Build & test for develop on 51e09e8d92cb20ec28b9b1d2a252418f0edbe7ea #266
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| name: build-and-test | |
| run-name: Build & test for ${{ github.ref_name }} on ${{ github.sha }} | |
| on: | |
| push: | |
| branches: | |
| - 'main' | |
| - 'develop' | |
| pull_request: | |
| types: [opened, synchronize, reopened] | |
| # Cancel previous runs if new changes on PR/branch | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }} | |
| cancel-in-progress: true | |
| jobs: | |
| ###### PREPARE WORKFLOW ###### | |
| checkout-repository: | |
| runs-on: self-hosted | |
| steps: | |
| - name: Checkout repository code | |
| uses: actions/checkout@v4 | |
| with: | |
| clean: false | |
| - name: Clean repository excluding RGL blobs repo | |
| run: git clean -ffdx -e external/rgl_blobs | |
| - name: Import private extensions | |
| run: vcs import < extensions.repos | |
| - name: Install taped test runtime dependencies | |
| run: ./setup.py --fetch-rgl-blobs | |
| load-env: | |
| uses: ./.github/workflows/load-env-subworkflow.yml | |
| ###### BUILD USING RGL DOCKER ###### | |
| build-core: | |
| needs: [checkout-repository, load-env] | |
| runs-on: self-hosted | |
| steps: | |
| - run: ' | |
| docker build --build-context optix=${{ needs.load-env.outputs.optix-install-dir }} | |
| --build-arg WITH_PCL=1 --build-arg WITH_ROS2=1 | |
| --build-arg BUILD_CMD="./setup.py" | |
| --target=exporter --output=bin-core .' | |
| build-pcl: | |
| needs: [checkout-repository, load-env] | |
| runs-on: self-hosted | |
| steps: | |
| - run: ' | |
| docker build --build-context optix=${{ needs.load-env.outputs.optix-install-dir }} | |
| --build-arg WITH_PCL=1 --build-arg WITH_ROS2=1 | |
| --build-arg BUILD_CMD="./setup.py --with-pcl --build-taped-test" | |
| --target=exporter --output=bin-pcl .' | |
| build-ros2: | |
| needs: [ checkout-repository, load-env ] | |
| runs-on: self-hosted | |
| steps: | |
| - run: ' | |
| docker build --build-context optix=${{ needs.load-env.outputs.optix-install-dir }} | |
| --build-arg WITH_PCL=1 --build-arg WITH_ROS2=1 | |
| --build-arg BUILD_CMD=". /opt/ros/\$ROS_DISTRO/setup.sh && ./setup.py --with-ros2-standalone" | |
| --target=exporter --output=bin-ros2 .' | |
| build-udp: | |
| needs: [ checkout-repository, load-env ] | |
| runs-on: self-hosted | |
| steps: | |
| - run: ' | |
| docker build --build-context optix=${{ needs.load-env.outputs.optix-install-dir }} | |
| --build-arg WITH_PCL=1 --build-arg WITH_ROS2=1 | |
| --build-arg BUILD_CMD="./setup.py --with-udp" | |
| --target=exporter --output=bin-udp .' | |
| build-weather: | |
| needs: [ checkout-repository, load-env ] | |
| runs-on: self-hosted | |
| steps: | |
| - run: ' | |
| docker build --build-context optix=${{ needs.load-env.outputs.optix-install-dir }} | |
| --build-arg WITH_PCL=1 --build-arg WITH_ROS2=1 | |
| --build-arg BUILD_CMD="./setup.py --with-weather" | |
| --target=exporter --output=bin-weather .' | |
| build-all: | |
| needs: [ checkout-repository, load-env ] | |
| runs-on: self-hosted | |
| steps: | |
| - run: ' | |
| docker build --build-context optix=${{ needs.load-env.outputs.optix-install-dir }} | |
| --build-arg WITH_PCL=1 --build-arg WITH_ROS2=1 | |
| --build-arg BUILD_CMD=". /opt/ros/\$ROS_DISTRO/setup.sh && ./setup.py --with-pcl --with-ros2-standalone --with-udp --with-weather --build-taped-test" | |
| --target=exporter --output=bin-all .' | |
| ####### TEST WITH RGL DOCKER IMAGE ###### | |
| test-core-dev: | |
| needs: [build-core] | |
| uses: ./.github/workflows/test-subworkflow.yml | |
| with: | |
| test-command: ' | |
| cd bin-core/bin/test && ./RobotecGPULidar_test' | |
| docker-image: localhost:5000/robotecgpulidar-all:latest | |
| test-pcl-dev: | |
| needs: [ build-pcl ] | |
| uses: ./.github/workflows/test-subworkflow.yml | |
| with: | |
| test-command: ' | |
| export RGL_TAPED_TEST_DATA_DIR=$(pwd)/external/rgl_blobs && | |
| cd bin-pcl/bin/test && ./RobotecGPULidar_test && ./RobotecGPULidar_taped_test' | |
| docker-image: localhost:5000/robotecgpulidar-all:latest | |
| test-ros2-dev: | |
| needs: [ build-ros2 ] | |
| uses: ./.github/workflows/test-subworkflow.yml | |
| with: | |
| # Source ROS2 and radar_msgs, standalone build is tested in prod environment | |
| # Run tests twice, each for different RMW implementation | |
| test-command: ' | |
| . /opt/ros/$ROS_DISTRO/setup.sh && | |
| . /opt/rgl/external/radar_msgs/install/setup.sh && | |
| cd bin-ros2/bin/test && | |
| export RMW_IMPLEMENTATION=rmw_fastrtps_cpp && ./RobotecGPULidar_test && | |
| export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp && ./RobotecGPULidar_test' | |
| docker-image: localhost:5000/robotecgpulidar-all:latest | |
| test-udp-dev: | |
| needs: [ build-udp ] | |
| uses: ./.github/workflows/test-subworkflow.yml | |
| with: | |
| test-command: ' | |
| cd bin-udp/bin/test && ./RobotecGPULidar_test' | |
| docker-image: localhost:5000/robotecgpulidar-all:latest | |
| test-weather-dev: | |
| needs: [ build-weather ] | |
| uses: ./.github/workflows/test-subworkflow.yml | |
| with: | |
| test-command: ' | |
| cd bin-weather/bin/test && ./RobotecGPULidar_test' | |
| docker-image: localhost:5000/robotecgpulidar-all:latest | |
| test-all-dev: | |
| needs: [ build-all ] | |
| uses: ./.github/workflows/test-subworkflow.yml | |
| with: | |
| # Source ROS2 and radar_msgs, standalone build is tested in prod environment | |
| # Set `RGL_TEST_VLP16_CALIB_FILE` for UDP-ROS2 integration test | |
| # Run tests twice, each for different RMW implementation | |
| test-command: ' | |
| . /opt/ros/$ROS_DISTRO/setup.sh && | |
| . /opt/rgl/external/radar_msgs/install/setup.sh && | |
| export RGL_TEST_VLP16_CALIB_FILE=$(pwd)/extensions/udp/test/resources/Ros2Vlp16Calib.yaml && | |
| export RGL_TAPED_TEST_DATA_DIR=$(pwd)/external/rgl_blobs && | |
| cd bin-all/bin/test && | |
| export RMW_IMPLEMENTATION=rmw_fastrtps_cpp && ./RobotecGPULidar_test && ./RobotecGPULidar_taped_test && | |
| export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp && ./RobotecGPULidar_test && ./RobotecGPULidar_taped_test' | |
| docker-image: localhost:5000/robotecgpulidar-all:latest | |
| ####### TEST WITH CLEAN UBUNTU DOCKER IMAGE ###### | |
| test-core-prod: | |
| needs: [build-core] | |
| uses: ./.github/workflows/test-subworkflow.yml | |
| with: | |
| test-command: ' | |
| cd bin-core/bin/test && ./RobotecGPULidar_test' | |
| docker-image: nvidia/cuda:11.7.1-base-ubuntu22.04 | |
| test-pcl-prod: | |
| needs: [ build-pcl ] | |
| uses: ./.github/workflows/test-subworkflow.yml | |
| with: | |
| # Additionally, install PCL extension dependent libraries for runtime | |
| test-command: ' | |
| apt update && apt install -y libxcursor1 libgl1 && | |
| export RGL_TAPED_TEST_DATA_DIR=$(pwd)/external/rgl_blobs && | |
| cd bin-pcl/bin/test && ./RobotecGPULidar_test && ./RobotecGPULidar_taped_test' | |
| docker-image: nvidia/cuda:11.7.1-base-ubuntu22.04 | |
| test-ros2-prod: | |
| needs: [ build-ros2 ] | |
| uses: ./.github/workflows/test-subworkflow.yml | |
| with: | |
| # Copy ROS2 libraries to be visible for libRobotecGPULidar.so | |
| # Run tests twice, each for different RMW implementation | |
| test-command: ' | |
| cp -p bin-ros2/lib/ros2_standalone/* bin-ros2/lib && | |
| cd bin-ros2/bin/test && | |
| export RMW_IMPLEMENTATION=rmw_fastrtps_cpp && ./RobotecGPULidar_test && | |
| export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp && ./RobotecGPULidar_test' | |
| docker-image: nvidia/cuda:11.7.1-base-ubuntu22.04 | |
| test-udp-prod: | |
| needs: [ build-udp ] | |
| uses: ./.github/workflows/test-subworkflow.yml | |
| with: | |
| test-command: ' | |
| cd bin-udp/bin/test && ./RobotecGPULidar_test' | |
| docker-image: nvidia/cuda:11.7.1-base-ubuntu22.04 | |
| test-weather-prod: | |
| needs: [ build-weather ] | |
| uses: ./.github/workflows/test-subworkflow.yml | |
| with: | |
| test-command: ' | |
| cd bin-weather/bin/test && ./RobotecGPULidar_test' | |
| docker-image: nvidia/cuda:11.7.1-base-ubuntu22.04 | |
| test-all-prod: | |
| needs: [ build-all ] | |
| uses: ./.github/workflows/test-subworkflow.yml | |
| with: | |
| # Install PCL extension dependent libraries for runtime | |
| # Copy ROS2 libraries to be visible for libRobotecGPULidar.so | |
| # Run tests twice, each for different RMW implementation | |
| test-command: ' | |
| apt update && apt install -y libxcursor1 libgl1 && | |
| export RGL_TAPED_TEST_DATA_DIR=$(pwd)/external/rgl_blobs && | |
| cp -p bin-all/lib/ros2_standalone/* bin-all/lib && | |
| cd bin-all/bin/test && | |
| export RMW_IMPLEMENTATION=rmw_fastrtps_cpp && ./RobotecGPULidar_test && ./RobotecGPULidar_taped_test && | |
| export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp && ./RobotecGPULidar_test && ./RobotecGPULidar_taped_test' | |
| docker-image: nvidia/cuda:11.7.1-base-ubuntu22.04 |