Build & test for PR 'Refactor raytrace node configurations and introduce non-hit distance handling' #30

Workflow file for this run

.github/workflows/build-and-test.yml at cf763c2

	name: build-and-test

	run-name: Build & test for PR '${{ github.event.pull_request.title }}'

	on: [pull_request]

	# 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@v3
	- name: Import private extensions
	run: vcs import < extensions.repos

	load-env:
	uses: ./.github/workflows/load-env-subworkflow.yml

	###### BUILD USING RGL DOCKER ######
	build-core:
	needs: [checkout-repository, load-env]
	uses: ./.github/workflows/build-subworkflow.yml
	with:
	build-command: ./setup.py --build-dir build-core
	self-hosted-user-id: ${{ needs.load-env.outputs.user-id }}
	optix-install-dir: ${{ needs.load-env.outputs.optix-install-dir }}
	docker-image: localhost:5000/rgl:latest

	build-pcl:
	needs: [checkout-repository, load-env]
	uses: ./.github/workflows/build-subworkflow.yml
	with:
	build-command: './setup.py --with-pcl --build-dir build-pcl'
	self-hosted-user-id: ${{ needs.load-env.outputs.user-id }}
	optix-install-dir: ${{ needs.load-env.outputs.optix-install-dir }}
	docker-image: localhost:5000/rgl:latest

	build-ros2:
	needs: [ checkout-repository, load-env ]
	uses: ./.github/workflows/build-subworkflow.yml
	with:
	build-command: '
	source /opt/ros/humble/setup.bash &&
	./setup.py --with-ros2-standalone --build-dir build-ros2'
	self-hosted-user-id: ${{ needs.load-env.outputs.user-id }}
	optix-install-dir: ${{ needs.load-env.outputs.optix-install-dir }}
	docker-image: localhost:5000/rgl:latest

	build-udp:
	needs: [ checkout-repository, load-env ]
	uses: ./.github/workflows/build-subworkflow.yml
	with:
	build-command: './setup.py --with-udp --build-dir build-udp'
	self-hosted-user-id: ${{ needs.load-env.outputs.user-id }}
	optix-install-dir: ${{ needs.load-env.outputs.optix-install-dir }}
	docker-image: localhost:5000/rgl:latest

	build-snow:
	needs: [ checkout-repository, load-env ]
	uses: ./.github/workflows/build-subworkflow.yml
	with:
	build-command: './setup.py --with-snow --build-dir build-snow'
	self-hosted-user-id: ${{ needs.load-env.outputs.user-id }}
	optix-install-dir: ${{ needs.load-env.outputs.optix-install-dir }}
	docker-image: localhost:5000/rgl:latest

	build-all:
	needs: [ checkout-repository, load-env ]
	uses: ./.github/workflows/build-subworkflow.yml
	with:
	build-command: '
	source /opt/ros/humble/setup.bash &&
	./setup.py --with-pcl --with-ros2-standalone --with-udp --with-snow --build-dir build-all'
	self-hosted-user-id: ${{ needs.load-env.outputs.user-id }}
	optix-install-dir: ${{ needs.load-env.outputs.optix-install-dir }}
	docker-image: localhost:5000/rgl:latest

	###### TEST WITH RGL DOCKER IMAGE ######
	test-core-dev:
	needs: [build-core]
	uses: ./.github/workflows/test-subworkflow.yml
	with:
	test-command: 'cd build-core/test && ./RobotecGPULidar_test'
	docker-image: localhost:5000/rgl:latest

	test-pcl-dev:
	needs: [ build-pcl ]
	uses: ./.github/workflows/test-subworkflow.yml
	with:
	test-command: 'cd build-pcl/test && ./RobotecGPULidar_test'
	docker-image: localhost:5000/rgl: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: '
	source /opt/ros/humble/setup.bash &&
	source /rgldep/radar_msgs/install/setup.bash &&
	cd build-ros2/test &&
	export RMW_IMPLEMENTATION=rmw_fastrtps_cpp && ./RobotecGPULidar_test &&
	export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp && ./RobotecGPULidar_test'
	docker-image: localhost:5000/rgl:latest

	test-udp-dev:
	needs: [ build-udp ]
	uses: ./.github/workflows/test-subworkflow.yml
	with:
	test-command: 'cd build-udp/test && ./RobotecGPULidar_test'
	docker-image: localhost:5000/rgl:latest

	test-snow-dev:
	needs: [ build-snow ]
	uses: ./.github/workflows/test-subworkflow.yml
	with:
	test-command: 'cd build-snow/test && ./RobotecGPULidar_test'
	docker-image: localhost:5000/rgl: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: '
	source /opt/ros/humble/setup.bash &&
	source /rgldep/radar_msgs/install/setup.bash &&
	export RGL_TEST_VLP16_CALIB_FILE=$(pwd)/extensions/udp/test/resources/Ros2Vlp16Calib.yaml &&
	cd build-all/test &&
	export RMW_IMPLEMENTATION=rmw_fastrtps_cpp && ./RobotecGPULidar_test &&
	export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp && ./RobotecGPULidar_test'
	docker-image: localhost:5000/rgl:latest

	###### TEST WITH CLEAN UBUNTU DOCKER IMAGE ######
	test-core-prod:
	needs: [build-core]
	uses: ./.github/workflows/test-subworkflow.yml
	with:
	test-command: 'cd build-core/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 &&
	cd build-pcl/test && ./RobotecGPULidar_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: '
	cd build-ros2/test &&
	cp -r ../ros2_standalone/.so ../ &&
	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 build-udp/test && ./RobotecGPULidar_test'
	docker-image: nvidia/cuda:11.7.1-base-ubuntu22.04

	test-snow-prod:
	needs: [ build-snow ]
	uses: ./.github/workflows/test-subworkflow.yml
	with:
	test-command: 'cd build-snow/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 &&
	cd build-all/test &&
	cp -r ../ros2_standalone/.so ../ &&
	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

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Build & test for PR 'Refactor raytrace node configurations and introduce non-hit distance handling' #30

Workflow file

Build & test for PR 'Refactor raytrace node configurations and introduce non-hit distance handling' #30

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Workflow file for this run