Fix basic_autonomy unit test (#2458) #331
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| # GitHub Actions triggers based on the PR's and each commits on develop and master | |
| name: "CI: Run tests" | |
| on: | |
| pull_request: | |
| types: [opened, synchronize, reopened] | |
| push: | |
| branches: [develop, master] | |
| jobs: | |
| determine_docker_org_and_tag: | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: Determine Docker organization and tag | |
| id: docker-org-and-tag | |
| uses: usdot-fhwa-stol/actions/docker-org-and-tag@main | |
| outputs: | |
| docker_org: ${{ steps.docker-org-and-tag.outputs.docker_organization }} | |
| docker_tag: ${{ steps.docker-org-and-tag.outputs.docker_image_tag }} | |
| build: | |
| needs: determine_docker_org_and_tag | |
| defaults: | |
| run: | |
| shell: bash | |
| working-directory: "/opt/carma/" | |
| # Specify the runner environment | |
| runs-on: ubuntu-latest-16-cores | |
| # Set up a Docker container for the job | |
| container: | |
| image: ${{ needs.determine_docker_org_and_tag.outputs.docker_org }}/autoware.ai:${{ needs.determine_docker_org_and_tag.outputs.docker_tag }} | |
| env: | |
| INIT_ENV: "/home/carma/.base-image/init-env.sh" | |
| ROS_2_ENV: "/opt/ros/foxy/setup.bash" | |
| TERM: xterm | |
| options: "--user root" | |
| steps: | |
| - name: Determine base branch | |
| id: determine-base-branch | |
| run: | | |
| if [[ "$GITHUB_EVENT_NAME" == "pull_request" ]]; then | |
| echo git_branch="$GITHUB_BASE_REF" >> $GITHUB_OUTPUT | |
| else | |
| echo git_branch="$GITHUB_REF_NAME" >> $GITHUB_OUTPUT | |
| fi | |
| - name: Checkout ${{ github.event.repository.name }} | |
| # Check out the repository code | |
| uses: actions/[email protected] | |
| with: | |
| fetch-depth: 0 | |
| path: src/${{ github.event.repository.name }} | |
| - name: Move source code | |
| # Move the source code to the desired location | |
| run: mv $GITHUB_WORKSPACE/src /opt/carma/ | |
| - name: Checkout dependencies | |
| # Checkout project dependencies | |
| run: | | |
| source "$INIT_ENV" | |
| ./src/${{ github.event.repository.name }}/docker/checkout.bash -r /opt/carma/ -b ${{ steps.determine-base-branch.outputs.git_branch }} | |
| - name: Install external dependencies | |
| # Install the multiple object tracking deps | |
| run: sudo bash /opt/carma/src/multiple_object_tracking/scripts/install_dependencies.sh | |
| - name: Build ROS1 | |
| # Build ROS1 packages | |
| # The skipped ROS 1 packages here should match the ROS 1 packages that are skipped during the build in docker/install.sh | |
| run: | | |
| source "$INIT_ENV" | |
| PACKAGES=$(find . -maxdepth 2 -type f -name package.xml | sed 's/\.\///' | cut -d/ -f1) # maxdepth 2 Limits the search of package.xml to current directory and one level of subdirectories beneath it. find will not search beyond two levels deep from the starting point. Without this option, find would search the starting directory and all subdirectories recursively. | |
| sed -i 's/colcon build /colcon build --packages-skip novatel_oem7_msgs tracetools tracetools_test /' /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash | |
| make_with_coverage.bash -m -e /opt/carma/ -o ./coverage_reports/gcov | |
| - name: Run ROS1 C++ Tests | |
| # Run ROS1 C++ tests | |
| # The skipped ROS 1 packages here should match the ROS 1 packages that are skipped during the build in docker/install.sh" | |
| # These tests has been temporarily disabled to support Continuous Improvement (CI) processes. | |
| # Related GitHub Issue: <https://github.com/usdot-fhwa-stol/carma-platform/issues/2335> | |
| # some ROS2 packages unit tests are triggered during ROS1 tests, so they are temporarily being skipped. | |
| run: | | |
| source "$INIT_ENV" | |
| sed -i 's/colcon test /colcon test --packages-skip novatel_oem7_msgs tracetools tracetools_test carma_launch_testing carma_message_utilities ros2bag ros2trace tracetools_launch tracetools_read tracetools_trace rosbag2 carma_utils /' /home/carma/.ci-image/engineering_tools/code_coverage/make_with_coverage.bash | |
| make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov | |
| - name: Backup ROS1 compile_commands.json | |
| # Backup the ROS1 compile_commands.json file for sonarcloud | |
| run: | | |
| mv /opt/carma/build/compile_commands.json /opt/carma/compile_commands.ros1.json | |
| - name: Cleanup before ROS 2 build | |
| # Clear the build and install folders before building ROS 2 | |
| run: | | |
| rm -rf /opt/carma/install | |
| rm -rf /opt/carma/build | |
| - name: Build ROS2 | |
| # Build ROS2 packages | |
| run: | | |
| source "$INIT_ENV" | |
| source "$ROS_2_ENV" | |
| source /opt/autoware.ai/ros/install_ros2/setup.bash | |
| make_with_coverage.bash -m -e /opt/carma/ -o ./coverage_reports/gcov | |
| - name: Run ROS2 C++ Tests | |
| # Run ROS2 C++ tests | |
| run: | | |
| source "$INIT_ENV" | |
| source "$ROS_2_ENV" | |
| source /opt/autoware.ai/ros/install_ros2/setup.bash | |
| make_with_coverage.bash -t -e /opt/carma/ -o ./coverage_reports/gcov | |
| - name: Combine ROS1 and ROS2 compile_commands.json files | |
| # Combine the ROS1 and ROS2 compile_commands.json files for sonarscan | |
| run: | | |
| mv /opt/carma/build/compile_commands.json /opt/carma/compile_commands.ros2.json | |
| jq -s add /opt/carma/compile_commands.ros1.json /opt/carma/compile_commands.ros2.json > /opt/carma/build/compile_commands.json | |
| - name: Run SonarScanner | |
| # Run SonarScanner for code analysis | |
| uses: usdot-fhwa-stol/actions/sonar-scanner@main | |
| with: | |
| sonar-token: ${{ secrets.SONAR_TOKEN }} | |
| working-dir: "/opt/carma/src/${{ github.event.repository.name }}" |