pytest.yml

name: Pytest

# https://docs.github.com/en/actions/automating-builds-and-tests/building-and-testing-python#packaging-workflow-data-as-artifacts

on:
  pull_request:
    paths:
      - '**/*.py'        # Watch for changes in any Python files
      - 'pyproject.toml'  # Watch for changes in the pyproject.toml file
      - '.github/workflows/pytest.yml'
  push:
    branches:
      - master           # Only run on push to master branch
    paths:
      - '**/*.py'        # Watch for changes in any Python files
      - 'pyproject.toml'  # Watch for changes in the pyproject.toml file
      - '.github/workflows/pytest.yml'
  workflow_dispatch:

permissions:
  contents: read

jobs:
  pytest:
    if: github.event_name == 'pull_request' || (github.event_name == 'push' && !github.event.pull_request) || github.event_name == 'workflow_dispatch'
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        os: [ubuntu-latest, windows-latest, macos-latest]
        python-version: ["3.14"]  # to make sure the latest AMC supported python version does not break
        include:
          - os: ubuntu-latest
            python-version: "3.9"  # to make sure the minimum AMC supported python version does not break
            # this is also the version used to report test coverage, other versions do not report coverage

    steps:
      - name: Harden the runner (Audit all outbound calls)
        uses: step-security/harden-runner@fa2e9d605c4eeb9fcad4c99c224cee0c6c7f3594 # v2.16.0
        with:
          egress-policy: audit

      - name: Checkout
        uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd # v6.0.2

      # https://docs.astral.sh/uv/guides/integration/github/
      - name: Install uv and set the Python version
        uses: astral-sh/setup-uv@37802adc94f370d6bfd71619e3f0bf239e1f3b78 # v7.6.0
        with:
          python-version: ${{ matrix.python-version }}
          activate-environment: true
          enable-cache: true
          cache-dependency-glob: "pyproject.toml"

      - name: Cache apt packages (Linux)
        if: matrix.os == 'ubuntu-latest'
        uses: actions/cache@668228422ae6a00e4ad889ee87cd7109ec5666a7 # v5.0.4
        with:
          path: /var/cache/apt/archives
          key: apt-${{ runner.os }}-py${{ matrix.python-version }}-${{ hashFiles('.github/workflows/pytest.yml') }}
          restore-keys: |
            apt-${{ runner.os }}-py${{ matrix.python-version }}-
            apt-${{ runner.os }}-

      - name: Install system dependencies for GUI testing on linux
        if: matrix.os == 'ubuntu-latest'
        run: |
          sudo apt-get update
          # Only install system Tcl/Tk for Python < 3.13 (newer versions bundle their own)
          if [[ "${{ matrix.python-version }}" < "3.13" ]]; then
            echo "Installing system Tcl/Tk 8.6 for Python ${{ matrix.python-version }}"
            sudo apt-get install -y python3-tk tcl8.6 tk8.6 libtcl8.6 libtk8.6
          else
            echo "Python ${{ matrix.python-version }} uses bundled Tcl/Tk, skipping system packages"
            # Only install tools, not Tcl/Tk libraries
            sudo apt-get install -y scrot xdotool x11-utils gnome-screenshot
          fi
          python3 --version && python3 -c "import tkinter; print(tkinter.TclVersion, tkinter.TkVersion)"

      - name: Cache Homebrew packages (macOS)
        if: matrix.os == 'macos-latest'
        uses: actions/cache@668228422ae6a00e4ad889ee87cd7109ec5666a7 # v5.0.4
        with:
          path: ~/Library/Caches/Homebrew
          key: brew-${{ runner.os }}-python-tk-${{ hashFiles('.github/workflows/pytest.yml') }}
          restore-keys: |
            brew-${{ runner.os }}-python-tk-

      - name: Install system dependencies for GUI testing on macOS
        if: matrix.os == 'macos-latest'
        run: brew list python-tk &>/dev/null || brew install python-tk

      - name: Ensure Tcl/Tk search paths
        if: matrix.os == 'ubuntu-latest'
        run: |
          # Only set Tcl/Tk paths for Python < 3.13
          if [[ "${{ matrix.python-version }}" < "3.13" ]]; then
            echo "Setting Tcl/Tk paths for Python ${{ matrix.python-version }}"
            echo "TCL_LIBRARY=/usr/share/tcltk/tcl8.6" >> $GITHUB_ENV
            echo "TK_LIBRARY=/usr/share/tcltk/tk8.6" >> $GITHUB_ENV
          else
            echo "Python ${{ matrix.python-version }} uses bundled Tcl/Tk, no custom paths needed"
          fi

      - name: Check Tcl and Tk installed versions
        shell: bash
        run: |
          python --version
          python -c "import tkinter; print('Tcl version:', tkinter.TclVersion, 'Tk version:', tkinter.TkVersion)"

      - name: Install dependencies (without project)
        # Installs all deps from uv.lock into the venv - this layer is cached by setup-uv
        shell: bash
        run: |
          if [ "$RUNNER_OS" == "Linux" ]; then
            uv sync --no-install-project --extra dev --extra ci_headless_tests
          else
            uv sync --no-install-project --extra dev
          fi

      - name: Install project in editable mode
        # Installs only the project itself (no deps) - always runs, but is fast
        # without --editable, the coverage report is not generated correctly
        run: uv pip install --editable "." --no-deps

      - name: Compute SITL cache key
        if: matrix.os == 'ubuntu-latest'
        run: |
          YEAR=$(date +%Y)
          MONTH=$(date +%m)
          QUARTER=$(( (MONTH-1)/3 + 1 ))
          echo "SITL_CACHE_KEY=sitl-cache-ubuntu-${YEAR}-Q${QUARTER}" >> $GITHUB_ENV

      - name: Cache SITL files
        if: matrix.os == 'ubuntu-latest'
        uses: actions/cache@668228422ae6a00e4ad889ee87cd7109ec5666a7 # v5.0.4
        with:
          path: sitl/
          key: ${{ env.SITL_CACHE_KEY }}
          restore-keys: |
            sitl-cache-ubuntu-

      - name: Download ArduCopter SITL (if available)
        if: matrix.os == 'ubuntu-latest'
        run: |
          # Skip download if the cache was restored (exact or partial hit)
          if [ -f "sitl/arducopter" ]; then
            echo "Using cached SITL binary"
          else
            echo "Downloading fresh SITL files"
            mkdir -p sitl/

            # Download latest ArduCopter SITL from official firmware server
            curl -L -o sitl/arducopter https://firmware.ardupilot.org/Copter/latest/SITL_x86_64_linux_gnu/arducopter
            curl -L -o sitl/firmware-version.txt https://firmware.ardupilot.org/Copter/latest/SITL_x86_64_linux_gnu/firmware-version.txt
            curl -L -o sitl/git-version.txt https://firmware.ardupilot.org/Copter/latest/SITL_x86_64_linux_gnu/git-version.txt
          fi

          # Make executable and verify
          chmod +x sitl/arducopter
          ls -la sitl/

          # Set environment variables
          echo "SITL_BINARY=$(pwd)/sitl/arducopter" >> $GITHUB_ENV
          echo "SITL_AVAILABLE=true" >> $GITHUB_ENV
          echo "SITL version: $(cat sitl/git-version.txt)"
          echo "Firmware version: $(cat sitl/firmware-version.txt)"
        continue-on-error: true

      - name: Test with pytest
        id: pytest
        continue-on-error: false
        shell: bash
        env:
          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
        run: |
          if [ "$RUNNER_OS" == "Linux" ]; then
            export LIBGL_ALWAYS_SOFTWARE=1
            export DISPLAY=:99
            # disable X authentication
            export XAUTHORITY=/dev/null
            # disable access control restrictions
            Xvfb :99 -screen 0 1024x768x16 -ac &
            # ensure Xvfb is fully started before running tests
            sleep 2
          fi
          if [ "$SITL_AVAILABLE" = "true" ]; then
            echo "Running tests with SITL support"
            uv run pytest --cov=ardupilot_methodic_configurator --cov-report=xml:tests/coverage.xml --md=tests/results-${{ matrix.python-version }}.md --junit-xml=tests/results-junit.xml -m "sitl or not sitl"
          else
            echo "Running tests without SITL (mocked tests only)"
            uv run pytest --cov=ardupilot_methodic_configurator --cov-report=xml:tests/coverage.xml --md=tests/results-${{ matrix.python-version }}.md --junit-xml=tests/results-junit.xml -m "not sitl"
          fi

      - name: Fix coverage paths
        shell: python
        run: |
          import re, pathlib
          p = pathlib.Path("tests/coverage.xml")
          content = p.read_text(encoding="utf-8")
          # Normalise package name
          content = content.replace('<package name="." ', '<package name="ardupilot_methodic_configurator" ')
          # Normalise source element
          content = re.sub(r"<source>.*?</source>", "<source>.</source>", content, flags=re.DOTALL)
          # Normalise filenames: strip any OS-specific absolute/relative prefix
          # before the package directory so all legs emit the same relative path
          # (e.g. ardupilot_methodic_configurator/foo.py).
          # If the marker is absent the filename is left unchanged.
          marker = "ardupilot_methodic_configurator/"
          def fix_filename(m):
              raw = m.group(1).replace("\\", "/")
              # Find the LAST occurrence so repeated markers are collapsed too
              idx = raw.rfind(marker)
              if idx != -1:
                  raw = raw[idx:]
              return f'filename="{raw}"'
          content = re.sub(r'filename="([^"]+)"', fix_filename, content)
          p.write_text(content, encoding="utf-8")

      - name: Display test results as GitHub job summary
        run: cat tests/results-${{ matrix.python-version }}.md >> $GITHUB_STEP_SUMMARY
        shell: bash
        # Use always() to always run this step to publish test results when there are test failures
        if: ${{ always() }}

      - name: Upload coverage xml report
        # Use always() to always run this step to publish test results when there are test failures
        if: always()
        uses: actions/upload-artifact@bbbca2ddaa5d8feaa63e36b76fdaad77386f024f # v7.0.0
        with:
            name: coverage-${{ matrix.os }}-${{ matrix.python-version }}-xml
            path: tests/*.xml
            retention-days: 1

      - name: Upload coverage report
        # Use always() to always run this step to publish test results when there are test failures
        if: always()
        uses: actions/upload-artifact@bbbca2ddaa5d8feaa63e36b76fdaad77386f024f # v7.0.0
        with:
            name: coverage-${{ matrix.os }}-${{ matrix.python-version }}
            path: .coverage
            include-hidden-files: true
            retention-days: 1

      - name: Upload coverage to Coveralls (parallel)
        # https://docs.coveralls.io/parallel-builds
        if: always() && github.repository == 'ArduPilot/MethodicConfigurator'
        uses: coverallsapp/github-action@5cbfd81b66ca5d10c19b062c04de0199c215fb6e # v2.3.7
        with:
          github-token: ${{ secrets.GITHUB_TOKEN }}
          parallel: true
          flag-name: run-${{ matrix.os }}-py${{ matrix.python-version }}
          files: tests/coverage.xml

  upload_coverage_to_coveralls:
    if: always() && github.repository == 'ArduPilot/MethodicConfigurator'
    runs-on: ubuntu-latest
    needs: pytest

    steps:
      - name: Harden the runner (Audit all outbound calls)
        uses: step-security/harden-runner@fa2e9d605c4eeb9fcad4c99c224cee0c6c7f3594 # v2.16.0
        with:
          egress-policy: audit

      - name: Close Coveralls parallel build
        # https://docs.coveralls.io/parallel-builds
        uses: coverallsapp/github-action@5cbfd81b66ca5d10c19b062c04de0199c215fb6e # v2.3.7
        with:
          github-token: ${{ secrets.GITHUB_TOKEN }}
          parallel-finished: true
          carryforward: "run-ubuntu-latest-py3.9,run-ubuntu-latest-py3.14,run-windows-latest-py3.14,run-macos-latest-py3.14"

      # TODO: create a badge that presents the result of the Upload coverage xml report step

  publish-test-results:
    if: always()
    name: "Publish Tests Results"
    runs-on: ubuntu-latest
    needs: pytest  # This will ensure this job runs after 'pytest'
    permissions:
      checks: write

      # only needed unless run with comment_mode: off
      pull-requests: write

    steps:
      - name: Harden the runner (Audit all outbound calls)
        uses: step-security/harden-runner@fa2e9d605c4eeb9fcad4c99c224cee0c6c7f3594 # v2.16.0
        with:
          egress-policy: audit

      - name: Checkout code
        uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd # v6.0.2

      - name: Download Artifacts
        uses: actions/download-artifact@3e5f45b2cfb9172054b4087a40e8e0b5a5461e7c # v8.0.1
        with:
          path: artifacts

      - name: Publish Test Results
        uses: EnricoMi/publish-unit-test-result-action@c950f6fb443cb5af20a377fd0dfaa78838901040 # v2.23.0
        if: always()
        id: test-results
        with:
          files: "artifacts/**/results-junit.xml"

      - name: Set badge color
        if: always()
        shell: bash
        run: |
          case ${{ fromJSON( steps.test-results.outputs.json ).conclusion }} in
            success)
              echo "BADGE_COLOR=31c653" >> $GITHUB_ENV
              ;;
            failure)
              echo "BADGE_COLOR=800000" >> $GITHUB_ENV
              ;;
            neutral)
              echo "BADGE_COLOR=696969" >> $GITHUB_ENV
              ;;
          esac

      - name: Create badge
        if: always()
        uses: emibcn/badge-action@808173dd03e2f30c980d03ee49e181626088eee8
        with:
          label: Tests
          status: '${{ fromJSON( steps.test-results.outputs.json ).formatted.stats.tests }} tests, ${{ fromJSON( steps.test-results.outputs.json ).formatted.stats.runs }} runs: ${{ fromJSON( steps.test-results.outputs.json ).conclusion }}'
          color: ${{ env.BADGE_COLOR }}
          path: badge.svg

      - name: Upload badge to Gist
        # Upload only for master branch
        if: >
          always() && (github.event_name == 'workflow_run' && github.event.workflow_run.head_branch == 'master' ||
          github.event_name != 'workflow_run' && github.ref == 'refs/heads/master')
        uses: andymckay/append-gist-action@ab30bf28df67017c7ad696500b218558c7c04db3
        with:
          token: ${{ secrets.GIST_TOKEN }}
          gistURL: https://gist.githubusercontent.com/amilcarlucas/81b511dc0ff92b8072613d1cd100832e
          file: badge.svg

      - name: Download coverage report
        if: needs.pytest.result != 'skipped'
        uses: actions/download-artifact@3e5f45b2cfb9172054b4087a40e8e0b5a5461e7c # v8.0.1
        with:
          name: coverage-ubuntu-latest-3.9

      # https://docs.astral.sh/uv/guides/integration/github/
      - name: Install uv and set the Python version
        if: needs.pytest.result != 'skipped'
        uses: astral-sh/setup-uv@37802adc94f370d6bfd71619e3f0bf239e1f3b78 # v7.6.0
        with:
          python-version: '3.9'  # Match with the coverage report Python version
          activate-environment: true
          enable-cache: true
          cache-dependency-glob: "pyproject.toml"

      - name: Install coverage
        if: needs.pytest.result != 'skipped'
        run: uv pip install "coverage==7.10.7"

      - name: Check coverage
        if: needs.pytest.result != 'skipped'
        shell: bash
        run: |
          # Check if pytest job failed
          if [ "${{ needs.pytest.result }}" == "failure" ]; then
            echo "Pytest failed - failing coverage check"
            exit 1
          fi
          coverage report --fail-under=89

  add_coverage_to_pullrequest:
    if: github.event_name == 'pull_request' && github.event.pull_request.head.repo.full_name == github.repository && (success() || failure())
    runs-on: ubuntu-latest
    needs: pytest  # This will ensure this job runs after 'pytest'
    permissions:
      contents: read
      pull-requests: write

    steps:
      - name: Harden the runner (Audit all outbound calls)
        uses: step-security/harden-runner@fa2e9d605c4eeb9fcad4c99c224cee0c6c7f3594 # v2.16.0
        with:
          egress-policy: audit

      - name: Download coverage xml report
        uses: actions/download-artifact@3e5f45b2cfb9172054b4087a40e8e0b5a5461e7c # v8.0.1
        with:
          name: coverage-ubuntu-latest-3.9-xml

      - name: Get Cover
        uses: orgoro/coverage@3f13a558c5af7376496aa4848bf0224aead366ac # v3.2
        with:
            coverageFile: coverage.xml
            token: ${{ secrets.GITHUB_TOKEN }}
            thresholdAll: 0.89