Port ControllerDifferentialIK into newton.controllers module
#1265
Workflow file for this run
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| name: Public API Change Detection | |
| permissions: {} | |
| on: | |
| pull_request_target: | |
| branches: | |
| - main | |
| - "release-*" | |
| concurrency: | |
| group: ${{ github.workflow }}-pr-${{ github.event.pull_request.number }} | |
| cancel-in-progress: true | |
| jobs: | |
| # Safe under pull_request_target only because the trusted base-branch | |
| # detector parses the head statically; never execute head code here. | |
| detect-api-changes: | |
| runs-on: ubuntu-latest | |
| permissions: | |
| contents: read | |
| pull-requests: write | |
| if: github.repository == 'newton-physics/newton' | |
| steps: | |
| - name: Harden Runner | |
| uses: step-security/harden-runner@fa2e9d605c4eeb9fcad4c99c224cee0c6c7f3594 # v2.16.0 | |
| with: | |
| egress-policy: block | |
| allowed-endpoints: > | |
| api.github.com:443 | |
| github.com:443 | |
| release-assets.githubusercontent.com:443 | |
| - name: Checkout PR head | |
| uses: actions/checkout@8e8c483db84b4bee98b60c0593521ed34d9990e8 # v6.0.1 | |
| with: | |
| repository: ${{ github.event.pull_request.head.repo.full_name }} | |
| ref: ${{ github.event.pull_request.head.sha }} | |
| path: head | |
| fetch-depth: 0 | |
| persist-credentials: false | |
| - name: Checkout base branch history | |
| uses: actions/checkout@8e8c483db84b4bee98b60c0593521ed34d9990e8 # v6.0.1 | |
| with: | |
| ref: ${{ github.event.pull_request.base.sha }} | |
| path: base | |
| fetch-depth: 0 | |
| persist-credentials: false | |
| - name: Set up Python | |
| uses: actions/setup-python@a309ff8b426b58ec0e2a45f0f869d46889d02405 # v6.2.0 | |
| with: | |
| python-version-file: "base/.python-version" | |
| - name: Checkout PR merge base | |
| id: merge_base | |
| run: | | |
| script_path="${RUNNER_TEMP}/detect_api_changes.py" | |
| git -C base show "${{ github.event.pull_request.base.sha }}:scripts/ci/detect_api_changes.py" > "$script_path" | |
| git -C base fetch --no-tags ../head HEAD:refs/remotes/pr/head | |
| merge_base=$(git -C base merge-base HEAD refs/remotes/pr/head) | |
| git -C base checkout --detach "$merge_base" | |
| echo "script_path=$script_path" >> "$GITHUB_OUTPUT" | |
| - name: Detect API changes | |
| id: detect | |
| env: | |
| API_COMMENT_PATH: ${{ runner.temp }}/api-comment.md | |
| run: | | |
| output=$(python "${{ steps.merge_base.outputs.script_path }}" base head) | |
| needs_review=$(printf '%s' "$output" | python -c "import sys, json; print(str(json.load(sys.stdin)['needs_review']).lower())") | |
| echo "needs_review=$needs_review" >> "$GITHUB_OUTPUT" | |
| printf '%s' "$output" | python -c " | |
| import sys, json | |
| data = json.load(sys.stdin) | |
| print(data['comment']) | |
| " > "$API_COMMENT_PATH" | |
| - name: Sync API review | |
| uses: actions/github-script@ed597411d8f924073f98dfc5c65a23a2325f34cd # v8.0.0 | |
| env: | |
| API_COMMENT_PATH: ${{ runner.temp }}/api-comment.md | |
| NEEDS_REVIEW: ${{ steps.detect.outputs.needs_review }} | |
| with: | |
| script: | | |
| const fs = require('fs'); | |
| const needsReview = process.env.NEEDS_REVIEW === 'true'; | |
| const repo = { | |
| owner: context.repo.owner, | |
| repo: context.repo.repo, | |
| }; | |
| const issue = { | |
| ...repo, | |
| issue_number: context.issue.number, | |
| }; | |
| if (needsReview) { | |
| await github.rest.issues.addLabels({ | |
| ...issue, | |
| labels: ['api-changes'], | |
| }); | |
| } else { | |
| try { | |
| await github.rest.issues.removeLabel({ | |
| ...issue, | |
| name: 'api-changes', | |
| }); | |
| } catch (error) { | |
| // The current state is already correct when the label is absent. | |
| if (error.status !== 404) throw error; | |
| } | |
| } | |
| const marker = '<!-- newton-api-changes -->'; | |
| const comments = await github.paginate(github.rest.issues.listComments, { | |
| ...issue, | |
| per_page: 100, | |
| }); | |
| const existing = comments.find((comment) => | |
| comment.user?.login === 'github-actions[bot]' && | |
| comment.user?.type === 'Bot' && | |
| comment.body?.startsWith(marker) | |
| ); | |
| if (!needsReview) { | |
| if (existing) { | |
| await github.rest.issues.deleteComment({ | |
| ...repo, | |
| comment_id: existing.id, | |
| }); | |
| } | |
| return; | |
| } | |
| const body = fs.readFileSync(process.env.API_COMMENT_PATH, 'utf8').trim(); | |
| if (!body) return; | |
| const fullBody = `${marker}\n${body}`; | |
| if (existing) { | |
| await github.rest.issues.updateComment({ | |
| ...repo, | |
| comment_id: existing.id, | |
| body: fullBody, | |
| }); | |
| } else { | |
| await github.rest.issues.createComment({ | |
| ...issue, | |
| body: fullBody, | |
| }); | |
| } |