manual_code_coverage.yml

name: Code Coverage

on: 
  workflow_dispatch:

jobs:
  run-containers:
    runs-on: ubuntu-latest
    steps: 
    
    # Step 1: Create a local directory with full read-write permissions
    - name: Create and verify local directory
      run: |
        # Create the directory
        mkdir -p ${GITHUB_WORKSPACE}/shared_directory
        echo "Local directory created"

        # Grant full read-write permissions
        chmod 777 ${GITHUB_WORKSPACE}/shared_directory
        echo "Granted full read-write permissions to the directory"
        
        # Verify creation
        if [ -d "${GITHUB_WORKSPACE}/shared_directory" ]; then
          echo "Verification: shared_directory exists and is writable"
        else
          echo "Error: shared_directory was not created successfully"
          exit 1
        fi

    # Step 2: Pull Docker images (remains unchanged)
    - name: Pull Docker image DockA
      run: docker pull modularml/wrapyfi:0.4.32-zeromq-yarp-ros2
    - name: Pull Docker Image DockB
      run: docker pull modularml/wrapyfi:0.4.32-zeromq-ros
   
    # Step 3: Run YARP and ROS servers (replace volume mounts with bind mounts)
    - name: Run DockA with YARP server
      run: docker run --name wrapyfi__yarpserver --net host --rm -d -v ${GITHUB_WORKSPACE}/shared_directory:/tmp/shared_volume modularml/wrapyfi:0.4.32-zeromq-yarp-ros2 yarpserver
    - name: Run DockB with ROS server
      run: docker run --name wrapyfi__roscore --net host --rm -d -v ${GITHUB_WORKSPACE}/shared_directory:/tmp/shared_volume modularml/wrapyfi:0.4.32-zeromq-ros roscore

    # Step 4 & 5 & 6: Install packages, run tests, and append coverage data (replace volume mounts with bind mounts)
    - name: Run tests and coverage on DockA
      run: |
        docker run --name wrapyfi_zeromq_yarp_ros2 --net host --rm -v ${GITHUB_WORKSPACE}/shared_directory:/tmp/shared_volume -w /tmp/shared_volume modularml/wrapyfi:0.4.32-zeromq-yarp-ros2 bash -c "\
          yarp detect --write; \
          pip install coverage && \
          ROS_LOG_DIR=/tmp WRAPYFI_ZEROMQ_PUBSUB_MONITOR_LISTENER_SPAWN=thread WRAPYFI_ZEROMQ_PROXY_BROKER_SPAWN=thread coverage run --source=wrapyfi -m unittest discover -s wrapyfi && \
          coverage report --data-file=/tmp/shared_volume/.coverage && \
          coverage xml -o /tmp/shared_volume/coverage.xml --data-file=/tmp/shared_volume/.coverage"
    # WIP(fabawi): This seems to break after coverage losing track of Wrapyfi's location
    # - name: Run tests and append coverage on DockB. Generate the final report from the combined .coverage file
    #   run: |
    #     docker run --name wrapyfi_zeromq_ros --net host --rm -v ${GITHUB_WORKSPACE}/shared_directory:/tmp/shared_volume -w /tmp/shared_volume modularml/wrapyfi:0.4.32-zeromq-ros bash -c "\
    #       pip install coverage && \
    #       pip uninstall -y pyzmq && \
    #       coverage run -a --source=wrapyfi -m unittest discover -s wrapyfi; \
    #       coverage report --data-file=/tmp/shared_volume/.coverage && \
    #       coverage xml -o /tmp/shared_volume/coverage.xml --data-file=/tmp/shared_volume/.coverage"
    
    # Step 7: Modify codecov paths
    - name: Modify paths in coverage.xml
      run: |
        sed -i 's|.opt.conda.envs.zeromq_yarp_ros2.lib.python3.10.site-packages.wrapyfi|.|g' ${GITHUB_WORKSPACE}/shared_directory/coverage.xml
        sed -i 's|/opt/conda/envs/zeromq_yarp_ros2/lib/python3.10/site-packages/wrapyfi||g' ${GITHUB_WORKSPACE}/shared_directory/coverage.xml
        cat ${GITHUB_WORKSPACE}/shared_directory/coverage.xml # Optional: Print to verify

    
    # Step 8: Upload the coverage report (remains unchanged)
    - name: Upload coverage report to Codecov
      uses: codecov/codecov-action@v3
      with:
        file: ${{ github.workspace }}/shared_directory/coverage.xml
      env:
        CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}