tests.yml

name: tests

on:
  workflow_dispatch:
  # Scope push to main only — PR branches are covered by pull_request, so this
  # avoids a redundant second run (and the "re-ran one, the twin still red" trap)
  # on every push to a PR branch.
  push:
    branches: [main]
  pull_request:

jobs:
  lint:
    name: Lint (pre-commit)
    runs-on: ubuntu-latest
    steps:
      - name: Checkout repository
        uses: actions/checkout@v4
      - name: Setup Python
        uses: actions/setup-python@v5
        with:
          python-version: '3.11'
      - name: Install dependencies
        shell: bash
        run: |
          python -m pip install --upgrade pip
          # ruckig 0.17.3 sdist doesn't build under scikit-build-core 1.0;
          # pre-install the fixed commit until a release lands (pantor/ruckig#262).
          pip install "ruckig @ git+https://github.com/pantor/ruckig@2249d57ffaa19ecdadeaab62daf97857813629ff"
          pip install -e ".[dev]"
          # Override the pinned waldoctl with the matching feature branch if one
          # exists, AFTER ".[dev]" (and with --force-reinstall) so the pinned tag
          # in pyproject can't clobber it. Deps are kept (no --no-deps): the
          # refactored waldoctl imports nicegui, which parol6 doesn't otherwise
          # install. Skipped on main so main CI exercises the released pin.
          BRANCH="${GITHUB_HEAD_REF:-${GITHUB_REF_NAME}}"
          if [ "$BRANCH" != "main" ] && git ls-remote --heads https://github.com/Jepson2k/waldoctl.git "$BRANCH" 2>/dev/null | grep -q .; then
            pip install --force-reinstall "waldoctl @ git+https://github.com/Jepson2k/waldoctl.git@${BRANCH}"
          fi
      - name: Run pre-commit
        uses: pre-commit/action@v3.0.1

  test:
    name: ${{ matrix.os }} / Python ${{ matrix.python-version }}
    runs-on: ${{ matrix.os }}
    timeout-minutes: 45
    strategy:
      fail-fast: false
      matrix:
        os: [ubuntu-latest, windows-latest, macos-latest]
        python-version: ['3.11', '3.12', '3.13', '3.14']

    defaults:
      run:
        shell: bash -l {0}

    steps:
      - name: Checkout repository (with submodules)
        uses: actions/checkout@v4

      - name: Detect matching pinokin branch
        id: pinokin
        shell: bash
        run: |
          BRANCH="${GITHUB_HEAD_REF:-${GITHUB_REF_NAME}}"
          if git ls-remote --heads https://github.com/Jepson2k/pinokin.git "$BRANCH" 2>/dev/null | grep -q .; then
            echo "matching=true" >> "$GITHUB_OUTPUT"
            echo "branch=$BRANCH" >> "$GITHUB_OUTPUT"
          else
            echo "matching=false" >> "$GITHUB_OUTPUT"
          fi

      # ----------------------------------------------------------------------
      # Path A: matching pinokin branch -> conda env (provides libpinocchio +
      # libcoal headers/libs) so pinokin can be built from source. We install
      # PAROL6 first (which pulls in the pinned pinokin v0.1.6 wheel) and
      # then override pinokin with the source-built wheel from the matching
      # branch. This is the only way to exercise unreleased pinokin features
      # before a release lands.
      # ----------------------------------------------------------------------
      - name: Setup Miniforge (matching pinokin branch)
        if: steps.pinokin.outputs.matching == 'true'
        uses: conda-incubator/setup-miniconda@v3
        with:
          miniforge-version: latest
          python-version: ${{ matrix.python-version }}
          conda-remove-defaults: true
          activate-environment: parol6-test

      - name: Clone matching pinokin branch
        if: steps.pinokin.outputs.matching == 'true'
        run: |
          git clone --depth=1 --branch="${{ steps.pinokin.outputs.branch }}" https://github.com/Jepson2k/pinokin.git pinokin-src
          conda env update -n parol6-test -f pinokin-src/environment.yml

      # ----------------------------------------------------------------------
      # Path B: no matching pinokin branch -> plain pip with the pinned
      # release wheel. Anything in PAROL6 that requires a newer pinokin
      # feature will fail loudly here (intended).
      # ----------------------------------------------------------------------
      - name: Setup Python (pinned pinokin)
        if: steps.pinokin.outputs.matching != 'true'
        uses: actions/setup-python@v5
        with:
          python-version: ${{ matrix.python-version }}
          cache: pip
          cache-dependency-path: pyproject.toml

      - name: Install package
        run: |
          python -m pip install --upgrade pip
          # ruckig 0.17.3 sdist doesn't build under scikit-build-core 1.0;
          # pre-install the fixed commit until a release lands (pantor/ruckig#262).
          pip install "ruckig @ git+https://github.com/pantor/ruckig@2249d57ffaa19ecdadeaab62daf97857813629ff"
          pip install -e ".[dev]" pytest-timeout
          # Override the pinned waldoctl with the matching feature branch if one
          # exists, AFTER ".[dev]" (and with --force-reinstall) so the pinned tag
          # in pyproject can't clobber it. Deps are kept (no --no-deps): the
          # refactored waldoctl imports nicegui, which parol6 doesn't otherwise
          # install. Skipped on main so main CI exercises the released pin.
          BRANCH="${GITHUB_HEAD_REF:-${GITHUB_REF_NAME}}"
          if [ "$BRANCH" != "main" ] && git ls-remote --heads https://github.com/Jepson2k/waldoctl.git "$BRANCH" 2>/dev/null | grep -q .; then
            pip install --force-reinstall "waldoctl @ git+https://github.com/Jepson2k/waldoctl.git@${BRANCH}"
          fi

      # Override the pinned pinokin v0.1.6 wheel with the matching-branch
      # source build. --force-reinstall + --no-deps swaps just pinokin
      # without disturbing other resolved dependencies.
      - name: Override pinokin with matching-branch source build
        if: steps.pinokin.outputs.matching == 'true'
        run: |
          cd pinokin-src
          pip install . --no-build-isolation --force-reinstall --no-deps
          python -c "from pinokin import CollisionChecker; print('CollisionChecker available')"

      - name: Show environment
        run: |
          python -V
          pip list

      - name: Run tests
        env:
          PYTHONUNBUFFERED: '1'
          PYTHONUTF8: '1'
        run: |
          pytest