action.yml

# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

name: 'Run Tests in Docker Container'
description: 'Runs pytest tests in a Docker container with GPU support and result collection'

inputs:
  test-path:
    description: 'Path to test directory or pytest arguments'
    required: true
  result-file:
    description: 'Name of the result XML file'
    required: true
  container-name:
    description: 'Name for the Docker container'
    required: true
  image-tag:
    description: 'Docker image tag to use'
    required: true
  reports-dir:
    description: 'Directory to store test results'
    default: 'reports'
    required: false
  pytest-options:
    description: 'Additional pytest options (e.g., -k filter)'
    default: ''
    required: false
  filter-pattern:
    description: >-
      Pattern to filter test files (e.g., isaaclab_tasks); test files whose path
      contains this pattern are included. Only one pattern can be used at a time,
      no comma-separated substrings allowed. Also supports the legacy "not <pattern>"
      form for exclude-only jobs.
    default: ''
    required: false
  exclude-pattern:
    description: >-
      Comma-separated substrings; test files whose path contains any entry are
      excluded. Combines with filter-pattern (include + exclude).
    default: ''
    required: false
  test-k-expr:
    description: >-
      Global pytest -k expression applied inside every per-file pytest run
      spawned by tools/conftest.py (combined with device-split selectors).
      Unlike pytest-options, this reaches the individual test processes, so it
      can deselect parametrized cases (e.g. "not ovphysx").
    default: ''
    required: false
  curobo-only:
    description: 'Run only cuRobo and SkillGen tests (requires the cuRobo Docker image)'
    default: 'false'
    required: false
  quarantined-only:
    description: 'Run only tests listed in QUARANTINED_TESTS (skipped in normal jobs)'
    default: 'false'
    required: false
  include-files:
    description: 'Comma-separated list of specific test file paths to include (e.g., source/pkg/test/test_a.py,source/pkg/test/test_b.py)'
    default: ''
    required: false
  test-node-ids-file:
    description: 'TOML file containing exact pytest node IDs to run'
    default: ''
    required: false
  test-node-ids-key:
    description: 'Top-level key in test-node-ids-file containing the node IDs for this job'
    default: ''
    required: false
  shard-index:
    description: 'Zero-based index of this shard (used with shard-count to split tests across parallel jobs)'
    default: ''
    required: false
  shard-count:
    description: 'Total number of shards (used with shard-index to split tests across parallel jobs)'
    default: ''
    required: false
  volume-mount-source:
    description: 'Host path to bind-mount at /workspace/isaaclab (for deps-cache-hit mode)'
    default: ''
    required: false
  extra-pip-packages:
    description: 'Space-separated pip packages to install inside the Docker container before pytest starts'
    default: ''
    required: false
  extra-uv-packages:
    description: 'Space-separated packages to install with uv inside the Docker container before pytest starts'
    default: ''
    required: false
  wheelhouse-host-dir:
    description: 'Host directory containing wheelhouse/ and manifest.json for offline pip installs'
    default: ''
    required: false
  wheelhouse-packages:
    description: 'Space-separated packages to install from /tmp/ovphysx-wheelhouse with pip --no-index'
    default: ''
  warp-cache-host-dir:
    description: 'Host Warp kernel cache directory bind-mounted into the container as WARP_CACHE_PATH'
    default: ''
    required: false
  renderer-cache-host-dir:
    description: 'Host directory containing persistent Kit, RTX, and NVIDIA compute caches'
    default: ''
    required: false
  ci-marker:
    description: 'CI_MARKER value forwarded to the container (read by tools/conftest.py to select test files by pytest marker)'
    default: ''
    required: false
  standalone-script-scope:
    description: 'Enable standalone script smoke tests for this scripts/ subdirectory'
    default: ''
    required: false
  standalone-script-visualizer:
    description: 'Visualizer slice used when standalone-script-scope is set'
    default: 'none'
    required: false
  standalone-script-runtime-group:
    description: 'Run Kit-dependent or non-Kit standalone script cases'
    default: ''
    required: false
  omni-github-test-type:
    description: 'Test type stored on each uploaded omni-github test row'
    default: 'pytest'
    required: false

runs:
  using: composite
  steps:
    - name: Run Tests in Docker Container
      shell: bash
      env:
        # Passed via env instead of inline ${{ }} interpolation: pytest options may
        # contain spaces and quotes (e.g. -k "not ovphysx"), which would word-split
        # the run_tests positional arguments if substituted textually.
        PYTEST_OPTIONS: ${{ inputs.pytest-options }}
        TEST_K_EXPR_INPUT: ${{ inputs.test-k-expr }}
        CI_MARKER_INPUT: ${{ inputs.ci-marker }}
      run: |
        bash .github/actions/run-tests/run_tests.sh "${{ inputs.test-path }}" "${{ inputs.result-file }}" "${{ inputs.container-name }}" "${{ inputs.image-tag }}" "${{ inputs.reports-dir }}" "$PYTEST_OPTIONS" "${{ inputs.filter-pattern }}" "${{ inputs.exclude-pattern }}" "${{ inputs.curobo-only }}" "${{ inputs.include-files }}" "${{ inputs.quarantined-only }}" "${{ inputs.shard-index }}" "${{ inputs.shard-count }}" "${{ inputs.volume-mount-source }}" "${{ inputs.extra-pip-packages }}" "${{ inputs.test-node-ids-file }}" "${{ inputs.test-node-ids-key }}" "${{ inputs.wheelhouse-host-dir }}" "${{ inputs.wheelhouse-packages }}" "$TEST_K_EXPR_INPUT" "$CI_MARKER_INPUT" "${{ inputs.standalone-script-scope }}" "${{ inputs.standalone-script-visualizer }}" "${{ inputs.standalone-script-runtime-group }}" "${{ inputs.warp-cache-host-dir }}" "${{ inputs.extra-uv-packages }}" "${{ inputs.renderer-cache-host-dir }}"
    - name: Kill container on cancellation
      if: cancelled()
      shell: bash
      run: |
        echo "::warning::Job cancelled - force-killing container"
        docker kill "${{ inputs.container-name }}" 2>/dev/null || true
        docker rm -f "${{ inputs.container-name }}" 2>/dev/null || true

    - name: Write job summary
      if: always()
      shell: bash
      run: |
        report="${{ inputs.reports-dir }}/${{ inputs.result-file }}"
        if [ ! -f "$report" ]; then
          echo "🟠 No test report found" >> "$GITHUB_STEP_SUMMARY"
          exit 0
        fi

        # Parse JUnit XML and produce a markdown summary.
        # Exit code 2 means the report was corrupt/unreadable - surface the
        # error in the summary but don't mask the real test exit code.
        if ! python3 .github/actions/run-tests/junit_summary.py "$report" >> "$GITHUB_STEP_SUMMARY"; then
          echo "::warning::junit_summary.py failed to parse $report - test results may be missing from the summary"
        fi

    - name: Upload comparison images
      if: always()
      id : upload-comparison-images
      uses: actions/upload-artifact@v7
      with:
        name: comparison-images-${{ inputs.container-name }}
        path: ${{ inputs.reports-dir }}/comparison-images/
        if-no-files-found: ignore
        retention-days: 7

    - name: Upload JUnit XML report
      if: always()
      id: upload-junit-report
      uses: actions/upload-artifact@v7
      with:
        name: junit-${{ inputs.container-name }}
        path: ${{ inputs.reports-dir }}/${{ inputs.result-file }}
        if-no-files-found: ignore
        retention-days: 7

    - name: Upload omni-github test results
      if: always()
      uses: ./.github/actions/upload-omni-github-test-results
      with:
        junit-file: ${{ inputs.reports-dir }}/${{ inputs.result-file }}
        junit-log-url: ${{ steps.upload-junit-report.outputs.artifact-url }}
        comparison-images-url: ${{ steps.upload-comparison-images.outputs.artifact-url }}
        artifact-prefix: pytest-results-${{ github.job }}-${{ inputs.container-name }}
        test-type: ${{ inputs.omni-github-test-type }}

    - name: Clean up Docker container
      if: always() && !cancelled()
      shell: bash
      run: |
        echo "🔵 Cleaning up Docker container..."
        docker kill "${{ inputs.container-name }}" 2>/dev/null || true
        docker rm -f "${{ inputs.container-name }}" 2>/dev/null || true