selfpatch_demos/.github/workflows/ci.yml at main · selfpatch/selfpatch_demos · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
name: CI

on:
  pull_request:
    branches: [main]
  push:
    branches: [main]
  repository_dispatch:
    types: [ros2_medkit_updated]

permissions:
  contents: read

jobs:
  lint:
    runs-on: ubuntu-24.04
    steps:
      - name: Checkout repository
        uses: actions/checkout@v4

      - name: Check for trailing whitespace
        run: |
          ! git grep -I --line-number --perl-regexp '\s+$' -- \
            '*.md' '*.py' '*.yaml' '*.yml' || \
          (echo "Found trailing whitespace in the files above" && exit 1)

      - name: Check shell scripts with shellcheck
        run: |
          sudo apt-get update && sudo apt-get install -y shellcheck
          find . \( -name "*.sh" -o -name "*.bash" \) -type f | xargs shellcheck

      - name: Validate YAML files
        run: |
          sudo apt-get update && sudo apt-get install -y yamllint
          YAMLLINT_CONFIG="{extends: relaxed, rules: {line-length: {max: 120}}}"
          find . \( -name "*.yaml" -o -name "*.yml" \) -type f | xargs yamllint -d "$YAMLLINT_CONFIG"

  build-and-test-sensor:
    runs-on: ubuntu-24.04
    steps:
      - name: Show triggering source
        if: github.event_name == 'repository_dispatch'
        run: |
          SHA="${{ github.event.client_payload.sha }}"
          RUN_URL="${{ github.event.client_payload.run_url }}"
          echo "## Triggered by ros2_medkit" >> "$GITHUB_STEP_SUMMARY"
          echo "- Commit: \`${SHA:-unknown}\`" >> "$GITHUB_STEP_SUMMARY"
          if [ -n "$RUN_URL" ]; then
            echo "- Run: [View triggering run]($RUN_URL)" >> "$GITHUB_STEP_SUMMARY"
          else
            echo "- Run: (URL not provided)" >> "$GITHUB_STEP_SUMMARY"
          fi

      - name: Checkout repository
        uses: actions/checkout@v4

      - name: Build and start sensor_diagnostics demo
        working-directory: demos/sensor_diagnostics
        run: docker compose --profile ci up -d --build sensor-demo-ci

      - name: Run smoke tests
        run: ./tests/smoke_test.sh

      - name: Show container logs on failure
        if: failure()
        working-directory: demos/sensor_diagnostics
        run: docker compose --profile ci logs sensor-demo-ci --tail=200

      - name: Teardown
        if: always()
        working-directory: demos/sensor_diagnostics
        run: docker compose --profile ci down

  build-and-test-turtlebot:
    runs-on: ubuntu-24.04
    steps:
      - name: Checkout repository
        uses: actions/checkout@v4

      - name: Build and start turtlebot3 demo
        working-directory: demos/turtlebot3_integration
        run: docker compose --profile ci up -d --build turtlebot3-demo-ci

      - name: Run smoke tests
        run: ./tests/smoke_test_turtlebot3.sh

      - name: Show container logs on failure
        if: failure()
        working-directory: demos/turtlebot3_integration
        run: docker compose --profile ci logs turtlebot3-demo-ci --tail=200

      - name: Teardown
        if: always()
        working-directory: demos/turtlebot3_integration
        run: docker compose --profile ci down

  build-and-test-moveit:
    runs-on: ubuntu-24.04
    steps:
      - name: Checkout repository
        uses: actions/checkout@v4

      - name: Build and start moveit demo
        working-directory: demos/moveit_pick_place
        run: docker compose --profile ci up -d --build moveit-demo-ci

      - name: Run smoke tests
        run: ./tests/smoke_test_moveit.sh

      - name: Show container logs on failure
        if: failure()
        working-directory: demos/moveit_pick_place
        run: docker compose --profile ci logs moveit-demo-ci --tail=200

      - name: Teardown
        if: always()
        working-directory: demos/moveit_pick_place
        run: docker compose --profile ci down

  build-and-test-multi-ecu:
    needs: lint
    runs-on: ubuntu-24.04
    steps:
      - name: Show triggering source
        if: github.event_name == 'repository_dispatch'
        run: |
          SHA="${{ github.event.client_payload.sha }}"
          RUN_URL="${{ github.event.client_payload.run_url }}"
          echo "## Triggered by ros2_medkit" >> "$GITHUB_STEP_SUMMARY"
          echo "- Commit: \`${SHA:-unknown}\`" >> "$GITHUB_STEP_SUMMARY"
          if [ -n "$RUN_URL" ]; then
            echo "- Run: [View triggering run]($RUN_URL)" >> "$GITHUB_STEP_SUMMARY"
          else
            echo "- Run: (URL not provided)" >> "$GITHUB_STEP_SUMMARY"
          fi

      - name: Checkout repository
        uses: actions/checkout@v4

      - name: Build and start multi-ECU demo
        working-directory: demos/multi_ecu_aggregation
        run: docker compose --profile ci up -d --build perception-ecu-ci planning-ecu-ci actuation-ecu-ci

      - name: Run smoke tests
        run: ./tests/smoke_test_multi_ecu.sh

      - name: Show perception ECU logs on failure
        if: failure()
        working-directory: demos/multi_ecu_aggregation
        run: docker compose --profile ci logs perception-ecu-ci --tail=200

      - name: Show planning ECU logs on failure
        if: failure()
        working-directory: demos/multi_ecu_aggregation
        run: docker compose --profile ci logs planning-ecu-ci --tail=200

      - name: Show actuation ECU logs on failure
        if: failure()
        working-directory: demos/multi_ecu_aggregation
        run: docker compose --profile ci logs actuation-ecu-ci --tail=200

      - name: Teardown
        if: always()
        working-directory: demos/multi_ecu_aggregation
        run: docker compose --profile ci down