ci.yml

#
#  ISC License
#
#  Copyright (c) 2026, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
#
#  Permission to use, copy, modify, and/or distribute this software for any
#  purpose with or without fee is hereby granted, provided that the above
#  copyright notice and this permission notice appear in all copies.
#
#  THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
#  WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
#  MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
#  ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
#  WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
#  ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
#  OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
#

name: CI

on:
  pull_request:
  push:
    branches: [master, develop]
  workflow_dispatch:
    inputs:
      bsk_version:
        description: "Override BSK version (e.g. 2.10.2rc1). Defaults to _bsk_version.txt."
        required: false
        default: ""

concurrency:
  group: ${{ github.workflow }}-${{ github.ref }}
  cancel-in-progress: true

jobs:
  build:
    name: Build (${{ matrix.os }}, ${{ matrix.python_label }})
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        os: [ubuntu-latest, macos-latest, windows-latest]
        python: ["3.9", "3.14"]
        include:
          - python: "3.9"
            python_label: "MIN Python"
          - python: "3.14"
            python_label: "MAX Python"

    steps:
      - uses: actions/checkout@v5

      - uses: actions/setup-python@v6
        with:
          python-version: ${{ matrix.python }}

      - name: Resolve BSK version
        id: bsk
        shell: bash
        run: |
          OVERRIDE="${{ inputs.bsk_version }}"
          if [[ -n "$OVERRIDE" ]]; then
            echo "version=${OVERRIDE}" >> "$GITHUB_OUTPUT"
          else
            echo "version=$(tr -d '[:space:]' < src/bsk_sdk/_bsk_version.txt)" >> "$GITHUB_OUTPUT"
          fi

      - uses: ./.github/actions/setup-bsk
        with:
          version: ${{ steps.bsk.outputs.version }}
          clone-source: "true"
          install-package: "false"

      - name: Report environment
        shell: bash
        run: |
          python --version
          echo "BSK source: $(git -C external/basilisk log -1 --oneline)"

      - name: Sync artifacts
        run: python tools/sync_all.py

      - name: Build wheel
        shell: bash
        run: |
          pip install build
          python -m build --wheel -o dist
        env:
          BSK_SDK_AUTO_SYNC: "0"

      - uses: actions/upload-artifact@v6
        with:
          name: wheel-${{ matrix.os }}-py${{ matrix.python }}
          path: dist/*.whl
          retention-days: 1

  test:
    name: Test wheel (${{ matrix.os }}, ${{ matrix.python_label }})
    needs: build
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        os: [ubuntu-latest, macos-latest, windows-latest]
        python: ["3.9", "3.14"]
        include:
          - python: "3.9"
            python_label: "MIN Python"
          - python: "3.14"
            python_label: "MAX Python"

    steps:
      - uses: actions/checkout@v5
        with:
          sparse-checkout: tests

      - uses: actions/setup-python@v6
        with:
          python-version: ${{ matrix.python }}

      - uses: actions/download-artifact@v7
        with:
          name: wheel-${{ matrix.os }}-py${{ matrix.python }}
          path: dist

      - name: Install wheel and test dependencies
        shell: bash
        run: pip install dist/*.whl pytest

      - name: Run smoke tests
        run: pytest tests/test_smoke.py -v

  examples:
    name: Build example plugin (${{ matrix.os }}, ${{ matrix.python_label }})
    needs: build
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        os: [ubuntu-latest, macos-latest, windows-latest]
        python: ["3.9", "3.14"]
        include:
          - python: "3.9"
            python_label: "MIN Python"
          - python: "3.14"
            python_label: "MAX Python"

    steps:
      - uses: actions/checkout@v5
        with:
          sparse-checkout: |
            .github/actions
            examples

      - uses: actions/setup-python@v6
        with:
          python-version: ${{ matrix.python }}

      - uses: actions/download-artifact@v7
        with:
          name: wheel-${{ matrix.os }}-py${{ matrix.python }}
          path: dist

      - name: Install SDK wheel and read BSK version
        id: bsk
        shell: bash
        run: |
          pip install dist/*.whl --force-reinstall
          echo "version=$(python -c "import bsk_sdk; print(bsk_sdk.bsk_version(), end='')")" >> "$GITHUB_OUTPUT"

      - uses: ./.github/actions/setup-bsk
        with:
          version: ${{ steps.bsk.outputs.version }}
          clone-source: "false"
          install-package: "true"

      - name: Report environment
        shell: bash
        run: pip show bsk swig | grep -E "^(Name|Version):" && python -c "import bsk_sdk; print('bsk-sdk:', bsk_sdk.__version__, '| synced from BSK:', bsk_sdk.bsk_version())"

      - name: Build example plugin wheel
        # --no-isolation so the build inherits the locally installed bsk-sdk wheel,
        # guaranteeing CI always tests the current branch rather than a stale PyPI version.
        shell: bash
        run: |
          pip install build scikit-build-core
          python -m build --wheel --no-isolation -o plugin-dist examples/custom-atm-plugin

      - uses: actions/upload-artifact@v6
        with:
          name: plugin-wheel-${{ matrix.os }}-py${{ matrix.python }}
          path: plugin-dist/*.whl
          retention-days: 7

      - name: Install plugin wheel and test dependencies
        shell: bash
        run: pip install plugin-dist/*.whl pytest

      - name: Run example plugin tests
        run: pytest examples/custom-atm-plugin/customExponentialAtmosphere/_UnitTest/test_customExponentialAtmosphere.py -v