name: CI

on:
  push:
    branches: [ main, develop ]
  pull_request:
    branches: [ main, develop ]

env:
  PYTHON_VERSION: '3.9'
  CXX_STANDARD: '17'

jobs:
  lint:
    name: Lint
    runs-on: ubuntu-latest
    steps:
      - name: Checkout code
        uses: actions/checkout@v4

      - name: Set up Python
        uses: actions/setup-python@v4
        with:
          python-version: ${{ env.PYTHON_VERSION }}

      - name: Install Python dependencies
        run: |
          python -m pip install --upgrade pip
          pip install flake8 black isort mypy pylint
          pip install -r requirements.txt

      - name: Lint Python code
        run: |
          flake8 src/ --count --select=E9,F63,F7,F82 --show-source --statistics
          black --check src/
          isort --check-only src/
          mypy src/ --ignore-missing-imports

  test-python:
    name: Test Python
    runs-on: ubuntu-latest
    strategy:
      matrix:
        python-version: [3.8, 3.9, 3.10, 3.11]
    steps:
      - name: Checkout code
        uses: actions/checkout@v4

      - name: Set up Python ${{ matrix.python-version }}
        uses: actions/setup-python@v4
        with:
          python-version: ${{ matrix.python-version }}

      - name: Install dependencies
        run: |
          python -m pip install --upgrade pip
          pip install -r requirements.txt
          pip install pytest pytest-cov pytest-mock

      - name: Run Python tests
        run: |
          pytest src/ --cov=src --cov-report=xml --cov-report=html

      - name: Upload coverage to Codecov
        uses: codecov/codecov-action@v3
        with:
          file: ./coverage.xml
          flags: python-${{ matrix.python-version }}

  test-cpp:
    name: Test C++
    runs-on: ubuntu-latest
    steps:
      - name: Checkout code
        uses: actions/checkout@v4

      - name: Install dependencies
        run: |
          sudo apt-get update
          sudo apt-get install -y build-essential cmake libopencv-dev libeigen3-dev

      - name: Build C++ code
        run: |
          mkdir build
          cd build
          cmake ..
          make -j$(nproc)

      - name: Run C++ tests
        run: |
          cd build
          ctest --output-on-failure

  build:
    name: Build
    runs-on: ubuntu-latest
    needs: [lint, test-python, test-cpp]
    steps:
      - name: Checkout code
        uses: actions/checkout@v4

      - name: Set up Python
        uses: actions/setup-python@v4
        with:
          python-version: ${{ env.PYTHON_VERSION }}

      - name: Install dependencies
        run: |
          python -m pip install --upgrade pip
          pip install -r requirements.txt
          sudo apt-get update
          sudo apt-get install -y build-essential cmake libopencv-dev libeigen3-dev

      - name: Build project
        run: |
          chmod +x tools/build.sh
          ./tools/build.sh

      - name: Upload build artifacts
        uses: actions/upload-artifact@v3
        with:
          name: build-artifacts
          path: build/

  security:
    name: Security Scan
    runs-on: ubuntu-latest
    steps:
      - name: Checkout code
        uses: actions/checkout@v4

      - name: Run Bandit security scan
        run: |
          pip install bandit
          bandit -r src/ -f json -o bandit-report.json

      - name: Upload security scan results
        uses: actions/upload-artifact@v3
        with:
          name: security-scan
          path: bandit-report.json

  documentation:
    name: Build Documentation
    runs-on: ubuntu-latest
    steps:
      - name: Checkout code
        uses: actions/checkout@v4

      - name: Set up Python
        uses: actions/setup-python@v4
        with:
          python-version: ${{ env.PYTHON_VERSION }}

      - name: Install documentation dependencies
        run: |
          pip install sphinx sphinx-rtd-theme myst-parser

      - name: Build documentation
        run: |
          cd docs
          make html

      - name: Upload documentation
        uses: actions/upload-artifact@v3
        with:
          name: documentation
          path: docs/_build/html/