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build-and-test.yml
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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