
        cd habitat-sim
        export PYTHONPATH=$(pwd):$PYTHONPATH

        #set pytest to show partial progress
        export PYTHONUNBUFFERED=1

        # run tests with code coverage
        CORRADE_TEST_COLOR=ON GTEST_COLOR=yes ./build.sh --headless \
          --bullet \
          --with-cuda \
          --build-datatool \
          --run-tests \
          --no-lto \
          --cmake-args='-DCMAKE_CXX_FLAGS="--coverage"'
        PYTHONPATH=src_python pytest -n 4 --durations=10 --cov-report=xml --cov=./

        #run the marked pytest-benchmark tests and print the results
        PYTHONPATH=src_python pytest -m sim_benchmarks

        #re-build without bullet and cuda and run physics tests again
        #TODO: instead of reinstall, do this with configuration
        ./build.sh --headless --cmake-args='-DCMAKE_CXX_FLAGS="--coverage"'
        PYTHONPATH=src_python pytest -n 4 --durations=10 --cov-report=xml --cov=./ --cov-append tests/test_physics.py tests/test_sensors.py
    - name: upload test coverage
      run: |-
        export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
        conda init
        source ~/.bashrc
        conda activate habitat
        cd habitat-sim

        curl -Os https://uploader.codecov.io/latest/linux/codecov
        chmod +x codecov
        #Uploading test coverage for Python code
        ./codecov -f coverage.xml -cF Python

        #Uploading test coverage for C++ code
        lcov --directory . --capture --output-file coverage.info
        # Replaces -1 linecount with zero to prevent lcov from crashing:
        # https://github.com/psycofdj/coverxygen/issues/6
        sed -i -e 's/,-1$/,0/g' coverage.info
        #lcov --remove coverage.info "*/deps/*" --output-file coverage.info > /dev/null
        #lcov --remove coverage.info "*/test/*" --output-file coverage.info > /dev/null
        #lcov --remove coverage.info "*/tests/*" --output-file coverage.info > /dev/null
        ./codecov -f coverage.info -cF CPP


  install_and_test_ubuntu_audio:
    runs-on: 4-core-ubuntu-gpu-t4
    defaults:
      run:
        shell: bash -el {0}
    steps:
    - uses: actions/checkout@v4.1.1
      with:
        path: "./habitat-sim"
    - name: CPU info
      run: cat /proc/cpuinfo
    - uses: "./habitat-sim/.github/actions/install_ubuntu_deps"
    - uses: "./habitat-sim/.github/actions/install_ubuntu_gpu_deps"
    - name: install habitat-sim with audio and run audio_agent script
      run: |-
        #give cmake ownership to the runner for installation
        sudo chown runner -R /opt/cmake312/
        export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
        conda init
        source ~/.bashrc
        conda activate habitat
        cd habitat-sim
        pip install -r requirements.txt --progress-bar off
        pip install imageio imageio-ffmpeg
        git submodule update --init --recursive --jobs 8
        python -u setup.py install --build-type "Release" --lto --headless --audio
        python examples/tutorials/audio_agent.py