test.yml

name: Bazel Build and Test

on:
  push:
    branches:
      - main
  pull_request:

concurrency:
  group: ${{ github.workflow }}-${{ github.ref }}
  cancel-in-progress: true

permissions:
  actions: write
  contents: read

jobs:
  test-linux-x64:
    name: Test (linux-x64)
    runs-on: ubuntu-24.04
    timeout-minutes: 300
    env:
      CACHE_BRANCH: ${{ github.head_ref || github.ref_name }}
      DEFAULT_BRANCH: ${{ github.event.repository.default_branch }}
      # Keep hosted Linux runners responsive during the full MuJoCo/MyoSuite coverage
      # build. The default HOST_CPUS-1 parallelism can starve the runner hard
      # enough for GitHub Actions to lose communication.
      BAZEL_CI_RESOURCE_OPTS: --jobs=2 --local_resources=cpu=2 --local_resources=memory=HOST_RAM*.35 --experimental_disk_cache_gc_max_size=2G --experimental_disk_cache_gc_idle_delay=0s
      MUJOCO_GL: egl
      EGL_PLATFORM: surfaceless
    steps:
      - uses: actions/checkout@v7
        with:
          fetch-depth: 0
      - uses: actions/setup-go@v7
        with:
          go-version: "1.27"
      - uses: actions/setup-java@v6
        with:
          distribution: temurin
          java-version: "25"
      - name: Set up Python 3.12
        uses: actions/setup-python@v7
        with:
          python-version: "3.12"
      - name: Install Linux dependencies
        run: |
          sudo apt-get update
          sudo apt-get install -y cmake lcov ninja-build swig qt6-base-dev libegl1-mesa-dev libopengl-dev
          python -m pip install --upgrade cmake
      - name: Restore Bazel caches
        uses: actions/cache/restore@v6
        with:
          path: |
            ~/.cache/bazelisk
            ~/.cache/envpool-bazel-repo
            ~/.cache/envpool-bazel-disk
          key: bazel-test-v3-${{ runner.os }}-${{ runner.arch }}-${{ hashFiles('.bazelversion') }}-${{ env.CACHE_BRANCH }}
          restore-keys: |
            bazel-test-v3-${{ runner.os }}-${{ runner.arch }}-${{ hashFiles('.bazelversion') }}-${{ env.DEFAULT_BRANCH }}-
            bazel-test-v3-${{ runner.os }}-${{ runner.arch }}-${{ hashFiles('.bazelversion') }}-
      - name: Install bazelisk
        run: |
          go install github.com/bazelbuild/bazelisk@latest
          echo "$HOME/go/bin" >> "$GITHUB_PATH"
      - name: Coverage
        run: |
          make BAZELOPT="--repository_cache=$HOME/.cache/envpool-bazel-repo --disk_cache=$HOME/.cache/envpool-bazel-disk $BAZEL_CI_RESOURCE_OPTS" \
            BAZEL_TEST_TARGETS="//..." bazel-coverage
          mkdir -p coverage
          cp bazel-out/_coverage/_coverage_report.dat coverage/lcov.info
          python3 scripts/coverage_summary.py \
            --lcov coverage/lcov.info \
            --output-dir coverage \
            --summary-file coverage/summary.md \
            --badge-file coverage/coverage-badge.svg \
            --genhtml-lcov-file coverage/lcov.genhtml.info \
            --repo-root "$GITHUB_WORKSPACE"
      - name: Shut down Bazel
        if: ${{ always() && !cancelled() }}
        continue-on-error: true
        run: bazelisk shutdown
      - name: Publish coverage summary
        run: cat coverage/summary.md >> "$GITHUB_STEP_SUMMARY"
      - name: Build coverage site
        run: |
          genhtml coverage/lcov.genhtml.info \
            --prefix "$GITHUB_WORKSPACE" \
            --branch-coverage \
            --ignore-errors negative,category \
            --legend \
            --output-directory coverage/site \
            --title "EnvPool coverage report"
          cp coverage/coverage-badge.svg coverage/site/coverage-badge.svg
      - name: Upload coverage artifacts
        if: ${{ always() && !cancelled() }}
        uses: actions/upload-artifact@v7
        with:
          name: coverage-report-linux-x64-${{ github.sha }}
          path: coverage
          if-no-files-found: warn
      - name: Upload coverage Pages artifact
        if: ${{ github.event_name == 'push' }}
        uses: actions/upload-pages-artifact@v5
        with:
          path: coverage/site
      - name: Save Bazel caches
        id: save-bazel-caches
        if: ${{ always() && !cancelled() }}
        uses: actions/cache/save@v6
        with:
          path: |
            ~/.cache/bazelisk
            ~/.cache/envpool-bazel-repo
            ~/.cache/envpool-bazel-disk
          key: bazel-test-v3-${{ runner.os }}-${{ runner.arch }}-${{ hashFiles('.bazelversion') }}-${{ env.CACHE_BRANCH }}-${{ github.run_id }}-attempt${{ github.run_attempt }}
      - name: Prune older Bazel caches
        if: ${{ success() && (steps.save-bazel-caches.outcome == 'success' || steps.save-bazel-caches.outcome == 'skipped') }}
        continue-on-error: true
        env:
          GH_TOKEN: ${{ github.token }}
        run: >-
          python scripts/prune_actions_caches.py
          --repo "${{ github.repository }}"
          --prefix "bazel-test-v3-${{ runner.os }}-${{ runner.arch }}-${{ hashFiles('.bazelversion') }}-"
          --group-by-branch
          --delete-missing-branches
          --keep 1
  test-linux-arm64:
    name: Test (linux-arm64)
    runs-on: ubuntu-24.04-arm
    timeout-minutes: 300
    env:
      CACHE_BRANCH: ${{ github.head_ref || github.ref_name }}
      DEFAULT_BRANCH: ${{ github.event.repository.default_branch }}
      # Keep hosted Linux runners responsive during the full MuJoCo/MyoSuite test
      # build. The default HOST_CPUS-1 parallelism can starve the runner hard
      # enough for GitHub Actions to lose communication.
      # Match the official arm64 MuJoCo wheel's Clang 20 toolchain so contact-
      # heavy oracle rollouts do not diverge from GCC-generated physics code.
      BAZEL_CI_RESOURCE_OPTS: >-
        --repo_env=CC=/usr/bin/clang-20
        --repo_env=CXX=/usr/bin/clang++-20
        --compiler=clang
        --jobs=2 --local_resources=cpu=2 --local_resources=memory=HOST_RAM*.35
        --experimental_disk_cache_gc_max_size=2G --experimental_disk_cache_gc_idle_delay=0s
      MUJOCO_GL: egl
      EGL_PLATFORM: surfaceless
    steps:
      - uses: actions/checkout@v7
        with:
          fetch-depth: 0
      - uses: actions/setup-go@v7
        with:
          go-version: "1.27"
      - uses: actions/setup-java@v6
        with:
          distribution: temurin
          java-version: "25"
      - name: Set up Python 3.12
        uses: actions/setup-python@v7
        with:
          python-version: "3.12"
      - name: Install Linux dependencies
        run: |
          sudo apt-get update
          sudo apt-get install -y clang-20 cmake lcov ninja-build swig qt6-base-dev libegl1-mesa-dev libopengl-dev
          python -m pip install --upgrade cmake
      - name: Restore Bazel caches
        uses: actions/cache/restore@v6
        with:
          path: |
            ~/.cache/bazelisk
            ~/.cache/envpool-bazel-repo
            ~/.cache/envpool-bazel-disk
          key: bazel-test-v3-${{ runner.os }}-${{ runner.arch }}-${{ hashFiles('.bazelversion') }}-${{ env.CACHE_BRANCH }}
          restore-keys: |
            bazel-test-v3-${{ runner.os }}-${{ runner.arch }}-${{ hashFiles('.bazelversion') }}-${{ env.DEFAULT_BRANCH }}-
            bazel-test-v3-${{ runner.os }}-${{ runner.arch }}-${{ hashFiles('.bazelversion') }}-
      - name: Install bazelisk
        run: |
          go install github.com/bazelbuild/bazelisk@latest
          echo "$HOME/go/bin" >> "$GITHUB_PATH"
      - name: Test
        run: |
          make BAZELOPT="--repository_cache=$HOME/.cache/envpool-bazel-repo --disk_cache=$HOME/.cache/envpool-bazel-disk $BAZEL_CI_RESOURCE_OPTS" \
            BAZEL_TEST_TARGETS="//..." bazel-test
      - name: Shut down Bazel
        if: ${{ always() && !cancelled() }}
        continue-on-error: true
        run: bazelisk shutdown
      - name: Save Bazel caches
        id: save-bazel-caches
        if: ${{ always() && !cancelled() }}
        uses: actions/cache/save@v6
        with:
          path: |
            ~/.cache/bazelisk
            ~/.cache/envpool-bazel-repo
            ~/.cache/envpool-bazel-disk
          key: bazel-test-v3-${{ runner.os }}-${{ runner.arch }}-${{ hashFiles('.bazelversion') }}-${{ env.CACHE_BRANCH }}-${{ github.run_id }}-attempt${{ github.run_attempt }}
      - name: Prune older Bazel caches
        if: ${{ success() && (steps.save-bazel-caches.outcome == 'success' || steps.save-bazel-caches.outcome == 'skipped') }}
        continue-on-error: true
        env:
          GH_TOKEN: ${{ github.token }}
        run: >-
          python scripts/prune_actions_caches.py
          --repo "${{ github.repository }}"
          --prefix "bazel-test-v3-${{ runner.os }}-${{ runner.arch }}-${{ hashFiles('.bazelversion') }}-"
          --group-by-branch
          --delete-missing-branches
          --keep 1
  test-macos:
    name: Test (macos)
    runs-on: macos-14
    timeout-minutes: 180
    env:
      CACHE_BRANCH: ${{ github.head_ref || github.ref_name }}
      DEFAULT_BRANCH: ${{ github.event.repository.default_branch }}
      BAZEL_CI_RESOURCE_OPTS: --jobs=HOST_CPUS-1 --local_resources=cpu=HOST_CPUS-1 --local_resources=memory=HOST_RAM*.5
      HOMEBREW_NO_AUTO_UPDATE: "1"
    steps:
      - uses: actions/checkout@v7
        with:
          fetch-depth: 0
      - uses: actions/setup-go@v7
        with:
          go-version: "1.27"
      - uses: actions/setup-java@v6
        with:
          distribution: temurin
          java-version: "25"
      - name: Set up Python 3.12
        uses: actions/setup-python@v7
        with:
          python-version: "3.12"
      - name: Install macOS dependencies
        run: |
          brew install ninja swig qtbase
          python -m pip install --upgrade cmake
          CMAKE_BIN_DIR="$(python -c "import cmake; print(cmake.CMAKE_BIN_DIR)")"
          CMAKE_BIN="$CMAKE_BIN_DIR/cmake"
          echo "$CMAKE_BIN_DIR" >> "$GITHUB_PATH"
          sudo ln -sfn "$CMAKE_BIN" /usr/local/bin/cmake
          PATH="$CMAKE_BIN_DIR:$PATH" cmake --version
          sudo ln -sfn "$(brew --prefix ninja)/bin/ninja" /usr/local/bin/ninja
          echo "BAZEL_RULES_QT_DIR=$(brew --prefix qtbase)" >> "$GITHUB_ENV"
      - name: Restore Bazel caches
        uses: actions/cache/restore@v6
        with:
          path: |
            ~/.cache/bazelisk
            ~/.cache/envpool-bazel-repo
            ~/.cache/envpool-bazel-disk
          key: bazel-test-v3-${{ runner.os }}-${{ runner.arch }}-${{ hashFiles('.bazelversion') }}-${{ env.CACHE_BRANCH }}
          restore-keys: |
            bazel-test-v3-${{ runner.os }}-${{ runner.arch }}-${{ hashFiles('.bazelversion') }}-${{ env.DEFAULT_BRANCH }}-
            bazel-test-v3-${{ runner.os }}-${{ runner.arch }}-${{ hashFiles('.bazelversion') }}-
      - name: Install bazelisk
        run: |
          go install github.com/bazelbuild/bazelisk@latest
          echo "$HOME/go/bin" >> "$GITHUB_PATH"
      - name: Test
        run: |
          make BAZELOPT="--repository_cache=$HOME/.cache/envpool-bazel-repo --disk_cache=$HOME/.cache/envpool-bazel-disk $BAZEL_CI_RESOURCE_OPTS" bazel-test
      - name: Shut down Bazel
        if: ${{ always() && !cancelled() }}
        continue-on-error: true
        run: bazelisk shutdown
      - name: Save Bazel caches
        id: save-bazel-caches
        if: ${{ always() && !cancelled() }}
        uses: actions/cache/save@v6
        with:
          path: |
            ~/.cache/bazelisk
            ~/.cache/envpool-bazel-repo
            ~/.cache/envpool-bazel-disk
          key: bazel-test-v3-${{ runner.os }}-${{ runner.arch }}-${{ hashFiles('.bazelversion') }}-${{ env.CACHE_BRANCH }}-${{ github.run_id }}-attempt${{ github.run_attempt }}
      - name: Prune older Bazel caches
        if: ${{ success() && (steps.save-bazel-caches.outcome == 'success' || steps.save-bazel-caches.outcome == 'skipped') }}
        continue-on-error: true
        env:
          GH_TOKEN: ${{ github.token }}
        run: >-
          python scripts/prune_actions_caches.py
          --repo "${{ github.repository }}"
          --prefix "bazel-test-v3-${{ runner.os }}-${{ runner.arch }}-${{ hashFiles('.bazelversion') }}-"
          --group-by-branch
          --delete-missing-branches
          --keep 1
  test-windows:
    name: Test (windows)
    runs-on: windows-2022
    timeout-minutes: 300
    env:
      BAZEL_SH: C:/Program Files/Git/usr/bin/bash.exe
      CACHE_BRANCH: ${{ github.head_ref || github.ref_name }}
      DEFAULT_BRANCH: ${{ github.event.repository.default_branch }}
      # MSVC ignores the POSIX -g0/-O3 flags from --config=test. Use opt mode
      # and a larger capped disk cache so Windows reruns are not cold builds.
      BAZEL_CI_RESOURCE_OPTS: --compilation_mode=opt --jobs=HOST_CPUS-1 --local_resources=cpu=HOST_CPUS-1 --local_resources=memory=HOST_RAM*.5 --experimental_disk_cache_gc_max_size=4G --experimental_disk_cache_gc_idle_delay=0s
      BAZEL_CACHE_PREFIX: bazel-test-v6-windows-opt-cache4g
      MESA_GL_VERSION_OVERRIDE: 4.5COMPAT
      MSYS2_ARG_CONV_EXCL: "*"
      MSYS_NO_PATHCONV: "1"
      USE_BAZEL_VERSION: "9.2.0"
    steps:
      - uses: actions/checkout@v7
        with:
          fetch-depth: 0
      - uses: actions/setup-go@v7
        with:
          go-version: "1.27"
      - uses: ilammy/msvc-dev-cmd@v1
      - uses: actions/setup-java@v6
        with:
          distribution: temurin
          java-version: "25"
      - name: Shorten temp path
        shell: pwsh
        run: |
          New-Item -ItemType Directory -Path C:\tmp -Force | Out-Null
          Add-Content -Path $env:GITHUB_ENV -Value "TMP=C:\tmp"
          Add-Content -Path $env:GITHUB_ENV -Value "TEMP=C:\tmp"
          Add-Content -Path $env:GITHUB_ENV -Value "TMPDIR=C:\tmp"
      - name: Install Windows dependencies
        shell: pwsh
        run: |
          choco install -y cmake make ninja strawberryperl swig
      - name: Create Mesa directory
        shell: pwsh
        run: |
          New-Item -ItemType Directory -Path (Join-Path $env:GITHUB_WORKSPACE ".mesa") -Force | Out-Null
      - name: Install Mesa software OpenGL
        uses: f3d-app/install-mesa-windows-action@v3
        with:
          path: ${{ github.workspace }}\.mesa
      - name: Export Mesa location
        shell: pwsh
        run: |
          Add-Content -Path $env:GITHUB_ENV -Value "ENVPOOL_DLL_DIR=$env:GITHUB_WORKSPACE\.mesa"
          Add-Content -Path $env:GITHUB_PATH -Value "$env:GITHUB_WORKSPACE\.mesa"
      - name: Install Qt 6
        uses: jurplel/install-qt-action@v4
        with:
          version: "6.11.1"
          # Qt 6.11 repository layout support; not yet in an aqt release.
          aqtsource: git+https://github.com/miurahr/aqtinstall.git@8c3695d4a4e1ceabf6a74dc6c79681656dc6b74b
          py7zrversion: "==1.1.0"
          arch: "win64_msvc2022_64"
          set-env: "true"
      - name: Export Qt location
        shell: pwsh
        run: |
          Add-Content -Path $env:GITHUB_ENV -Value "BAZEL_RULES_QT_DIR=$env:QT_ROOT_DIR"
          Add-Content -Path $env:GITHUB_PATH -Value (Join-Path $env:QT_ROOT_DIR "bin")
          Add-Content -Path $env:GITHUB_PATH -Value "C:\Program Files\Git\usr\bin"
      - name: Restore Bazel caches
        uses: actions/cache/restore@v6
        with:
          # Keep the Windows disk cache capped. The old uncapped archive grew
          # past 7 GB and exhausted the hosted runner disk during extraction.
          path: |
            ~/.cache/bazelisk
            ~/.cache/envpool-bazel-repo
            ~/.cache/envpool-bazel-disk
          key: ${{ env.BAZEL_CACHE_PREFIX }}-${{ runner.os }}-${{ runner.arch }}-${{ hashFiles('.bazelversion') }}-${{ env.CACHE_BRANCH }}
          restore-keys: |
            ${{ env.BAZEL_CACHE_PREFIX }}-${{ runner.os }}-${{ runner.arch }}-${{ hashFiles('.bazelversion') }}-${{ env.DEFAULT_BRANCH }}-
            ${{ env.BAZEL_CACHE_PREFIX }}-${{ runner.os }}-${{ runner.arch }}-${{ hashFiles('.bazelversion') }}-
      - name: Install bazelisk
        shell: pwsh
        run: |
          go install github.com/bazelbuild/bazelisk@latest
          Add-Content -Path $env:GITHUB_PATH -Value (Join-Path $HOME "go/bin")
      - name: Set up Python 3.12
        uses: actions/setup-python@v7
        with:
          python-version: "3.12"
      - name: Install latest CMake
        shell: pwsh
        run: |
          python -m pip install --upgrade cmake
          $cmakeBinDir = python -c "import cmake; print(cmake.CMAKE_BIN_DIR)"
          Add-Content -Path $env:GITHUB_PATH -Value $cmakeBinDir
          & (Join-Path $cmakeBinDir "cmake.exe") --version
      - name: Test
        shell: bash
        run: |
          repo_cache=$(cygpath -am "$HOME/.cache/envpool-bazel-repo")
          disk_cache=$(cygpath -am "$HOME/.cache/envpool-bazel-disk")
          make BAZELOPT="--repository_cache=$repo_cache --disk_cache=$disk_cache $BAZEL_CI_RESOURCE_OPTS" bazel-test
      - name: Shut down Bazel
        if: ${{ always() && !cancelled() }}
        continue-on-error: true
        shell: bash
        run: bazelisk shutdown
      - name: Save Bazel caches
        id: save-bazel-caches
        if: ${{ always() && !cancelled() }}
        uses: actions/cache/save@v6
        with:
          path: |
            ~/.cache/bazelisk
            ~/.cache/envpool-bazel-repo
            ~/.cache/envpool-bazel-disk
          key: ${{ env.BAZEL_CACHE_PREFIX }}-${{ runner.os }}-${{ runner.arch }}-${{ hashFiles('.bazelversion') }}-${{ env.CACHE_BRANCH }}-${{ github.run_id }}-attempt${{ github.run_attempt }}
      - name: Prune older Bazel caches
        if: ${{ success() && (steps.save-bazel-caches.outcome == 'success' || steps.save-bazel-caches.outcome == 'skipped') }}
        continue-on-error: true
        env:
          GH_TOKEN: ${{ github.token }}
        run: >-
          python scripts/prune_actions_caches.py
          --repo "${{ github.repository }}"
          --prefix "${{ env.BAZEL_CACHE_PREFIX }}-${{ runner.os }}-${{ runner.arch }}-${{ hashFiles('.bazelversion') }}-"
          --group-by-branch
          --delete-missing-branches
          --keep 1
  deploy-coverage-pages:
    name: Deploy coverage page
    if: ${{ github.event_name == 'push' }}
    runs-on: ubuntu-24.04
    needs:
      - test-linux-x64
    permissions:
      contents: read
      pages: write
      id-token: write
    environment:
      name: github-pages
      url: ${{ steps.deployment.outputs.page_url }}
    steps:
      - name: Deploy GitHub Pages
        id: deployment
        uses: actions/deploy-pages@v5