291 add renode test #262
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| name: Build and Test | |
| on: | |
| push: | |
| branches: | |
| - 'main' | |
| pull_request: | |
| branches: | |
| - 'main/*' | |
| - 'main' | |
| workflow_dispatch: | |
| env: | |
| ROS_WORKSPACE_PATH: colcon_ws/src | |
| jobs: | |
| get_ros_distros: | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: Install dependencies | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get -y install curl jq | |
| - name: Get active distributions | |
| run: | | |
| wget https://raw.githubusercontent.com/flynneva/active_ros_distros/0.1.0/main.py -O active_ros_distros.py | |
| python3 -m pip install rosdistro | |
| python3 active_ros_distros.py --distribution-type ros2 | |
| - name: Generate actions matrix | |
| id: set-matrix | |
| run: | | |
| ACTIVE_ROS_DISTROS=() | |
| DOCKER_DISTRO_MATRIX=() | |
| RAW_DOCKER_JSON=$(curl -s "https://hub.docker.com/v2/repositories/rostooling/setup-ros-docker/tags?page_size=1000") | |
| while read distro; do | |
| ACTIVE_ROS_DISTROS+=( $distro ) | |
| done < "/tmp/active_ros_distros.txt" | |
| DISTRO_STR="[" | |
| MATRIX_STR="[" | |
| for distro in ${ACTIVE_ROS_DISTROS[@]}; do | |
| docker_image=$(echo $RAW_DOCKER_JSON | | |
| jq -r --arg DISTRO "$distro" '.results[] | select(.tag_status=="active") | select(.name | contains("ros-base-latest")) | select(.name | contains($DISTRO)) | .name' | | |
| sort -u) | |
| # Handle the case if two docker images were declared for one distro | |
| # e.g. rolling moving from one Ubuntu Jammy to Ubuntu Noble | |
| docker_image_arr=($docker_image) | |
| DISTRO_STR+="\"${distro}\", " | |
| MATRIX_STR+="{docker_image:\"${docker_image_arr[-1]}\",ros_distro:\"${distro}\"}, " | |
| done | |
| # Remove trailing , at end | |
| DISTRO_STR=${DISTRO_STR%??} | |
| MATRIX_STR=${MATRIX_STR%??} | |
| # Close up brackets | |
| DISTRO_STR+="]" | |
| MATRIX_STR+="]" | |
| echo "DISTRO_STR: ${DISTRO_STR}" | |
| echo "MATRIX_STR: ${MATRIX_STR}" | |
| echo "series=$DISTRO_STR" >> $GITHUB_OUTPUT | |
| echo "matrix=$MATRIX_STR" >> $GITHUB_OUTPUT | |
| outputs: | |
| series: ${{ steps.set-matrix.outputs.series }} | |
| matrix: ${{ steps.set-matrix.outputs.matrix }} | |
| build_and_test: | |
| runs-on: [ubuntu-latest] | |
| needs: get_ros_distros | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| ros_distro: ${{ fromJson(needs.get_ros_distros.outputs.series) }} | |
| include: | |
| ${{ fromJson(needs.get_ros_distros.outputs.matrix) }} | |
| container: | |
| image: rostooling/setup-ros-docker:${{ matrix.docker_image }} | |
| steps: | |
| - name: Setup Directories | |
| run: mkdir -p $ROS_WORKSPACE_PATH | |
| - name: checkout | |
| uses: actions/checkout@v4 | |
| with: | |
| path: $ROS_WORKSPACE_PATH/usb_cam | |
| - name: build | |
| shell: bash | |
| run: | | |
| source /opt/ros/${{ matrix.ros_distro }}/setup.bash | |
| cd $ROS_WORKSPACE_PATH | |
| colcon build --packages-select usb_cam | |
| - name: unit tests | |
| shell: bash | |
| run: | | |
| source /opt/ros/${{ matrix.ros_distro }}/setup.bash | |
| cd $ROS_WORKSPACE_PATH | |
| colcon test --packages-select usb_cam | |
| # Compile again, this time enabling integration tests | |
| - name: Build integration tests | |
| shell: bash | |
| run: | | |
| source /opt/ros/${{ matrix.ros_distro }}/setup.bash | |
| cd $ROS_WORKSPACE_PATH | |
| colcon build --packages-select usb_cam --cmake-args -DSANITIZE=1 -DINTEGRATION_TESTS=1 | |
| - name: Run integration tests | |
| uses: antmicro/renode-linux-runner-action@v1 | |
| with: | |
| shared-dirs: | | |
| $ROS_WORKSPACE_PATH/build/usb_cam | |
| renode-run: ./test_usb_cam_lib | |
| devices: vivid | |
| - uses: actions/upload-artifact@v4 | |
| with: | |
| name: colcon-logs-${{ matrix.ros_distro }} | |
| path: ${{ steps.build_and_test_step.outputs.ros-workspace-directory-name }}/log | |
| if: always() | |
| continue-on-error: true | |
| - uses: actions/upload-artifact@v4 | |
| with: | |
| name: lcov-logs-${{ matrix.ros_distro }} | |
| path: ${{ steps.build_and_test_step.outputs.ros-workspace-directory-name }}/lcov | |
| if: always() | |
| continue-on-error: true |