ci.yml

name: build

on:
  push:
    branches: [main]
    paths: ['**.py', 'pyproject.toml', '.github/workflows/**']
  pull_request:
    branches: [main]
    paths: ['**.py', 'pyproject.toml', '.github/workflows/**']
  workflow_dispatch:

permissions:
  contents: write
  pull-requests: write
  issues: write

jobs:
  lint:
    name: Lint and Format
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4

      - name: Set up Python
        uses: actions/setup-python@v5
        with:
          python-version: "3.10"

      - name: Cache pip dependencies
        uses: actions/cache@v4
        with:
          path: ~/.cache/pip
          key: python-3.10-pip-${{ hashFiles('**/pyproject.toml') }}
          restore-keys: |
            python-3.10-pip-

      - name: Install Poetry and Dependencies
        run: |
          python -m pip install --upgrade pip
          pip install poetry
          poetry config virtualenvs.create true
          poetry config virtualenvs.in-project true
          poetry install --no-interaction

      - name: Run Linters
        continue-on-error: true
        run: |
          poetry run ruff check . --fix --unsafe-fixes
          poetry run ruff format .
          poetry run black .
          poetry run isort .
          poetry run flake8 .
          poetry run bandit -r . --quiet
          poetry run pylint mujoco_toolbox/

      - name: Run Type Checking with MyPy
        continue-on-error: true
        run: |
          poetry run mypy .

      - name: Commit Fixes if Needed
        if: github.event_name == 'pull_request'
        run: |
          git config --global user.name "github-actions[bot]"
          git config --global user.email "github-actions[bot]@users.noreply.github.com"
          
          git fetch origin
          git checkout "${{ github.head_ref }}"
          
          git add .
      
          if git diff --staged --quiet; then
            echo "No changes to commit."
          else
            git commit -m "chore: auto-fix code quality issues [skip ci]"
      
            # Rebase to avoid merge conflicts
            git pull --rebase origin "${{ github.head_ref }}"
            
            # Push with token
            git push "https://x-access-token:${{ secrets.GITHUB_TOKEN }}@github.com/${{ github.repository }}" HEAD:"${{ github.head_ref }}"
          fi
    
  test:
    name: Test Python ${{ matrix.python-version }}
    runs-on: ubuntu-latest
    strategy:
      matrix:
        python-version: ["3.9", "3.10", "3.11", "3.12", "3.13"]
      fail-fast: false

    steps:
      - uses: actions/checkout@v4

      - name: Set up Python ${{ matrix.python-version }}
        uses: actions/setup-python@v5
        with:
          python-version: ${{ matrix.python-version }}

      - name: Cache pip dependencies
        uses: actions/cache@v4
        with:
          path: ~/.cache/pip
          key: python-${{ matrix.python-version }}-pip-${{ hashFiles('**/pyproject.toml') }}
          restore-keys: |
            python-${{ matrix.python-version }}-pip-

      - name: Install system dependencies
        run: |
          sudo apt-get update
          sudo apt-get install -y \
            libosmesa6-dev \
            xvfb \
            libglew-dev \
            patchelf \
            ffmpeg

      - name: Set Mujoco environment variables
        run: |
          echo "MUJOCO_GL=osmesa" >> $GITHUB_ENV
          echo "PYOPENGL_PLATFORM=osmesa" >> $GITHUB_ENV

      - name: Install Poetry and Dependencies
        run: |
          python -m pip install --upgrade pip
          pip install poetry
          poetry config virtualenvs.create true
          poetry config virtualenvs.in-project true
          poetry install --no-interaction

      - name: Run Tests
        run: |
          poetry run pip install pytest pytest-cov
          poetry run pytest tests/ --cov=mujoco_toolbox --cov-report=xml --maxfail=3 -v

      # Uncomment below if using codecov
      # - name: Upload Coverage Report
      #   uses: codecov/codecov-action@v5
      #   with:
      #     fail_ci_if_error: true