run_book_tests.yml

name: Run all book tests (matrix, per chapter)

on: 
  # Automatically run this action when a new push is made to repo
  push:

  # Run tests every 6 months after prerelease comes out to check for regressions. 
  # Prerelease for "a" release is out by Jan 1. for "b" release by Jul 1
  schedule:
    - cron: "0 0 1 1,7 *"
      
  # Allows you to run this workflow manually from the Actions tab
  workflow_dispatch:

jobs:
  book-tests:
    name: Run ${{ matrix.chapter }} tests
    runs-on: ubuntu-latest
    
    strategy:
      fail-fast: false   # keep running other chapters if one fails
      matrix:
        include:
          - chapter: Chapter02
            test_folder: test/book/chapter02
            products: >
              Image_Processing_Toolbox
              MATLAB
              Navigation_Toolbox
              Symbolic_Math_Toolbox
            junit: test-results/Chapter02.xml
            cobertura: code-coverage/Chapter02.xml

          - chapter: Chapter03
            test_folder: test/book/chapter03
            products: >
              MATLAB
              Optimization_Toolbox
              Robotics_System_Toolbox
            junit: test-results/Chapter03.xml
            cobertura: code-coverage/Chapter03.xml

          - chapter: Chapter04
            test_folder: test/book/chapter04
            products: >
              MATLAB
              Simulink
              Robotics_System_Toolbox
              UAV_Toolbox
            junit: test-results/Chapter04.xml
            cobertura: code-coverage/Chapter04.xml   

          - chapter: Chapter05
            test_folder: test/book/chapter05
            products: >
              MATLAB
              Simulink
              Image_Processing_Toolbox
              Navigation_Toolbox
              Robotics_System_Toolbox
            junit: test-results/Chapter05.xml
            cobertura: code-coverage/Chapter05.xml
            
          - chapter: Chapter06
            test_folder: test/book/chapter06
            products: >
              MATLAB
              Computer_Vision_Toolbox
              Image_Processing_Toolbox
              Navigation_Toolbox
              Robotics_System_Toolbox
              Statistics_and_Machine_Learning_Toolbox
              Symbolic_Math_Toolbox
            junit: test-results/Chapter06.xml
            cobertura: code-coverage/Chapter06.xml   
            
          - chapter: Chapter07
            test_folder: test/book/chapter07
            products: >
              MATLAB
              Simulink
              Robotics_System_Toolbox
              Symbolic_Math_Toolbox
            junit: test-results/Chapter07.xml
            cobertura: code-coverage/Chapter07.xml   
            
          - chapter: Chapter08
            test_folder: test/book/chapter08
            products: >
              Automated_Driving_Toolbox
              Computer_Vision_Toolbox
              Control_System_Toolbox
              Deep_Learning_Toolbox
              Image_Processing_Toolbox
              MATLAB
              Model_Predictive_Control_Toolbox
              Navigation_Toolbox
              Optimization_Toolbox
              Parallel_Computing_Toolbox
              Simulink
              Robotics_System_Toolbox
              ROS_Toolbox
              Signal_Processing_Toolbox
              Statistics_and_Machine_Learning_Toolbox
              Symbolic_Math_Toolbox
              UAV_Toolbox
            junit: test-results/Chapter08.xml
            cobertura: code-coverage/Chapter08.xml   
            
          - chapter: Chapter09
            test_folder: test/book/chapter09
            products: >
              Automated_Driving_Toolbox
              Computer_Vision_Toolbox
              Control_System_Toolbox
              Deep_Learning_Toolbox
              Image_Processing_Toolbox
              MATLAB
              Model_Predictive_Control_Toolbox
              Navigation_Toolbox
              Optimization_Toolbox
              Parallel_Computing_Toolbox
              Simulink
              Robotics_System_Toolbox
              ROS_Toolbox
              Signal_Processing_Toolbox
              Statistics_and_Machine_Learning_Toolbox
              Symbolic_Math_Toolbox
              UAV_Toolbox
            junit: test-results/Chapter09.xml
            cobertura: code-coverage/Chapter09.xml   
            
          - chapter: Chapter10
            test_folder: test/book/chapter10
            products: >
              Automated_Driving_Toolbox
              Computer_Vision_Toolbox
              Control_System_Toolbox
              Deep_Learning_Toolbox
              Image_Processing_Toolbox
              MATLAB
              Model_Predictive_Control_Toolbox
              Navigation_Toolbox
              Optimization_Toolbox
              Parallel_Computing_Toolbox
              Simulink
              Robotics_System_Toolbox
              ROS_Toolbox
              Signal_Processing_Toolbox
              Statistics_and_Machine_Learning_Toolbox
              Symbolic_Math_Toolbox
              UAV_Toolbox
            junit: test-results/Chapter10.xml
            cobertura: code-coverage/Chapter10.xml   

          - chapter: Chapter11
            test_folder: test/book/chapter11
            products: >
              Automated_Driving_Toolbox
              Computer_Vision_Toolbox
              Control_System_Toolbox
              Deep_Learning_Toolbox
              Image_Processing_Toolbox
              MATLAB
              Model_Predictive_Control_Toolbox
              Navigation_Toolbox
              Optimization_Toolbox
              Parallel_Computing_Toolbox
              Simulink
              Robotics_System_Toolbox
              ROS_Toolbox
              Signal_Processing_Toolbox
              Statistics_and_Machine_Learning_Toolbox
              Symbolic_Math_Toolbox
              UAV_Toolbox
            junit: test-results/Chapter11.xml
            cobertura: code-coverage/Chapter11.xml               
            
          - chapter: Chapter12
            test_folder: test/book/chapter12
            products: >
              Automated_Driving_Toolbox
              Computer_Vision_Toolbox
              Control_System_Toolbox
              Deep_Learning_Toolbox
              Image_Processing_Toolbox
              MATLAB
              Model_Predictive_Control_Toolbox
              Navigation_Toolbox
              Optimization_Toolbox
              Parallel_Computing_Toolbox
              Simulink
              Robotics_System_Toolbox
              ROS_Toolbox
              Signal_Processing_Toolbox
              Statistics_and_Machine_Learning_Toolbox
              Symbolic_Math_Toolbox
              UAV_Toolbox
            junit: test-results/Chapter12.xml
            cobertura: code-coverage/Chapter12.xml   
            
          - chapter: Chapter13
            test_folder: test/book/chapter13
            products: >
              Automated_Driving_Toolbox
              Computer_Vision_Toolbox
              Control_System_Toolbox
              Deep_Learning_Toolbox
              Image_Processing_Toolbox
              MATLAB
              Model_Predictive_Control_Toolbox
              Navigation_Toolbox
              Optimization_Toolbox
              Parallel_Computing_Toolbox
              Simulink
              Robotics_System_Toolbox
              ROS_Toolbox
              Signal_Processing_Toolbox
              Statistics_and_Machine_Learning_Toolbox
              Symbolic_Math_Toolbox
              UAV_Toolbox
            junit: test-results/Chapter13.xml
            cobertura: code-coverage/Chapter13.xml   
          
          - chapter: Chapter14
            test_folder: test/book/chapter14
            products: >
              Automated_Driving_Toolbox
              Computer_Vision_Toolbox
              Control_System_Toolbox
              Deep_Learning_Toolbox
              Image_Processing_Toolbox
              MATLAB
              Model_Predictive_Control_Toolbox
              Navigation_Toolbox
              Optimization_Toolbox
              Parallel_Computing_Toolbox
              Simulink
              Robotics_System_Toolbox
              ROS_Toolbox
              Signal_Processing_Toolbox
              Statistics_and_Machine_Learning_Toolbox
              Symbolic_Math_Toolbox
              UAV_Toolbox
            junit: test-results/Chapter14.xml
            cobertura: code-coverage/Chapter14.xml   
            
          - chapter: Chapter15
            test_folder: test/book/chapter15
            products: >
              Automated_Driving_Toolbox
              Computer_Vision_Toolbox
              Control_System_Toolbox
              Deep_Learning_Toolbox
              Image_Processing_Toolbox
              MATLAB
              Model_Predictive_Control_Toolbox
              Navigation_Toolbox
              Optimization_Toolbox
              Parallel_Computing_Toolbox
              Simulink
              Robotics_System_Toolbox
              ROS_Toolbox
              Signal_Processing_Toolbox
              Statistics_and_Machine_Learning_Toolbox
              Symbolic_Math_Toolbox
              UAV_Toolbox
            junit: test-results/Chapter15.xml
            cobertura: code-coverage/Chapter15.xml   
            
          - chapter: Chapter16
            test_folder: test/book/chapter16
            products: >
              Automated_Driving_Toolbox
              Computer_Vision_Toolbox
              Control_System_Toolbox
              Deep_Learning_Toolbox
              Image_Processing_Toolbox
              MATLAB
              Model_Predictive_Control_Toolbox
              Navigation_Toolbox
              Optimization_Toolbox
              Parallel_Computing_Toolbox
              Simulink
              Robotics_System_Toolbox
              ROS_Toolbox
              Signal_Processing_Toolbox
              Statistics_and_Machine_Learning_Toolbox
              Symbolic_Math_Toolbox
              UAV_Toolbox
            junit: test-results/Chapter16.xml
            cobertura: code-coverage/Chapter16.xml   
            
          - chapter: ChapterAppendices
            test_folder: test/book/chapterAppendices
            products: >
              Automated_Driving_Toolbox
              Computer_Vision_Toolbox
              Control_System_Toolbox
              Deep_Learning_Toolbox
              Image_Processing_Toolbox
              MATLAB
              Model_Predictive_Control_Toolbox
              Navigation_Toolbox
              Optimization_Toolbox
              Parallel_Computing_Toolbox
              Simulink
              Robotics_System_Toolbox
              ROS_Toolbox
              Signal_Processing_Toolbox
              Statistics_and_Machine_Learning_Toolbox
              Symbolic_Math_Toolbox
              UAV_Toolbox
            junit: test-results/ChapterAppendices.xml
            cobertura: code-coverage/ChapterAppendices.xml   


            # Automated_Driving_Toolbox
            # Computer_Vision_Toolbox
            # Control_System_Toolbox
            # Deep_Learning_Toolbox
            # Image_Processing_Toolbox
            # MATLAB
            # Model_Predictive_Control_Toolbox
            # Navigation_Toolbox
            # Optimization_Toolbox
            # Parallel_Computing_Toolbox
            # Simulink
            # Robotics_System_Toolbox
            # ROS_Toolbox
            # Signal_Processing_Toolbox
            # Statistics_and_Machine_Learning_Toolbox
            # Symbolic_Math_Toolbox
            # UAV_Toolbox
          # ...one row per tChapterXX.m   
    
    
    steps:
      - name: Check out RVC3-MATLAB repository
        uses: actions/checkout@v4
      - run: echo "The ${{ github.repository }} repository has been cloned to the runner."          

      - name: Update apt package cache
        # Run apt-get update to get the latest package cache 
        run: |
          sudo apt-get update
          
      - name: Start display server
        # Start a display server so Java Swing is available for testing
        run: |
          sudo apt-get install xvfb
          Xvfb :99 &
          echo "DISPLAY=:99" >> $GITHUB_ENV

      - name: Install GStreamer and plugins for VideoReader
        run: |
          sudo apt-get install libgstreamer-plugins-bad1.0-0 gstreamer1.0-plugins-ugly
                    
      - name: Set up MATLAB
        # This uses the latest release of MATLAB. Can specify "release" if needed.
        # Use v2 for Java Swing access
        uses: matlab-actions/setup-matlab@v2
        with:
          # Define products for each chapter in strategy matrix above
          products: ${{ matrix.products }}

          # Run tests with prerelease as soon as available; switch to GR once it's live
          release: latest-including-prerelease

      - name: Print out ver details
        uses: matlab-actions/run-command@v1
        with:
          command: ver; exit;
        
      - name: Run MATLAB Tests for ${{ matrix.chapter }}
        uses: matlab-actions/run-tests@v2
        with:
          # Only tests for this chapter
          select-by-folder: ${{ matrix.test_folder }}
          
          # Per-chapter logs
          test-results-junit: ${{ matrix.junit }}
          code-coverage-cobertura: ${{ matrix.cobertura }}
          
          source-folder: toolbox; toolbox/internal; test/tools
          startup-options: -webfigures
          # Run tests in parallel. Requires Parallel_Computing_Toolbox in "products" list above
          use-parallel: false
          
      - name: Upload logs and coverage for ${{ matrix.chapter }}
        if: always()
        uses: actions/upload-artifact@v4
        with:
          name: book-${{ matrix.chapter }}
          path: |
            ${{ matrix.junit }}
            ${{ matrix.cobertura }}
            
  test-dashboard:
    name: Book test dashboard
    needs: book-tests
    runs-on: ubuntu-latest
    if: always()   # run even if some chapter jobs failed

    steps:
      - name: Download all test artifacts
        uses: actions/download-artifact@v4
        with:
          path: artifacts  # everything ends up under ./artifacts/

      - name: Summarize JUnit failures into run summary
        run: |
          python - << 'PY'
          import os
          import pathlib
          import xml.etree.ElementTree as ET

          artifacts_root = pathlib.Path("artifacts")

          chapters = {}  # chapter -> {"passed": bool, "failures": [..]}

          # Look for JUnit XML files inside any artifact
          for junit in artifacts_root.rglob("test-results/*.xml"):
              chapter = junit.stem  # e.g. "Chapter10"
              tree = ET.parse(junit)
              root = tree.getroot()

              failures = []

              # Handle both <testsuite> root and <testsuites> -> <testsuite>
              testsuites = []
              if root.tag == "testsuite":
                  testsuites = [root]
              else:
                  testsuites = list(root.iter("testsuite"))

              for ts in testsuites:
                  for case in ts.iter("testcase"):
                      case_name = case.get("name", "")
                      classname = case.get("classname", "")
                      for failure in case.findall("failure"):
                          msg = (failure.get("message") or "").strip()
                          text = (failure.text or "").strip()
                          detail = msg or text or "Test failed"
                          failures.append({
                              "classname": classname,
                              "name": case_name,
                              "detail": detail,
                          })

              chapters[chapter] = {
                  "passed": len(failures) == 0,
                  "failures": failures,
              }

          lines = []
          lines.append("# Book Test Dashboard\n")

          if not chapters:
              lines.append("_No JUnit result files found in artifacts. "
                           "Check that the matrix jobs ran and uploaded artifacts._")
          else:
              # Sort chapters like Chapter01, Chapter02, ...
              for chapter in sorted(chapters.keys()):
                  info = chapters[chapter]
                  if info["passed"]:
                      lines.append(f"- ✅ **{chapter}** – all tests passed")
                  else:
                      fails = info["failures"]
                      lines.append(f"- ❌ **{chapter}** – {len(fails)} failing test(s)")
                      for f in fails:
                          name = f["name"] or "<unnamed>"
                          cls = f["classname"] or "<no class>"
                          detail = f["detail"].replace("\n", " ")
                          # Keep detail short-ish
                          if len(detail) > 160:
                              detail = detail[:157] + "..."
                          lines.append(
                              f"  - `{cls}.{name}` – {detail}"
                          )

              lines.append("\n---\n")
              lines.append(
                  "🔎 For full logs and coverage for a chapter, open the "
                  "_Run ChapterXX tests_ job and download the "
                  "artifact named `book-ChapterXX`."
              )

          summary_path = os.environ.get("GITHUB_STEP_SUMMARY")
          if summary_path:
              with open(summary_path, "w", encoding="utf-8") as f:
                  f.write("\n".join(lines))
          else:
              print("\\n".join(lines))
          PY