Adjust CI

RobotecAI · Jun 3, 2024 · 24adc7b · 24adc7b
1 parent e4e8d3e
commit 24adc7b
Showing 1 changed file with 175 additions and 173 deletions.
diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml
@@ -7,6 +7,7 @@ on:
     branches:
       - 'main'
       - 'develop'
+      - 'feature/rework-dockerfile'
   pull_request:
     types: [opened, synchronize, reopened]
 
@@ -24,195 +25,196 @@ jobs:
         uses: actions/checkout@v3
         with:
           clean: false
-      - name: Clean repository excluding taped test data
-        run: git clean -ffdx -e external/taped_test_data
+      - 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 dependencies
-        run: ./setup.py --install-taped-test-deps
+      - 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]
-    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-taped-test --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-taped-test --build-dir build-all'
-      self-hosted-user-id: ${{ needs.load-env.outputs.user-id }}
-      optix-install-dir: ${{ needs.load-env.outputs.optix-install-dir }}
-      docker-image: localhost:5000/rgl:latest
-
-###### TEST WITH RGL DOCKER IMAGE ######
+    runs-on: self-hosted
+    steps:
+      - run: '
+        docker build --build-context optix=${{ 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]
+#    uses: ./.github/workflows/build-subworkflow.yml
+#    with:
+#      build-command: './setup.py --with-pcl --build-taped-test --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-taped-test --build-dir build-all'
+#      self-hosted-user-id: ${{ needs.load-env.outputs.user-id }}
+#      optix-install-dir: ${{ needs.load-env.outputs.optix-install-dir }}
+#      docker-image: localhost:5000/rgl:latest
+#
+####### TEST WITH RGL DOCKER IMAGE ######
   test-core-dev:
     needs: [build-core]
     uses: ./.github/workflows/test-subworkflow.yml
     with:
-      test-command: 'cd build-core/test && ./RobotecGPULidar_test'
-      docker-image: localhost:5000/rgl:latest
-
-  test-pcl-dev:
-    needs: [ build-pcl ]
-    uses: ./.github/workflows/test-subworkflow.yml
-    with:
-      test-command: '
-      export RGL_TAPED_TEST_DATA_DIR=$(pwd)/external/taped_test_data &&
-      cd build-pcl/test && ./RobotecGPULidar_test && ./taped_test/RobotecGPULidar_taped_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=$(pwd)/extensions/udp/test/resources/Ros2Vlp16Calib.yaml &&
-        export RGL_TAPED_TEST_DATA_DIR=$(pwd)/external/taped_test_data &&
-        cd build-all/test &&
-        export RMW_IMPLEMENTATION=rmw_fastrtps_cpp && ./RobotecGPULidar_test && ./taped_test/RobotecGPULidar_taped_test &&
-        export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp && ./RobotecGPULidar_test && ./taped_test/RobotecGPULidar_taped_test'
+      test-command: 'cd bin-core && cp test/RobotecGPULidar_test . && ./RobotecGPULidar_test'
       docker-image: localhost:5000/rgl:latest
-
-###### TEST WITH CLEAN UBUNTU DOCKER IMAGE ######
+#
+#  test-pcl-dev:
+#    needs: [ build-pcl ]
+#    uses: ./.github/workflows/test-subworkflow.yml
+#    with:
+#      test-command: '
+#      export RGL_TAPED_TEST_DATA_DIR=$(pwd)/external/taped_test_data &&
+#      cd build-pcl/test && ./RobotecGPULidar_test && ./taped_test/RobotecGPULidar_taped_test'
+#      docker-image: localhost:5000/rgl:latest
+#
+#  test-ros2-dev:
+#    needs: [ build-ros2 ]
+#    uses: ./.github/workflows/test-subworkflow.yml
+#    with:
+#      # Source ROS2 and radar_msgs, standalone build is tested in prod environment
+#      # Run tests twice, each for different RMW implementation
+#      test-command: '
+#        source /opt/ros/humble/setup.bash &&
+#        source /rgldep/radar_msgs/install/setup.bash &&
+#        cd build-ros2/test &&
+#        export RMW_IMPLEMENTATION=rmw_fastrtps_cpp && ./RobotecGPULidar_test &&
+#        export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp && ./RobotecGPULidar_test'
+#      docker-image: localhost:5000/rgl:latest
+#
+#  test-udp-dev:
+#    needs: [ build-udp ]
+#    uses: ./.github/workflows/test-subworkflow.yml
+#    with:
+#      test-command: 'cd build-udp/test && ./RobotecGPULidar_test'
+#      docker-image: localhost:5000/rgl:latest
+#
+#  test-snow-dev:
+#    needs: [ build-snow ]
+#    uses: ./.github/workflows/test-subworkflow.yml
+#    with:
+#      test-command: 'cd build-snow/test && ./RobotecGPULidar_test'
+#      docker-image: localhost:5000/rgl:latest
+#
+#  test-all-dev:
+#    needs: [ build-all ]
+#    uses: ./.github/workflows/test-subworkflow.yml
+#    with:
+#      # Source ROS2 and radar_msgs, standalone build is tested in prod environment
+#      # Set `RGL_TEST_VLP16_CALIB_FILE` for UDP-ROS2 integration test
+#      # Run tests twice, each for different RMW implementation
+#      test-command: '
+#        source /opt/ros/humble/setup.bash &&
+#        source /rgldep/radar_msgs/install/setup.bash &&
+#        export RGL_TEST_VLP16_CALIB_FILE=$(pwd)/extensions/udp/test/resources/Ros2Vlp16Calib.yaml &&
+#        export RGL_TAPED_TEST_DATA_DIR=$(pwd)/external/taped_test_data &&
+#        cd build-all/test &&
+#        export RMW_IMPLEMENTATION=rmw_fastrtps_cpp && ./RobotecGPULidar_test && ./taped_test/RobotecGPULidar_taped_test &&
+#        export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp && ./RobotecGPULidar_test && ./taped_test/RobotecGPULidar_taped_test'
+#      docker-image: localhost:5000/rgl:latest
+#
+####### TEST WITH CLEAN UBUNTU DOCKER IMAGE ######
   test-core-prod:
     needs: [build-core]
     uses: ./.github/workflows/test-subworkflow.yml
     with:
-      test-command: 'cd build-core/test && ./RobotecGPULidar_test'
-      docker-image: nvidia/cuda:11.7.1-base-ubuntu22.04
-
-  test-pcl-prod:
-    needs: [ build-pcl ]
-    uses: ./.github/workflows/test-subworkflow.yml
-    with:
-      # Additionally, install PCL extension dependent libraries for runtime
-      test-command: '
-        apt update && apt install -y libxcursor1 libgl1 &&
-        export RGL_TAPED_TEST_DATA_DIR=$(pwd)/external/taped_test_data &&
-        cd build-pcl/test && ./RobotecGPULidar_test && ./taped_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: '
-        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 &&
-        export RGL_TAPED_TEST_DATA_DIR=$(pwd)/external/taped_test_data &&
-        cd build-all/test &&
-        cp -r ../ros2_standalone/*.so* ../ &&
-        export RMW_IMPLEMENTATION=rmw_fastrtps_cpp && ./RobotecGPULidar_test && ./taped_test/RobotecGPULidar_taped_test &&
-        export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp && ./RobotecGPULidar_test && ./taped_test/RobotecGPULidar_taped_test'
+      test-command: 'cd bin-core && cp test/RobotecGPULidar_test . && ./RobotecGPULidar_test'
       docker-image: nvidia/cuda:11.7.1-base-ubuntu22.04
+#
+#  test-pcl-prod:
+#    needs: [ build-pcl ]
+#    uses: ./.github/workflows/test-subworkflow.yml
+#    with:
+#      # Additionally, install PCL extension dependent libraries for runtime
+#      test-command: '
+#        apt update && apt install -y libxcursor1 libgl1 &&
+#        export RGL_TAPED_TEST_DATA_DIR=$(pwd)/external/taped_test_data &&
+#        cd build-pcl/test && ./RobotecGPULidar_test && ./taped_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: '
+#        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 &&
+#        export RGL_TAPED_TEST_DATA_DIR=$(pwd)/external/taped_test_data &&
+#        cd build-all/test &&
+#        cp -r ../ros2_standalone/*.so* ../ &&
+#        export RMW_IMPLEMENTATION=rmw_fastrtps_cpp && ./RobotecGPULidar_test && ./taped_test/RobotecGPULidar_taped_test &&
+#        export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp && ./RobotecGPULidar_test && ./taped_test/RobotecGPULidar_taped_test'
+#      docker-image: nvidia/cuda:11.7.1-base-ubuntu22.04