motion-benchmarks.yml

name: Motion Benchmarks

on:
  workflow_dispatch:
  workflow_call:

jobs:
  motion_benchmarks:
    name:  Motion Benchmarks
    runs-on: ubuntu-large
    container: ghcr.io/viamrobotics/rdk-devenv:amd64-cache
    timeout-minutes: 30
    env:
      BASELINE: ${{ github.event.pull_request.base.label }}
      MODIFIED: ${{ github.event.pull_request.head.label }}
    steps:
    - name: Check out main branch code
      if: github.event_name != 'pull_request_target'
      uses: actions/checkout@v3

    - name: Check out PR branch code
      if: github.event_name == 'pull_request_target'
      uses: actions/checkout@v3
      with:
        ref: ${{ github.event.pull_request.head.sha }}

    - name: Check out code in motion-testing repository
      uses: actions/checkout@v3
      with:
        repository: viamrobotics/motion-testing
        path: motion-testing

    - name: Change ownership to testbot
      run: chown -R testbot:testbot .

    - name: Run motion quality tests on main branch
      shell: bash
      env:
        URL: ${{ github.event.pull_request.base.repo.html_url }}
        SHA: ${{ github.event.pull_request.base.sha }}
      run: |
        cd motion-testing
        go mod edit -replace go.viam.com/rdk=${URL#"https://"}@$SHA
        sudo -Hu testbot bash -lc "go mod tidy && go test ./... -v -run TestDefault --name=$BASELINE"

    - name: Run motion quality tests on PR branch
      shell: bash
      env:
        URL: ${{ github.event.pull_request.head.repo.html_url }}
        SHA: ${{ github.event.pull_request.head.sha }}
      run: |
        cd motion-testing
        go mod edit -replace go.viam.com/rdk=${URL#"https://"}@$SHA
        sudo -Hu testbot bash -lc "go mod tidy && go test ./... -v -run TestDefault --name=$MODIFIED"

    - name: Print results
      run: |
        cd motion-testing
        sudo -Hu testbot bash -lc "go test ./... -v -run TestScores --baselineDir=$BASELINE --modifiedDir=$MODIFIED"
        cat results/motion-benchmarks.md

    # Now that RDK is public, can't directly comment without token having full read/write access
    # motion-benchmarks-comment.yml will trigger seperately and post the actual comments

    - name: Prepare code comment
      run: |
        echo "PR_NUMBER=${{ github.event.pull_request.number }}" >> pr.env

    - name: Upload results
      uses: actions/upload-artifact@v4
      with:
        name: pr-motion-benchmark
        path: |
          pr.env
          motion-testing/results/motion-benchmarks.md
        retention-days: 1