motion-tests.yml

name: Motion Extended Tests

on:
  workflow_dispatch:
  workflow_call:

jobs:
  check-files:
    name: Check files
    runs-on: ubuntu-latest
    outputs:
      EXTENDED_MOTION_TEST: ${{ steps.file_checker.outputs.EXTENDED_MOTION_TEST }}
    steps:
      - name: Checkout code
        uses: actions/checkout@v4
        with:
          ref: ${{ github.event_name == 'pull_request_target' && github.event.pull_request.head.sha || github.ref }}
          fetch-depth: 0
      - name: check modified files
        id: file_checker
        run: |
          ( git diff --name-only origin/${{github.base_ref}}... | grep -e "motionplan" \
            -e "referenceframe" \
            -e "spatialmath" \
            -e "components/base/wheeled" \
            -e "components/base/kinematicbase" \
            -e "components/encoder/fake" \
            -e "components/motor/fake" \
            -e "services/motion/builtin" && echo "EXTENDED_MOTION_TEST=true" >> "$GITHUB_OUTPUT" ) || \
            ( echo "EXTENDED_MOTION_TEST=false" >> "$GITHUB_OUTPUT" )

  motion-tests-extended:
    name:  Motion Extended Tests
    needs: check-files
    runs-on: ubuntu-large
    container: ghcr.io/viamrobotics/rdk-devenv:amd64-cache
    if: ${{ needs.check-files.outputs.EXTENDED_MOTION_TEST == 'true' }}
    timeout-minutes: 30
    steps:

    - 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 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 TestMotionExtended"