pull-request.yml

name: "Pull Request"

on:
  pull_request:
  workflow_dispatch:

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

jobs:
  # One full job per platform publishes Conan dependencies. Other jobs restore only.
  pre-commit:
    runs-on: ubuntu-24.04
    steps:
      - uses: actions/checkout@v5
      - uses: ./.github/actions/pre-commit

  clang-format:
    name: C/C++ formatting
    runs-on: ubuntu-24.04
    steps:
      - uses: actions/checkout@v5
        with:
          fetch-depth: 0
      - uses: actions/setup-python@v6
        with:
          python-version: '3.11'
      - name: Select formatting scope
        id: formatting-scope
        env:
          EVENT_NAME: ${{ github.event_name }}
          BASE_SHA: ${{ github.event.pull_request.base.sha }}
          HEAD_SHA: ${{ github.event.pull_request.head.sha }}
        shell: bash
        run: |
          if [[ "$EVENT_NAME" == "pull_request" ]] && git diff --quiet "$BASE_SHA...$HEAD_SHA" -- \
            .clang-format .pre-commit-config.yaml ':(glob)**/.clang-format'; then
            echo "args=--from-ref $BASE_SHA --to-ref $HEAD_SHA" >> "$GITHUB_OUTPUT"
          else
            echo "args=--all-files" >> "$GITHUB_OUTPUT"
          fi
      - uses: pre-commit/action@v3.0.1
        with:
          extra_args: clang-format ${{ steps.formatting-scope.outputs.args }} --show-diff-on-failure

  build-linux:
    runs-on: ubuntu-24.04
    timeout-minutes: 90
    needs: [pre-commit, clang-format]
    name: Linux (MAX Python)
    steps:
      - uses: actions/checkout@v5
      - uses: ./.github/actions/data-cache
      - name: Set up current stable Rust
        run: |
          rustup toolchain install stable --profile minimal --component clippy
          rustup default stable
          rustc --version
          cargo --version
      # Pull-request CI exercises Rust modules through Corrosion on Linux,
      # Windows, and macOS.
      - uses: ./.github/actions/build
        with:
          python-version: 3.14
          conan-args: --opNav True --mujoco True --rustModules True
          save-conan-cache: true
      - name: Verify Corrosion configuration
        shell: bash
        run: |
          grep -F "BUILD_RUST_MODULES:BOOL=ON" dist3/CMakeCache.txt
          python -c "from Basilisk import getBuildInfo; assert getBuildInfo()['diagnostics']['tools']['corrosion']"
      - name: Test incremental build dependencies
        run: python .github/scripts/test_incremental_build.py --build-dir dist3
      - name: Test Rust workspace
        run: |
          cargo test --workspace --all-features --locked --manifest-path src/Cargo.toml
          cargo test -p bsk-build --no-default-features --locked --manifest-path src/Cargo.toml
      - name: Test minimum supported Rust version
        run: |
          rustup toolchain install 1.89.0 --profile minimal
          cargo +1.89.0 test --workspace --all-features --locked --manifest-path src/Cargo.toml
      - name: Lint Rust workspace
        run: cargo clippy --workspace --all-targets --all-features --locked --manifest-path src/Cargo.toml -- -D warnings
      - name: Check Rust unwind policy
        run: python3 .github/scripts/check_rust_unwind_policy.py
      - name: Check committed Rust utility bindings are up to date
        run: |
          sudo apt-get update && sudo apt-get install -y libclang-dev
          cargo install bindgen-cli --version '=0.72.1' --locked
          python3 src/architecture/rust/gen_rust_utilities.py
          if ! git diff --exit-code -- src/architecture/rust/bsk_utilities/src/raw.rs; then
            echo "::error::src/architecture/rust/bsk_utilities/src/raw.rs is stale (it does not match the utility headers in this PR). Regenerate it locally and commit the result."
            exit 1
          fi
      - name: Check committed Rust third-party licenses are up to date
        run: |
          cargo fetch --locked --manifest-path src/Cargo.toml
          cargo install cargo-about --version '=0.9.1' --locked --features cli
          python3 src/architecture/rust/generate_rust_licenses.py --check --require-tool
      - name: Pytest
        working-directory: src
        run: |
          pip install pytest-error-for-skips pytest-timeout
          pytest -n auto -m "not ciSkip" -rs --error-for-skips --timeout=300 --timeout-method=thread --durations=25 -v
      - name: Build integration tests
        working-directory: src
        run: >-
          pytest -n 2 -m buildIntegration --error-for-skips --timeout=300 --timeout-method=thread --durations=10 -v
          tests/test_fswBindingLayout.py tests/test_incremental_build_checks.py tests/test_cmake_message_cleanup.py
      - name: CTest
        if: ${{ always() && hashFiles('dist3/CTestTestfile.cmake') != '' }}
        working-directory: dist3
        run: ctest --output-on-failure

  build-windows:
    runs-on: windows-2025-vs2026
    timeout-minutes: 105
    needs: [pre-commit, clang-format]
    name: Windows (MAX Python)
    env:
      MPLBACKEND: agg
    steps:
      - uses: actions/checkout@v5
      - uses: ./.github/actions/data-cache
      - uses: ./.github/actions/build
        with:
          python-version: 3.14
          conan-args: --opNav True --mujoco True --rustModules True
          save-conan-cache: true
      - name: Verify Corrosion configuration
        shell: bash
        run: |
          grep -F "BUILD_RUST_MODULES:BOOL=ON" dist3/CMakeCache.txt
          python -c "from Basilisk import getBuildInfo; assert getBuildInfo()['diagnostics']['tools']['corrosion']"
      - name: Pytest
        shell: pwsh
        working-directory: src
        run: |
          pip install pytest-error-for-skips pytest-timeout
          pytest -n auto -m "not ciSkip" -rs --error-for-skips --timeout=300 --timeout-method=thread --durations=25 -v
          if(($LastExitCode -ne 0) -and ($LastExitCode -ne 5)) {exit 1}
      - name: Build integration tests
        shell: pwsh
        working-directory: src
        run: |
          pytest -n 2 -m buildIntegration --error-for-skips --timeout=300 --timeout-method=thread --durations=10 -v tests/test_fswBindingLayout.py tests/test_incremental_build_checks.py tests/test_cmake_message_cleanup.py
          if ($LastExitCode -ne 0) { exit $LastExitCode }
      - name: CTest
        if: ${{ always() && hashFiles('dist3/CTestTestfile.cmake') != '' }}
        shell: pwsh
        working-directory: dist3
        run: |
          ctest --output-on-failure
          if(($LastExitCode -ne 0) -and ($LastExitCode -ne 5)) { exit 1 }
      - name: Test Rust workspace
        shell: pwsh
        run: |
          if (-not (Get-Command cargo -ErrorAction SilentlyContinue)) {
            Invoke-WebRequest https://win.rustup.rs/x86_64 -OutFile rustup-init.exe
            .\rustup-init.exe -y --profile minimal --default-toolchain stable
            $env:Path = "$env:USERPROFILE\.cargo\bin;$env:Path"
          }
          cargo test --workspace --all-features --locked --manifest-path src/Cargo.toml
          if ($LastExitCode -ne 0) { exit $LastExitCode }
          cargo test -p bsk-build --no-default-features --locked --manifest-path src/Cargo.toml
          if ($LastExitCode -ne 0) { exit $LastExitCode }

  build-macos:
    runs-on: macos-26
    timeout-minutes: 90
    needs: [pre-commit, clang-format]
    strategy:
      fail-fast: false
      matrix:
        job_suffix: [""]
        python_label: ["MIN Python"]
        python: ["3.9"]
        pytest_flags:
          [
            '-n auto -m "not ciSkip" -rs --error-for-skips --timeout=300 --timeout-method=thread --durations=25 -v',
          ]
        conan_args:
          [
            "--opNav True --mujoco True --rustModules True",
          ]
        include:
          # An extra plain Basilisk build without optional opNav, MuJoCo, or visualization support
          - python: "3.14"
            python_label: "MAX Python"
            pytest_flags: -n auto -m "not ciSkip" -rs --timeout=300 --timeout-method=thread --durations=25 -v
            conan_args: --opNav False --mujoco False --vizInterface False
            job_suffix: "--vizInterface False"

    name: macOS (${{ matrix.python_label }}) ${{ matrix.job_suffix }}
    steps:
      - uses: actions/checkout@v5
      - uses: ./.github/actions/data-cache
      - uses: ./.github/actions/build
        with:
          python-version: ${{ matrix.python }}
          conan-args: ${{ matrix.conan_args }}
      - name: Verify Corrosion configuration
        if: ${{ contains(matrix.conan_args, '--rustModules True') }}
        shell: bash
        run: |
          grep -F "BUILD_RUST_MODULES:BOOL=ON" dist3/CMakeCache.txt
          python -c "from Basilisk import getBuildInfo; assert getBuildInfo()['diagnostics']['tools']['corrosion']"
      - name: Pytest
        working-directory: src
        run: |
          pip install pytest-error-for-skips pytest-timeout
          pytest ${{ matrix.pytest_flags }}
      - name: Build integration tests
        working-directory: src
        run: >-
          pytest -n 2 -m buildIntegration --error-for-skips --timeout=300 --timeout-method=thread --durations=10 -v
          tests/test_fswBindingLayout.py tests/test_incremental_build_checks.py tests/test_cmake_message_cleanup.py
      - name: CTest
        if: ${{ always() && hashFiles('dist3/CTestTestfile.cmake') != '' }}
        working-directory: dist3
        run: ctest -C Release --output-on-failure

  docs:
    runs-on: macos-26
    steps:
      - uses: actions/checkout@v5
      - uses: ./.github/actions/data-cache
      - name: Build Basilisk
        uses: ./.github/actions/build
        with:
          python-version: 3.14
          conan-args: --opNav True --mujoco True --rustModules True
          save-conan-cache: true
      - name: Build docs
        uses: ./.github/actions/docs