integration.yml

name: integration

on:
  push:
    branches:
      - main
  pull_request:
    branches:
      - main
      - LTS-main-1.x

jobs:
  build:
    name: ubuntu-py39-integration
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v6
      - name: Set up Python 3.9
        uses: actions/setup-python@v5
        with:
          python-version: '3.9'

      - name: Bring up both ROS stacks
        # Defaults: ROS 1 rosbridge on 9090, ROS 2 rosbridge on 9091, ROS 2
        # HTTP assets on 9092. See `tests/integration_setup/README.md`.
        run: |
          docker compose -f tests/integration_setup/docker-compose.yml      up -d --build
          docker compose -f tests/integration_setup/docker-compose-ros2.yml up -d --build
          docker ps -a

      - name: Install dependencies
        # `pip install -r requirements-dev.txt` alone installs the dev tools
        # but NOT the package itself nor its runtime deps. The top-level
        # `conftest.py` then crashes on `from twisted.internet import ...`
        # because twisted only arrives transitively via `roslibpy` (a runtime
        # dep). Installing the package with the `[dev]` extra pulls both.
        run: |
          python -m pip install --upgrade pip wheel
          python -m pip install --no-cache-dir -e ".[dev]"

      - name: Run tests + doctests
        # `COMPAS_FAB_RUN_ROS_INTEGRATION_TESTS=1` opts the `ros1_client` /
        # `ros2_client` fixtures into actually connecting (otherwise every
        # integration test is skipped). `--doctest-modules` picks up
        # doctests embedded in `src/compas_fab/` modules.
        env:
          COMPAS_FAB_RUN_ROS_INTEGRATION_TESTS: "1"
          # Opt the whole suite into roslibpy's new asyncio transport
          # (websockets-based) instead of the historical twisted reactor.
          ROSLIBPY_TRANSPORT: asyncio
        run: |
          pytest --doctest-modules

      - name: Tear down docker containers
        if: always()
        run: |
          docker compose -f tests/integration_setup/docker-compose.yml      down
          docker compose -f tests/integration_setup/docker-compose-ros2.yml down