install_and_test.yml

name: Install and test
on:
  pull_request: {}
  push:
    branches:
    - main
    tags: [ "v*" ]
  schedule:
    - cron: "0 5 * * *"
    #this is 9PM PST

jobs:
  pre-commit:
    runs-on: ubuntu-latest
    steps:
    - uses: actions/checkout@v4.1.1
    - name: Setup python
      uses: actions/setup-python@v5.0.0
      with:
        python-version: '3.9.16'
    - name: install dependencies
      run: |-
        pip install -U pip setuptools pre-commit
        # Install the hooks now so that they'll be cached
        pre-commit install-hooks
    - name: Check Code Style using pre-commit
      run: |-
        SKIP=eslint pre-commit run --show-diff-on-failure --all-files

  python_lint:
    runs-on: ubuntu-latest
    steps:
    - uses: actions/checkout@v4.1.1
    - name: Setup python
      uses: actions/setup-python@v5.0.0
      with:
        python-version: '3.9.16'
    - name: setup
      run: |-
        pip install -U pip
        pip install -U --prefer-binary \
          black==23.1.0 \
          flake8 \
          flake8-bugbear==22.6.22 \
          flake8-builtins \
          flake8-comprehensions \
          flake8-return \
          flake8-simplify \
          hypothesis==6.29.3 \
          isort==5.12.0 \
          mypy \
          numpy==1.26.4 \
          pytest \
          sphinx \
          tqdm
        pip install --prefer-binary -r requirements.txt torch --progress-bar off
    - name: run black
      run: |-
        black --version
        black --exclude '/(\.eggs|\.git|\.hg|\.mypy_cache|\.nox|\.tox|\.venv|_build|buck-out|build|dist)|examples/tutorials/(notebooks|nb_python)'  src_python/habitat_sim/. examples/. tests/. setup.py --diff
        black --exclude '/(\.eggs|\.git|\.hg|\.mypy_cache|\.nox|\.tox|\.venv|_build|buck-out|build|dist)|examples/tutorials/(notebooks|nb_python)'  src_python/habitat_sim/. examples/. tests/. setup.py --check
    - name: run isort
      run: |-
        isort --version
        isort src_python/habitat_sim/. examples/. tests/. setup.py --diff
        isort src_python/habitat_sim/. examples/. tests/. setup.py --check-only
    - name: run flake8
      run: |-
        flake8 --version
        flake8 src_python/habitat_sim/. examples/. tests/. setup.py
    - name: run mypy
      run: mypy

  install_and_test_sim_ubuntu:
    runs-on: 4-core-ubuntu-gpu-t4
    env:
      FPS_THRESHOLD: 900
    defaults:
      run:
        shell: bash -el {0}
    steps:
    - uses: actions/checkout@v4.1.1
      with:
        path: "./habitat-sim"
    - name: CPU info
      run: cat /proc/cpuinfo
    - uses: "./habitat-sim/.github/actions/install_ubuntu_deps"
    - uses: "./habitat-sim/.github/actions/install_ubuntu_gpu_deps"
    - name: Build, install habitat-sim
      run: |-
        #give cmake ownership to the runner for installation
        sudo chown runner -R /opt/cmake312/
        #activate conda env
        export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
        conda activate habitat
        #install habitat-sim
        cd habitat-sim
        pip install -r requirements.txt --progress-bar off
        git submodule update --init --recursive --jobs 8
        python -u setup.py install --build-type "Release" --lto --headless --bullet
    - uses: "./habitat-sim/.github/actions/download_test_data"
    - name: Run sim benchmark
      run: |-
        export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
        conda activate habitat
        cd habitat-sim
        python examples/example.py --scene data/scene_datasets/habitat-test-scenes/van-gogh-room.glb --silent --test_fps_regression $FPS_THRESHOLD
    - name: Run sim tests
      run: |-
        #give cmake ownership to the runner for installation
        sudo chown runner -R /opt/cmake312/
        #activate conda env
        export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
        conda activate habitat
        cd habitat-sim
        export PYTHONPATH=$(pwd):$PYTHONPATH

        #set pytest to show partial progress
        export PYTHONUNBUFFERED=1

        # run tests with code coverage
        CORRADE_TEST_COLOR=ON GTEST_COLOR=yes ./build.sh --headless \
          --bullet \
          --with-cuda \
          --build-datatool \
          --run-tests \
          --no-lto \
          --cmake-args='-DCMAKE_CXX_FLAGS="--coverage"'
        PYTHONPATH=src_python pytest -n 4 --durations=10 --cov-report=xml --cov=./

        #run the marked pytest-benchmark tests and print the results
        PYTHONPATH=src_python pytest -m sim_benchmarks

        #re-build without bullet and cuda and run physics tests again
        ./build.sh --headless --cmake-args='-DCMAKE_CXX_FLAGS="--coverage"'
        PYTHONPATH=src_python pytest -n 4 --durations=10 --cov-report=xml --cov=./ --cov-append tests/test_physics.py tests/test_sensors.py
    - name: upload test coverage
      run: |-
        export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
        conda activate habitat
        cd habitat-sim

        curl -Os https://uploader.codecov.io/latest/linux/codecov
        chmod +x codecov
        #Uploading test coverage for Python code
        ./codecov -f coverage.xml -cF Python

        #Uploading test coverage for C++ code
        lcov --directory . --capture --output-file coverage.info
        # Replaces -1 linecount with zero to prevent lcov from crashing:
        # https://github.com/psycofdj/coverxygen/issues/6
        sed -i -e 's/,-1$/,0/g' coverage.info
        #lcov --remove coverage.info "*/deps/*" --output-file coverage.info > /dev/null
        #lcov --remove coverage.info "*/test/*" --output-file coverage.info > /dev/null
        #lcov --remove coverage.info "*/tests/*" --output-file coverage.info > /dev/null
        ./codecov -f coverage.info -cF CPP
    - name: install habitat-sim with audio and run audio_agent script
      run: |-
        #give cmake ownership to the runner for installation
        sudo chown runner -R /opt/cmake312/
        export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
        conda activate habitat
        cd habitat-sim
        pip install -r requirements.txt --progress-bar off
        pip install imageio imageio-ffmpeg
        git submodule update --init --recursive --jobs 8
        python -u setup.py install --build-type "Release" --lto --headless --audio
        python examples/tutorials/audio_agent.py
    #NOTE: use the below to debug with ssh: simply move this "job" just before the crashing job to intercept the workflow
    #- name: Debugging with tmate
    #  uses: mxschmitt/action-tmate@v3.18

  install_and_test_lab_ubuntu:
    runs-on: 4-core-ubuntu-gpu-t4
    defaults:
      run:
        shell: bash -el {0}
    steps:
    - uses: actions/checkout@v4.1.1
      with:
        path: "./habitat-sim"
    - uses: "./habitat-sim/.github/actions/install_ubuntu_deps"
    - uses: "./habitat-sim/.github/actions/install_ubuntu_gpu_deps"
    - name: Build, install habitat-sim
      run: |-
        #give cmake ownership to the runner for installation
        sudo chown runner -R /opt/cmake312/
        #activate conda env
        export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
        conda activate habitat
        #install habitat-sim
        cd habitat-sim
        pip install -r requirements.txt --progress-bar off
        git submodule update --init --recursive --jobs 8
        python -u setup.py install --build-type "Release" --lto --headless --bullet
    - uses: "./habitat-sim/.github/actions/download_test_data"
    - name: Build habitat-sim and docs
      run: |-
        export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
        conda activate habitat
        cd habitat-sim
        pip install -r requirements.txt --progress-bar off
        git submodule update --init --recursive --jobs 8
        pip install imageio imageio-ffmpeg
        conda install -y -c conda-forge doxygen=1.9.5
        conda install -y  jinja2 pygments docutils
        sudo apt install --yes --allow-change-held-packages \
          texlive-base \
          texlive-latex-extra \
          texlive-fonts-extra \
          texlive-fonts-recommended
        # Rebuild with all options enabled
        ./build.sh --with-cuda --with-bullet
        cd docs
        git submodule update --init
        ./build-public.sh
    - name: Install Habitat Sim and Habitat Lab
      run: |-
        export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
        conda activate habitat
        cd habitat-sim
        #Rebuild headless
        python setup.py install --headless --with-bullet --with-cuda
        cd ..
        if [ ! -d ./habitat-lab ]
        then
          git clone -q --depth 1 https://github.com/facebookresearch/habitat-lab.git
        fi
        cd habitat-lab
        pip install -r habitat-lab/requirements.txt --progress-bar off
        ln -s ../habitat-sim/data data
    - name: Run Habitat Lab tests
      run: |-
        export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
        conda activate habitat
        cd habitat-lab
        pip install -e habitat-lab
        pip install -e habitat-baselines
        export PYTHONPATH=.:$PYTHONPATH
        export MULTI_PROC_OFFSET=0 && export MAGNUM_LOG=quiet && export HABITAT_SIM_LOG=quiet
        python -m pytest
    - name: Build Habitat Lab documentation
      run: |-
        export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
        conda activate habitat
        cd habitat-lab
        # Install requirments first to avoid errors related to gym
        pip install -r habitat-lab/requirements.txt --progress-bar off
        pip install -e habitat-lab
        cd docs
        conda install -y -c conda-forge doxygen=1.9.5
        conda install -y  jinja2 pygments docutils
        ./build-public.sh
    - name: Set up SSH
      run: |-
        mkdir -p ~/.ssh
        echo "${{ secrets.HABITAT_WEBSITE_DEPLOY_KEY }}" > ~/.ssh/id_ed25519
        chmod 600 ~/.ssh/id_ed25519
        ssh-keyscan github.com >> ~/.ssh/known_hosts
    - name: Deploy documentation
      run: |-
        echo "Deploy documentation"
        if [[ ${{ github.event_name }} == 'schedule' ]]; then
          #start ssh agent and add the key
          eval `ssh-agent -s`
          ssh-add ~/.ssh/id_ed25519
          echo "Trigger: a nightly build. Deploying the docs."
          git clone git@github.com:facebookmicrosites/habitat-website.git
          cd habitat-website
          git submodule update --init
          for dir in habitat-sim habitat-lab
          do
              rm -rf published/docs/${dir}
              cp -r ../habitat-sim/build/docs-public/${dir} published/docs/.
          done

          git config --global user.name "Habitat"
          git config --global user.email habitat@fb.com
          NOW=$(date +"%m-%d-%Y")
          git add .
          git diff-index --quiet HEAD || git commit -m "Build habitat-sim and habitat-lab ${NOW}"
          git push origin main

          # Deploy to public
          git checkout gh-pages
          git checkout main published
          sudo apt-get update || true
          sudo apt-get install -yq rsync
          rsync -a published/ ./.
          rm -rf published
          git add .
          git diff-index --quiet HEAD || git commit -m "Build habitat-sim and habitat-lab ${NOW}"
          git push origin gh-pages
        else
          echo "Not a nightly build, no deployment needed. "
        fi

  build_conda_binaries:
    runs-on: 4-core-ubuntu-gpu-t4
    env:
      AIHABITAT_CONDA_USERNAME: aihabitat
      AIHABITAT_CONDA_PWD: ${{ secrets.AIHABITAT_CONDA_PWD }}
      AIHABITAT_NIGHTLY_CONDA_USERNAME: aihabitat-nightly
      AIHABITAT_NIGHTLY_CONDA_PWD: ${{ secrets.AIHABITAT_NIGHTLY_CONDA_PWD }}
    defaults:
      run:
        shell: bash -el {0}
    steps:
      - uses: actions/checkout@v4.1.1
        with:
          path: "./habitat-sim"
      - name: Set CI_TEST variable based on "main merge" vs. "pull_request" workflow
        run: |-
          echo "NIGHTLY=''" >> $GITHUB_ENV
          echo "CI_TEST='true'" >> $GITHUB_ENV
          if [[ ${{ github.event_name }} == 'push' ]]; then
            if [[ ${GITHUB_REF} == refs/heads/* ]]; then
              echo "trigger: a push to main branch"
            elif [[ ${GITHUB_REF} == refs/tags/* ]]; then
              echo "trigger: a version tag push"
              echo "CI_TEST='false'" >> $GITHUB_ENV
              echo "CONDA_USERNAME=$AIHABITAT_CONDA_USERNAME" >> $GITHUB_ENV
              echo "CONDA_PWD=$AIHABITAT_CONDA_PWD" >> $GITHUB_ENV
            fi
          elif [[ ${{ github.event_name }} == 'schedule' ]]; then
            echo "trigger: a nightly build"
            echo "CI_TEST='false'" >> $GITHUB_ENV
            echo "NIGHTLY='--nightly'" >> $GITHUB_ENV
            echo "CONDA_USERNAME=$AIHABITAT_NIGHTLY_CONDA_USERNAME" >> $GITHUB_ENV
            echo "CONDA_PWD=$AIHABITAT_NIGHTLY_CONDA_PWD" >> $GITHUB_ENV
          elif [[ ${{ github.event_name }} == 'pull_request' ]]; then
            echo "trigger: a pull request"
          fi
      - name: Build conda Linux packages
        run: |-
          cd habitat-sim/conda-build
          echo "Current event name: $GITHUB_EVENT_NAME"
          echo ${{ env.CI_TEST }}
          echo ${{ env.NIGHTLY }}

          #pivot on the build type
          if [[ ${{ env.CI_TEST }} ]]; then
            echo "This is a CI test."
          else
            echo "This is a full conda build with deployment."
            # Install anaconda to work with packages repo
            curl -O https://repo.anaconda.com/archive/Anaconda3-2020.11-Linux-x86_64.sh
            bash Anaconda3-2020.11-Linux-x86_64.sh -b -p $HOME/anaconda
            export PATH=$HOME/anaconda/bin:$PATH

            # Delete old nightly builds
            #NOTE: The ${{ env.NIGHTLY }} == "--nightly" variable is necessary to trigger this
            #python common/delete_old_night_packages.py --username ${{ env.CONDA_USERNAME }} --password ${{ env.CONDA_PWD }} ${{ env.NIGHTLY }}
          fi

          #install Docker
          curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -
          sudo add-apt-repository "deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable"
          sudo apt-get update
          apt-cache policy docker-ce
          sudo apt-get install -y docker-ce

          #build the container
          docker build -t hsim_condabuild_dcontainer -f Dockerfile .

          if [[ ${{ env.CI_TEST }} ]]; then
            docker run --ipc=host --rm -v $(pwd)/../../:/remote hsim_condabuild_dcontainer /bin/bash -c "source ~/.bashrc && conda activate py39 && cd /remote/habitat-sim/ && git config --global --add safe.directory '*' && cd /remote/habitat-sim/conda-build && python matrix_builder.py --ci_test"
          else
            docker run --ipc=host --rm -v $(pwd)/../../:/remote --env ${{ env.CONDA_PWD }} hsim_condabuild_dcontainer /bin/bash -c "source ~/.bashrc && conda activate py39 && cd /remote/habitat-sim/ && git config --global --add safe.directory '*' && cd /remote/habitat-sim/conda-build && yes | anaconda login --username ${{ env.CONDA_USERNAME }} --password ${{ env.CONDA_PWD }} --hostname "aihabitat-conda-ci-builder-linux" && python matrix_builder.py --conda_upload ${{ env.NIGHTLY }}"
          fi

  build_conda_osx:
    runs-on: macos-14
    env:
      AIHABITAT_CONDA_USERNAME: aihabitat
      AIHABITAT_CONDA_PWD: ${{ secrets.AIHABITAT_CONDA_PWD }}
      AIHABITAT_NIGHTLY_CONDA_USERNAME: aihabitat-nightly
      AIHABITAT_NIGHTLY_CONDA_PWD: ${{ secrets.AIHABITAT_NIGHTLY_CONDA_PWD }}
    defaults:
      run:
        shell: bash -el {0}
    steps:
      - uses: actions/checkout@v4.1.1
        with:
          path: "./habitat-sim"
      - name: Setup miniconda
        uses: conda-incubator/setup-miniconda@v3
        with:
          miniconda-version: "latest"
          python-version: "3.9"
          activate-environment: "habitat"
      - name: Set CI_TEST variable based on "main merge" vs. "pull_request" workflow
        run: |-
          echo "NIGHTLY=''" >> $GITHUB_ENV
          echo "CI_TEST='true'" >> $GITHUB_ENV
          echo "CONDA_USERNAME=$AIHABITAT_CONDA_USERNAME" >> $GITHUB_ENV
          echo "CONDA_PWD=$AIHABITAT_CONDA_PWD" >> $GITHUB_ENV
          if [[ ${{ github.event_name }} == 'push' ]]; then
            if [[ ${GITHUB_REF} == refs/heads/* ]]; then
              echo "trigger: a push to main branch"
            elif [[ ${GITHUB_REF} == refs/tags/* ]]; then
              echo "trigger: a version tag push"
              echo "CI_TEST='false'" >> $GITHUB_ENV
            fi
          elif [[ ${{ github.event_name }} == 'schedule' ]]; then
            echo "trigger: a nightly build"
            echo "CI_TEST='false'" >> $GITHUB_ENV
            echo "NIGHTLY='--nightly'" >> $GITHUB_ENV
            echo "CONDA_USERNAME=$AIHABITAT_NIGHTLY_CONDA_USERNAME" >> $GITHUB_ENV
            echo "CONDA_PWD=$AIHABITAT_NIGHTLY_CONDA_PWD" >> $GITHUB_ENV
          elif [[ ${{ github.event_name }} == 'pull_request' ]]; then
            echo "trigger: a pull request"
          fi
      - name: Build conda OSX packages
        run: |-
          export PATH=$HOME/miniconda/bin:$PATH
          conda init
          conda activate habitat
          conda install -y anaconda-client ccache cmake git ninja conda-build pip
          echo $(which -a python)
          pip install gitpython
          cd habitat-sim
          git submodule update --init --recursive --jobs 8
          pip install .
          pip uninstall -y habitat-sim
          rm -rf build
          (yes || true) | anaconda login --username ${{ env.CONDA_USERNAME }} --password ${{ env.CONDA_PWD }} --hostname "aihabitat-conda-ci-builder-macos"
          #pivot on the build type
          if [[ ${{ env.CI_TEST }} ]]; then
            echo "This is a CI test."
            cd conda-build
            export PYTHONIOENCODING="utf-8"
            python matrix_builder.py --ci_test
          else
            conda config --set anaconda_upload yes
            cd conda-build
            export PYTHONIOENCODING="utf-8"
            python matrix_builder.py ${{ env.NIGHTLY }}
          fi