# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

# This workflow handles fast testing.
name: Fast Tests

on:
  # Allows running this workflow manually from the Actions tab
  workflow_dispatch:

  pull_request:
    branches:
      - main
    paths:
      - "src/**"
      - "tests/**"
      - ".github/workflows/**"
      - "pyproject.toml"
      - "Makefile"
  push:
    branches:
      - main
    paths:
      - "src/**"
      - "tests/**"
      - ".github/workflows/**"
      - "pyproject.toml"
      - "Makefile"

permissions:
  contents: read

# Sets up the environment variables
env:
  UV_VERSION: "0.8.0"
  PYTHON_VERSION: "3.10"
  DOCKER_IMAGE_NAME: huggingface/lerobot-gpu

# Ensures that only the latest commit for a PR or branch is built, canceling older runs.
concurrency:
  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
  cancel-in-progress: true

jobs:
  # This job runs pytests with the default dependencies.
  # It runs everytime we commit to a PR or push to main
  fast-pytest-tests:
    name: Fast Pytest Tests
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        os: [ubuntu-latest, macos-latest]
    env:
      MUJOCO_GL: egl
    steps:
      - uses: actions/checkout@v4
        with:
          persist-credentials: false
          lfs: true

      # TODO(Steven): Evaluate the need of these dependencies
      - name: Install dependencies
        run: |
          if [[ "${{ matrix.os }}" == 'ubuntu-latest' ]]; then
            sudo apt-get update && sudo apt-get install -y build-essential \
            git curl libglib2.0-0 libegl1-mesa-dev ffmpeg libusb-1.0-0-dev \
            speech-dispatcher libgeos-dev portaudio19-dev
          elif [[ "${{ matrix.os }}" == 'macos-latest' ]]; then
            brew update && brew install git geos portaudio ffmpeg@7
            # Add ffmpeg@7 paths for subsequent steps
            echo "PATH=/opt/homebrew/opt/ffmpeg@7/bin:$PATH" >> $GITHUB_ENV
            echo "LDFLAGS=-L/opt/homebrew/opt/ffmpeg@7/lib" >> $GITHUB_ENV
            echo "CPPFLAGS=-I/opt/homebrew/opt/ffmpeg@7/include" >> $GITHUB_ENV
            echo "PKG_CONFIG_PATH=/opt/homebrew/opt/ffmpeg@7/lib/pkgconfig" >> $GITHUB_ENV
            echo "DYLD_LIBRARY_PATH=/opt/homebrew/opt/ffmpeg@7/lib:/opt/homebrew/lib:/usr/local/lib:$DYLD_LIBRARY_PATH" >> $GITHUB_ENV
          fi
      - name: Setup uv and Python
        uses: astral-sh/setup-uv@v6 # zizmor: ignore[unpinned-uses]
        with:
          enable-cache: true
          version: ${{ env.UV_VERSION }}
          python-version: ${{ env.PYTHON_VERSION }}

      - name: Install lerobot with test extras
        run: uv sync --extra "test"

      - name: Run pytest
        run: uv run pytest tests -vv --maxfail=10