name: CI

on:
  workflow_dispatch:
  push:
    branches: [main, "phase-*"]
  pull_request:
    branches: [main]

jobs:
  test:
    runs-on: ubuntu-latest
    permissions:
      contents: read
      actions: read
    strategy:
      matrix:
        python-version: ["3.10", "3.11"]

    steps:
      - uses: actions/checkout@v4

      - name: Set up Python ${{ matrix.python-version }}
        uses: actions/setup-python@v5
        with:
          python-version: ${{ matrix.python-version }}

      - name: Install dependencies
        run: |
          python -m pip install --upgrade pip setuptools
          pip install numpy scipy pytest pytest-cov ruff
          pip install torch torchvision --index-url https://download.pytorch.org/whl/cpu
          pip install scikit-learn scikit-optimize joblib opencv-python
          pip install -e . --no-deps

      - name: Lint with ruff
        run: ruff check qdot/ tests/
        continue-on-error: true  # don't block on style during active dev

      # ------------------------------------------------------------------
      # Phase 0 tests (types, state, governance, HITL)
      # ------------------------------------------------------------------
      - name: Run Phase 0 tests
        run: pytest tests/test_types.py tests/test_state.py -v --tb=short

      # ------------------------------------------------------------------
      # Phase 0 safety fuzz (zero violations — hard requirement)
      # ------------------------------------------------------------------
      - name: Safety fuzz test (required — zero violations)
        run: pytest tests/test_safety.py::TestFuzz -v

      # ------------------------------------------------------------------
      # Phase 0 simulator tests
      # ------------------------------------------------------------------
      - name: Run simulator tests
        run: pytest tests/test_simulator.py -v --tb=short

      # ------------------------------------------------------------------
      # Phase 1 perception tests
      # ------------------------------------------------------------------
      - name: Run Phase 1 perception tests
        run: pytest tests/test_perception.py -v --tb=short

      # ------------------------------------------------------------------
      # Phase 1 training smoke test (must pass — not continue-on-error)
      # ------------------------------------------------------------------
      #- name: Phase 1 fast training check (smoke test)
        #run: |
          #python experiments/train_phase1.py --fast --out /tmp/phase1_ci_check
        #timeout-minutes: 15
        #continue-on-error: false

      - name: Phase 1 data generation check (smoke test)
        run: |
          python - <<'PYEOF'
          from qdot.perception.dataset import CIMDataset, DatasetConfig
          cfg = DatasetConfig(n_per_class=50, seed=42, augment=False)
          ds = CIMDataset(cfg)
          X, y = ds.generate()
          assert X.shape == (150, 1, 64, 64), f"Unexpected shape: {X.shape}"
          assert len(set(y.tolist())) == 3, "Missing classes"
          print(f"Data generation OK: {X.shape}, classes={set(y.tolist())}")
          PYEOF
        timeout-minutes: 2

      # ------------------------------------------------------------------
      # Phase 2 planning tests (belief, sensing, BO, state machine)
      # ------------------------------------------------------------------
      - name: Run Phase 2 planning tests
        run: pytest tests/test_planning.py -v --tb=short

      # ------------------------------------------------------------------
      # Phase 2 agent tests (translator, executive — no HITL blocking)
      # ------------------------------------------------------------------
      - name: Run Phase 2 agent tests
        run: pytest tests/test_agent.py -v --tb=short

      # ------------------------------------------------------------------
      # Phase 0/1/2 integration test (full pipeline smoke test)
      # ------------------------------------------------------------------
      - name: Run Phase 0/1/2 integration test
        run: pytest tests/test_integration_phase012.py -v --tb=short

      # ------------------------------------------------------------------
      # Phase 2 full test suite with coverage
      # ------------------------------------------------------------------
      - name: Full test suite with coverage
        run: |
          pytest tests/ -v --tb=short \
            --cov=qdot \
            --cov-report=term-missing \
            --cov-fail-under=70
        continue-on-error: true   # coverage target is aspirational during active dev

      # ------------------------------------------------------------------
      # Phase 2 benchmark (full mode)
      # Downloads trained Phase 1 checkpoint from train.yml artifact.
      # Falls back to stub mode gracefully if artifact is unavailable.
      # Only runs on main branch pushes (3.11 matrix only).
      # ------------------------------------------------------------------
      - name: Download Phase 1 checkpoint (cross-workflow)
        id: checkpoint
        if: github.ref == 'refs/heads/main' && matrix.python-version == '3.11'
        uses: dawidd6/action-download-artifact@v6
        with:
          workflow: train.yml
          name: phase1-checkpoint-latest
          path: experiments/checkpoints/phase1/
          if_no_artifact_found: ignore
        continue-on-error: true

      - name: Report checkpoint status
        if: github.ref == 'refs/heads/main' && matrix.python-version == '3.11'
        continue-on-error: true
        run: |
          if [ -f "experiments/checkpoints/phase1/model_0.pt" ]; then
            echo "Trained checkpoint loaded — benchmark will use real classifier"
            echo "CHECKPOINT_READY=1" >> "$GITHUB_ENV"
          else
            echo "No checkpoint found — benchmark running in stub mode (smoke test only)"
            echo "CHECKPOINT_READY=0" >> "$GITHUB_ENV"
          fi

      - name: Phase 2 benchmark (full mode)
        if: github.ref == 'refs/heads/main' && matrix.python-version == '3.11'
        run: |
          if [ "${CHECKPOINT_READY:-0}" = "1" ]; then
            python experiments/benchmark_phase2.py \
              --budget 8192 \
              --n-trials 50 \
              --max-steps 100 \
              --out /tmp/phase2_benchmark
          else
            python experiments/benchmark_phase2.py \
              --budget 8192 \
              --n-trials 50 \
              --max-steps 100 \
              --skip-missing-checkpoints \
              --out /tmp/phase2_benchmark
          fi
        timeout-minutes: 200
        continue-on-error: true   # benchmark is informational until fully integrated

      - name: Upload Phase 2 benchmark results
        if: always() && github.ref == 'refs/heads/main' && matrix.python-version == '3.11'
        uses: actions/upload-artifact@v4
        with:
          name: phase2-benchmark-results
          path: /tmp/phase2_benchmark/
          retention-days: 7