SE-2737 (#23) #176
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| # Basic continous integration for sdk-samples | |
| # Copyright 2023 Labforge Inc. | |
| # | |
| # Licensed under the Apache License, Version 2.0 (the "License"); | |
| # you may not use this file except in compliance with the License. | |
| # You may obtain a copy of the License at | |
| # | |
| # http://www.apache.org/licenses/LICENSE-2.0 | |
| # | |
| # Unless required by applicable law or agreed to in writing, software | |
| # distributed under the License is distributed on an "AS IS" BASIS, | |
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | |
| # See the License for the specific language governing permissions and | |
| # limitations under the License. | |
| # | |
| # @author Thomas Reidemeister <[email protected]> | |
| # | |
| # To setup a self-hosted runner to test this on Linux | |
| # (1) Setup a Windows 10 machine with autologin | |
| # (2) Register a Github actions runner on that machine, run from startup (not as headless service runner) | |
| # (3) Install eBus SDK, and ros humble | |
| name: ContinousIntegration | |
| on: | |
| push: | |
| branches: [ ] | |
| tags: | |
| - 'v*' | |
| workflow_dispatch: | |
| jobs: | |
| build_hil: | |
| runs-on: HIL | |
| steps: | |
| - name: Check out samples | |
| uses: actions/checkout@v3 | |
| with: | |
| lfs: true | |
| submodules: true | |
| path: driver | |
| - name: Create environment script | |
| run: | | |
| source /opt/ros/humble/setup.sh | |
| rosdep update | |
| # If this fails, install the missing dependencies manually | |
| rosdep install -i --from-path . --rosdistro humble -y | |
| - name: Build driver | |
| run: | | |
| source /opt/ros/humble/setup.sh | |
| export _colcon_cd_root=$(pwd) | |
| colcon build --symlink-install | |
| source install/local_setup.sh | |
| cd driver | |
| colcon build --symlink-install | |
| cd .. | |
| source install/local_setup.sh | |
| - name: Test ROS tests | |
| run: | | |
| source /opt/ros/humble/setup.sh | |
| export _colcon_cd_root=$(pwd) | |
| source install/local_setup.sh | |
| source /opt/pleora/ebus_sdk/Ubuntu-22.04-x86_64/bin/set_puregev_env.sh | |
| cd driver | |
| colcon test --event-handlers console_direct+ | |
| colcon test-result | |
| cd .. | |
| - name: Evaluate test results | |
| if: failure() | |
| run: | | |
| cd driver | |
| cat build/bottlenose_camera_driver/Testing/Temporary/LastTest.log | |
| cd .. | |
| - name: Check out CI helpers | |
| uses: actions/checkout@v3 | |
| with: | |
| repository: labforge/ContinousIntegration | |
| token: ${{ secrets.CITOKEN }} | |
| path: .github/workflows/ci | |
| - name: Lock HIL | |
| uses: ./.github/workflows/ci/lock | |
| with: | |
| state: 'lock' | |
| - name: Power off CI | |
| uses: ./.github/workflows/ci/power | |
| with: | |
| state: 'off' | |
| - name: Checkout sdk utilities for ftp-based updater | |
| uses: actions/checkout@v3 | |
| with: | |
| lfs: true | |
| repository: labforge/sdk-demos | |
| token: ${{ secrets.CITOKEN }} | |
| path: ./demos | |
| - name: "Download latest firmware" | |
| uses: robinraju/[email protected] | |
| with: | |
| repository: "labforge/bottlenose" | |
| latest: true | |
| fileName: "firmware-bottlenose*.tar" | |
| tarBall: false | |
| zipBall: false | |
| out-file-path: "firmware" | |
| - name: Power on mono CI | |
| uses: ./.github/workflows/ci/power | |
| with: | |
| state: 'on' | |
| channel: 1 | |
| - name: Find Bottlenose sensor | |
| uses: ./.github/workflows/ci/find | |
| - name: Install utility requirements for updater and flash firware to mono | |
| run: | | |
| cd ./demos/utility/ | |
| rm -rf venv || true | |
| python3 -m venv venv | |
| source venv/bin/activate | |
| pip install -r requirements.txt | |
| source /opt/pleora/ebus_sdk/Ubuntu-22.04-x86_64/bin/set_puregev_env.sh | |
| python uploader.py -t firmware -i "$(</tmp/bottlenose.ip)" -f ./../../firmware/firmware-bottlenose*.tar | |
| - name: Power off CI for testing | |
| uses: ./.github/workflows/ci/power | |
| with: | |
| state: 'off' | |
| - name: Settle for power off | |
| run: | | |
| sleep 1 | |
| - name: Power on CI for testing | |
| uses: ./.github/workflows/ci/power | |
| with: | |
| state: 'on' | |
| channel: 1 | |
| - name: Find Bottlenose sensor | |
| uses: ./.github/workflows/ci/find | |
| - name: Run integration tests | |
| run: | | |
| export BOTTLENOSE=$(cat /tmp/bottlenose.ip) | |
| echo "Bottlenose IP:" ${BOTTLENOSE} | |
| source /opt/ros/humble/setup.sh | |
| source /opt/pleora/ebus_sdk/Ubuntu-22.04-x86_64/bin/set_puregev_env.sh | |
| source install/local_setup.sh | |
| cd driver | |
| ./build/bottlenose_camera_driver/test_integration | |
| cd .. | |
| - name: Power off CI | |
| uses: ./.github/workflows/ci/power | |
| if: always() | |
| with: | |
| state: 'off' | |
| - name: Unlock HIL | |
| uses: ./.github/workflows/ci/lock | |
| if: always() | |
| with: | |
| state: 'unlock' | |
| - name: Clear artifact cache | |
| if: always() | |
| run: | | |
| rm -rf firmware || true | |
| rm -rf demos || true | |
| build_foxy: | |
| runs-on: ubuntu-20.04 | |
| steps: | |
| - name: Install OS dependencies | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install -y build-essential libopencv-dev locales \ | |
| software-properties-common curl libcurl4-openssl-dev python3-venv python3-pip | |
| sudo locale-gen en_US en_US.UTF-8 | |
| sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 | |
| export LANG=en_US.UTF-8 | |
| sudo add-apt-repository universe | |
| sudo apt update | |
| sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg | |
| echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null | |
| sudo apt update | |
| sudo apt install -y ros-foxy-ros-base ros-dev-tools python3-rosdep | |
| sudo rosdep init | |
| source /opt/ros/foxy/setup.bash | |
| sudo rosdep update --include-eol-distros | |
| - name: Check out Pleora SDK backing | |
| uses: actions/checkout@v3 | |
| with: | |
| repository: labforge/pleora_backing | |
| lfs: true | |
| token: ${{ secrets.CITOKEN }} | |
| submodules: true | |
| path: pleora | |
| - name: Install Pleora 20.04 SDK | |
| run: | | |
| sudo dpkg -i pleora/eBUS_SDK_Ubuntu-20.04-x86_64-6.3.0-6343.deb | |
| sudo apt-get install -f -y | |
| - name: Check out driver | |
| uses: actions/checkout@v3 | |
| with: | |
| lfs: true | |
| submodules: true | |
| path: driver | |
| - name: Build ros2 driver for foxy | |
| run: | | |
| cd driver | |
| pip install -r test_requirements.txt | |
| source /opt/ros/foxy/setup.sh | |
| rosdep update --include-eol-distros | |
| rosdep install -i --from-path . --rosdistro foxy -y | |
| export _colcon_cd_root=$(pwd) | |
| colcon build --symlink-install | |
| source install/local_setup.sh | |
| cd .. | |
| - name: Test driver | |
| run: | | |
| cd driver | |
| source /opt/ros/foxy/setup.sh | |
| export _colcon_cd_root=$(pwd) | |
| source install/local_setup.sh | |
| source /opt/pleora/ebus_sdk/Ubuntu-20.04-x86_64/bin/set_puregev_env.sh | |
| colcon test --event-handlers console_direct+ --packages-select bottlenose_camera_driver --ctest-args -R cpplint_test --rerun-failed --output-on-failure | |
| colcon test-result | |
| cd .. | |
| - name: Evaluate test results | |
| if: failure() | |
| run: | | |
| cd driver | |
| cat build/bottlenose_camera_driver/Testing/Temporary/LastTest.log | |
| cd .. |