Build & test for develop on 650ac95f24a8d26bc3bed49b6aaa44ff0ca826a5 #88
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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@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 |