ci.yml

# 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 <thomas@labforge.ca>
#
# 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
          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/release-downloader@v1.8
        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 
            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
            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
            colcon test-result
            cd ..
        - name: Evaluate test results
          if: failure()
          run: |
            cd driver
            cat build/bottlenose_camera_driver/Testing/Temporary/LastTest.log
            cd ..