simulation/modules/IsaacLab/source/isaaclab/test/install_ci/utils.py

# 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

"""Shared utilities for Isaac Lab installation CI tests."""

from __future__ import annotations

import os
import platform
import shlex
import shutil
import subprocess
import sys
import time
from pathlib import Path
from typing import Literal

_DIM = "\033[2m"
_MAGENTA = "\033[95m"
_RESET = "\033[0m"

# Controls whether run_cmd() streams output by default.
# Set to True by conftest.py when pytest runs with -s / --capture=no.
stream_output: bool = False

# ISAACLAB_INSTALL_CI_ENV can be set to override execution
# environment detection in install_ci tests
# (for testing the testing while testing).

ExecutionEnvironment = Literal["docker", "native"]


def detect_execution_environment(
    environ: dict[str, str] | None = None,
    filesystem_root: Path | None = None,
) -> ExecutionEnvironment:
    """Detect whether install_ci tests are running in Docker or natively."""
    env = environ if environ is not None else os.environ
    root = filesystem_root if filesystem_root is not None else Path("/")

    override = env.get("ISAACLAB_INSTALL_CI_ENV")
    if override:
        cleaned = override.strip().lower()
        if cleaned not in ("docker", "native"):
            raise ValueError(f"ISAACLAB_INSTALL_CI_ENV must be 'docker' or 'native', got: {override!r}")
        return cleaned  # type: ignore[return-value]

    if (root / ".dockerenv").exists() or (root / "run" / ".containerenv").exists():
        return "docker"

    for cgroup_path in (root / "proc" / "1" / "cgroup", root / "proc" / "self" / "cgroup"):
        try:
            cgroup_text = cgroup_path.read_text(encoding="utf-8", errors="ignore")
        except OSError:
            continue
        if any(
            hint in cgroup_text
            for hint in (
                "docker",
                "containerd",
                "kubepods",
                "libpod",
                "podman",
            )
        ):
            return "docker"

    if env.get("container"):
        return "docker"

    return "native"


def get_execution_environment_skip_reason(
    marker_names: set[str],
    execution_environment: ExecutionEnvironment,
) -> str | None:
    """Return a skip reason when environment markers do not match the runtime."""
    has_docker = "docker" in marker_names
    has_native = "native" in marker_names

    if has_docker and has_native:
        raise ValueError("tests cannot be marked with both 'docker' and 'native'")

    if has_docker and execution_environment != "docker":
        return f"requires Docker execution environment, detected {execution_environment}"

    if has_native and execution_environment != "native":
        return f"requires native execution environment, detected {execution_environment}"

    return None


def find_isaaclab_root() -> Path:
    """Walk up from this file to find the repo root (contains isaaclab.sh)."""
    here = Path(__file__).resolve()
    for parent in [here] + list(here.parents):
        if (parent / "isaaclab.sh").exists():
            return parent
    raise FileNotFoundError("Could not locate IsaacLab repository root (no isaaclab.sh found)")


def run_cmd(
    args: list[str],
    *,
    cwd: str | Path | None = None,
    env: dict[str, str] | None = None,
    timeout: int = 600,
    err_on_err: bool = False,
    stream: bool | None = None,
) -> subprocess.CompletedProcess:
    """Run a command, merging *env* into the current environment.

    Args:
        args: Command and arguments to run.
        cwd: Working directory for the subprocess.
        env: Extra environment variables merged into the current environment.
        timeout: Timeout in seconds.
        err_on_err: Raise CalledProcessError on non-zero exit.
        stream: When True, stream stdout/stderr to the console in
            real time instead of capturing them.  Defaults to True when
            pytest is invoked with ``-s`` (``--capture=no``).

    Returns:
        The CompletedProcess; raises CalledProcessError when *check* is
        True and return code != 0.
    """
    if stream is None:
        stream = stream_output
    merged_env = {**os.environ, **(env or {})}
    cmd_str = " ".join(str(a) for a in args)
    if stream:
        sys.stdout.write(f"{_MAGENTA}[COMMAND] {cmd_str}{_RESET}\n")
        sys.stdout.flush()
        # Stream output to console in real time.
        t0 = time.monotonic()
        proc = subprocess.Popen(
            [str(a) for a in args],
            cwd=str(cwd) if cwd else None,
            env=merged_env,
            stdout=subprocess.PIPE,
            stderr=subprocess.STDOUT,
            text=True,
        )
        assert proc.stdout is not None
        lines: list[str] = []
        try:
            for line in proc.stdout:
                lines.append(line)
                sys.stdout.write(f"{_DIM}{line}{_RESET}")
                sys.stdout.flush()
        except Exception:
            proc.kill()
            raise
        try:
            proc.wait(timeout=timeout)
        except subprocess.TimeoutExpired:
            proc.kill()
            proc.wait()
            raise
        elapsed = time.monotonic() - t0
        sys.stdout.write(f"{_MAGENTA}[{elapsed:.1f}s]{_RESET}\n")
        sys.stdout.flush()
        result = subprocess.CompletedProcess(
            args=proc.args,
            returncode=proc.returncode,
            stdout="".join(lines),
            stderr="",
        )
        if err_on_err and result.returncode != 0:
            raise subprocess.CalledProcessError(result.returncode, result.args, result.stdout, result.stderr)
        return result
    return subprocess.run(
        [str(a) for a in args],
        cwd=str(cwd) if cwd else None,
        env=merged_env,
        capture_output=True,
        text=True,
        timeout=timeout,
        check=err_on_err,
    )


_IS_WINDOWS = platform.system() == "Windows"


class UV_Mixin:
    """Mixin providing uv virtual-environment helpers for test classes."""

    env_path: Path
    python: Path
    cli_script: Path

    def create_uv_env(self, isaaclab_root: Path, env_name: str = "") -> None:
        """Create a uv environment and store info on self.

        Sets ``self.env_path``, ``self.python``, and ``self.cli_script``.

        Args:
            isaaclab_root: Path to the IsaacLab repository root.
            env_name: Name for the venv directory. A random name is
                generated when empty.
        """
        env_name = env_name if env_name else f"_isaaclab_install_ci_{os.urandom(4).hex()}"

        self.env_path = isaaclab_root / env_name
        self.cli_script = isaaclab_root / ("isaaclab.bat" if _IS_WINDOWS else "isaaclab.sh")

        if self.env_path.exists():
            shutil.rmtree(self.env_path)

        result = run_cmd([str(self.cli_script), "-u", env_name], cwd=isaaclab_root, err_on_err=False)
        assert result.returncode == 0, f"uv env creation failed:\n{result.stdout}\n{result.stderr}"
        assert self.env_path.exists(), f"Expected env directory {self.env_path} was not created"

        # Prevent the venv from being tracked by git.
        (self.env_path / ".gitignore").write_text("*\n")

        self.python = (self.env_path / "Scripts" / "python.exe") if _IS_WINDOWS else (self.env_path / "bin" / "python")
        assert self.python.exists(), f"Python executable not found at {self.python}"

    def destroy_uv_env(self) -> None:
        """Remove the uv environment directory if it exists."""
        if hasattr(self, "env_path") and self.env_path.exists():
            shutil.rmtree(self.env_path)

    def run_in_uv_env(self, cmd: list[str], **kwargs) -> subprocess.CompletedProcess:
        """Run a command inside the activated venv by sourcing the activate script.

        Args:
            cmd: Command and arguments to run inside the venv.
            **kwargs: Extra keyword arguments forwarded to :func:`run_cmd`.
        """
        escaped = " ".join(shlex.quote(str(a)) for a in cmd)
        if _IS_WINDOWS:
            activate = str(self.env_path / "Scripts" / "activate.bat")
            shell_cmd = f'call "{activate}" && {escaped}'
            return run_cmd(["cmd", "/c", shell_cmd], **kwargs)
        else:
            activate = shlex.quote(str(self.env_path / "bin" / "activate"))
            shell_cmd = f"source {activate} && {escaped}"
            return run_cmd(["bash", "-c", shell_cmd], **kwargs)


def drop_keys(env: dict[str, str], keys: tuple[str, ...]) -> dict[str, str]:
    """Return a copy of *env* with the given keys removed.

    Useful for stripping venv/conda activation markers from the environment
    before creating a fresh isolated environment inside a test.

    Args:
        env: Source environment dictionary (e.g. ``os.environ``).
        keys: Variable names to exclude from the returned copy.
    """
    return {k: v for k, v in env.items() if k not in keys}


class Conda_Mixin:
    """Mixin providing conda virtual-environment helpers for test classes.

    Pair with :class:`UVMixin` or use standalone for conda-only tests.
    Requires ``conda`` (or ``mamba``) to be on ``PATH``.

    Usage::

        class TestFoo(Conda_Mixin, unittest.TestCase):
            def setUp(self):
                self.create_conda_env(find_isaaclab_root())

            def tearDown(self):
                self.destroy_conda_env()
    """

    @property
    def cli_script(self) -> Path:
        """Path to ``isaaclab.sh`` (or ``.bat``) inside the repository root."""
        root: Path = self._isaaclab_root  # type: ignore[attr-defined]
        return root / ("isaaclab.bat" if _IS_WINDOWS else "isaaclab.sh")

    def create_conda_env(self, isaaclab_root: Path, env_name: str = "", python_version: str = "3.12") -> None:
        """Create an isolated conda environment.

        Args:
            isaaclab_root: Path to the IsaacLab repository root.
            env_name: Name for the conda environment. A unique name based on the
                test id is generated automatically when left empty.
            python_version: Python version to install in the environment.
        """
        if not env_name:
            import uuid

            env_name = f"isaaclab_ci_{uuid.uuid4().hex[:8]}"
        self._conda_env_name = env_name
        self._isaaclab_root = isaaclab_root

        result = run_cmd(
            ["conda", "create", "-n", env_name, f"python={python_version}", "-y", "--quiet"],
            env=drop_keys(dict(os.environ), ("VIRTUAL_ENV", "CONDA_DEFAULT_ENV", "CONDA_PREFIX")),
        )
        assert result.returncode == 0, f"conda env creation failed:\n{result.stdout}\n{result.stderr}"

        # Resolve the python executable inside the new conda env.
        conda_prefix_result = run_cmd(
            ["conda", "run", "-n", env_name, "python", "-c", "import sys; print(sys.executable)"],
            env=drop_keys(dict(os.environ), ("VIRTUAL_ENV", "CONDA_DEFAULT_ENV", "CONDA_PREFIX")),
        )
        assert conda_prefix_result.returncode == 0, (
            f"Could not resolve conda python:\n{conda_prefix_result.stdout}\n{conda_prefix_result.stderr}"
        )
        self.python = Path(conda_prefix_result.stdout.strip())

    def destroy_conda_env(self) -> None:
        """Remove the conda environment created by :meth:`create_conda_env`."""
        if hasattr(self, "_conda_env_name"):
            run_cmd(["conda", "env", "remove", "-n", self._conda_env_name, "-y", "--quiet"])

    def run_in_conda_env(self, cmd: list[str], **kwargs) -> subprocess.CompletedProcess:
        """Run *cmd* inside the conda environment.

        Args:
            cmd: Command and arguments to execute.
            **kwargs: Extra keyword arguments forwarded to :func:`run_cmd`.
        """
        escaped = " ".join(shlex.quote(str(a)) for a in cmd)
        shell_cmd = f"conda run -n {shlex.quote(self._conda_env_name)} --no-capture-output {escaped}"
        return run_cmd(["bash", "-c", shell_cmd], **kwargs)