adjusted workflows for arm32, arm64, and x64

AlexanderBarbie · Jun 19, 2024 · 9c0e578 · 9c0e578
1 parent f15b665
commit 9c0e578
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diff --git a/.github/workflows/build-arm32v7.yml b/.github/workflows/build-arm32v7.yml
@@ -1,28 +1,44 @@
 name: PiCar-X Main Build
 
-on: [push, pull_request]
+on: [pull_request]
 
 jobs:
   build:
-    runs-on: [self-hosted, Linux, ARM32]
+    runs-on: [self-hosted, Linux, ARM]
 
     steps:
     - uses: actions/checkout@v2
 
-    - name: Build with Docker Compose
+    - name: build core container
       working-directory: ./PiCar-X
       run: |
         TAG=latest-arm32v7 ARCH=arm32v7 docker compose -f docker-compose-core.yml build --no-cache
-        TAG=latest-arm32v7 docker compose -f docker-compose-dtp-no-gazebo.yml build --no-cache
 
+    - name: build dtp containers without gazebo
+      working-directory: ./PiCar-X
+      run: |
+        TAG=latest-arm32v7 ARCH=arm32v7 docker compose -f docker-compose-dtp-no-gazebo.yml build --no-cache
+
+  unit-tests:
+    runs-on: [self-hosted, Linux, ARM]
+    steps:
+    - uses: actions/checkout@v2
     - name: Run pytest in Docker container
+      working-directory: ./PiCar-X
       run: |
         docker run --rm --name picarx-unittest abarbie/picarx:latest-arm32v7 pytest ./src/core/picarx/tests
 
+  integration-tests:
+    runs-on: [self-hosted, Linux, ARM]
+    steps:
+    - uses: actions/checkout@v2
     - name: Start roslaunch in Docker container
+      working-directory: ./PiCar-X
       run: |
-        docker run --rm --name dcmotor-integration-test -v /sys/class/gpio:/sys/class/gpio -v /dev/i2c-11:/dev/i2c-11 --privileged  abarbie/picarx-dcmotor-driver:1.0.0-arm32v7 rostest picarx_dcmotor_driver integration_tests.test i2c_port:=/dev/i2c-11 
+        docker run --rm --name dcmotor-integration-test -v /sys/class/gpio:/sys/class/gpio -v /dev/i2c-11:/dev/i2c-11 --privileged  abarbie/picarx-dcmotor-driver:latest-arm32v7 rostest picarx_dcmotor_driver integration_tests.test i2c_port:=/dev/i2c-11 
 
+  release:
+    runs-on: [self-hosted, Linux, ARM]
     - name: Push to Docker Hub
       working-directory: ./PiCar-X
       run: |

diff --git a/.github/workflows/build-arm64v8.yml b/.github/workflows/build-arm64v8.yml
@@ -1,6 +1,6 @@
 name: PiCar-X Main Build
 
-on: [push, pull_request]
+on: [pull_request]
 
 jobs:
   build:
@@ -9,20 +9,36 @@ jobs:
     steps:
     - uses: actions/checkout@v2
 
-    - name: Build with Docker Compose
+    - name: build core container
       working-directory: ./PiCar-X
       run: |
         TAG=latest-arm64v8 ARCH=arm64v8 docker compose -f docker-compose-core.yml build --no-cache
-        TAG=latest-arm64v8 docker compose -f docker-compose-dtp-no-gazebo.yml build --no-cache
 
+    - name: build dtp containers without gazebo
+      working-directory: ./PiCar-X
+      run: |
+        TAG=latest-arm64v8 ARCH=arm64v8 docker compose -f docker-compose-dtp-no-gazebo.yml build --no-cache
+
+  unit-tests:
+    runs-on: [self-hosted, Linux, ARM64]
+    steps:
+    - uses: actions/checkout@v2
     - name: Run pytest in Docker container
+      working-directory: ./PiCar-X
       run: |
         docker run --rm --name picarx-unittest abarbie/picarx:latest-arm64v8 pytest ./src/core/picarx/tests
 
+  integration-tests:
+    runs-on: [self-hosted, Linux, ARM64]
+    steps:
+    - uses: actions/checkout@v2
     - name: Start roslaunch in Docker container
+      working-directory: ./PiCar-X
       run: |
-        docker run --rm --name dcmotor-integration-test -v /sys/class/gpio:/sys/class/gpio -v /dev/i2c-11:/dev/i2c-11 --privileged  abarbie/picarx-dcmotor-driver:1.0.0-arm64v8 rostest picarx_dcmotor_driver integration_tests.test i2c_port:=/dev/i2c-11 
+        docker run --rm --name dcmotor-integration-test -v /sys/class/gpio:/sys/class/gpio -v /dev/i2c-11:/dev/i2c-11 --privileged  abarbie/picarx-dcmotor-driver:latest-arm64v8 rostest picarx_dcmotor_driver integration_tests.test i2c_port:=/dev/i2c-11 
 
+  release:
+    runs-on: [self-hosted, Linux, ARM64]
     - name: Push to Docker Hub
       working-directory: ./PiCar-X
       run: |

diff --git a/.github/workflows/build-x64.yml b/.github/workflows/build-x64.yml
@@ -0,0 +1,45 @@
+name: PiCar-X Main Build
+
+on: [pull_request]
+
+jobs:
+  build:
+    runs-on: [self-hosted, Linux, X64]
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - name: build core container
+      working-directory: ./PiCar-X
+      run: |
+        TAG=latest docker compose -f docker-compose-core.yml build --no-cache
+
+    - name: build dtp containers without gazebo
+      working-directory: ./PiCar-X
+      run: |
+        TAG=latest docker compose -f docker-compose-dtp-no-gazebo.yml build --no-cache
+
+  unit-tests:
+    runs-on: [self-hosted, Linux, X64]
+    steps:
+    - uses: actions/checkout@v2
+    - name: Run pytest in Docker container
+      working-directory: ./PiCar-X
+      run: |
+        docker run --rm --name picarx-unittest abarbie/picarx:latest pytest ./src/core/picarx/tests
+
+  integration-tests:
+    runs-on: [self-hosted, Linux, X64]
+    steps:
+    - uses: actions/checkout@v2
+    - name: Start roslaunch in Docker container
+      working-directory: ./PiCar-X
+      run: |
+        docker run --rm --name dcmotor-integration-test -v /sys/class/gpio:/sys/class/gpio -v /dev/i2c-0:/dev/i2c-0 --privileged  abarbie/picarx-dcmotor-driver:latest rostest picarx_dcmotor_driver integration_tests.test i2c_port:=/dev/i2c-0 
+
+  release:
+    runs-on: [self-hosted, Linux, X64]
+    - name: Push to Docker Hub
+      working-directory: ./PiCar-X
+      run: |
+        TAG=latest docker compose -f docker-compose-dtp.yml push
diff --git a/PiCar-X/docker-compose-ds.yml b/PiCar-X/docker-compose-ds.yml
@@ -91,7 +91,7 @@ services:
     privileged: true
     volumes:
       - /sys/class/gpio:/sys/class/gpio
-      - /dev/i2c-11:/dev/i2c-11
+      - ${I2C:-/dev/i2c-0}:${I2C:-/dev/i2c-0}
       - ./core:/root/catkin_ws/src/core
       - ./ros/skills/ackermann_drive:/root/catkin_ws/src/skills/ackermann_drive
     command: /bin/bash -c "roslaunch picarx_ackermann_drive ackermann_skill.launch"

diff --git a/PiCar-X/docker-compose-dt.yml b/PiCar-X/docker-compose-dt.yml
@@ -67,7 +67,7 @@ services:
     privileged: true
     volumes:
       - /sys/class/gpio:/sys/class/gpio
-      - /dev/i2c-11:/dev/i2c-11
+      - ${I2C:-/dev/i2c-0}:${I2C:-/dev/i2c-0}
       - ./core:/root/catkin_ws/src/core
       - ./ros/skills/ackermann_drive:/root/catkin_ws/src/skills/ackermann_drive
     command: /bin/bash -c "

diff --git a/PiCar-X/docker-compose-dtp-ext-gazebo.yml b/PiCar-X/docker-compose-dtp-ext-gazebo.yml
@@ -60,10 +60,10 @@ services:
     volumes:
       - /sys/class/gpio:/sys/class/gpio
       - /dev/gpiochip0:/dev/gpiochip0
-      - /dev/i2c-11:/dev/i2c-11
+      - ${I2C:-/dev/i2c-0}:${I2C:-/dev/i2c-0}
       - ./core:/root/catkin_ws/src/core
       - ./ros/drivers/dcmotor:/root/catkin_ws/src/drivers/dcmotor
-    command: /bin/bash -c "roslaunch picarx_dcmotor_driver dcmotor_left.launch motor1_i2c_port:=/dev/i2c-11"
+    command: /bin/bash -c "roslaunch picarx_dcmotor_driver dcmotor_left.launch motor1_i2c_port:=$${I2C:-/dev/i2c-0}"
     depends_on:
       picarx:
         condition: service_healthy
@@ -78,10 +78,10 @@ services:
     volumes:
       - /sys/class/gpio:/sys/class/gpio
       - /dev/gpiochip0:/dev/gpiochip0
-      - /dev/i2c-11:/dev/i2c-11
+      - ${I2C:-/dev/i2c-0}:${I2C:-/dev/i2c-0}
       - ./core:/root/catkin_ws/src/core
       - ./ros/drivers/dcmotor:/root/catkin_ws/src/drivers/dcmotor
-    command: /bin/bash -c "roslaunch picarx_dcmotor_driver dcmotor_right.launch motor2_i2c_port:=/dev/i2c-11"
+    command: /bin/bash -c "roslaunch picarx_dcmotor_driver dcmotor_right.launch motor2_i2c_port:=$${I2C:-/dev/i2c-0}"
     depends_on:
       picarx:
         condition: service_healthy
@@ -102,10 +102,10 @@ services:
     volumes:
       - /sys/class/gpio:/sys/class/gpio
       - /dev/gpiochip0:/dev/gpiochip0
-      - /dev/i2c-11:/dev/i2c-11
+      - ${I2C:-/dev/i2c-0}:${I2C:-/dev/i2c-0}
       - ./core:/root/catkin_ws/src/core
       - ./ros/drivers/clutchgear:/root/catkin_ws/src/drivers/clutchgear
-    command: /bin/bash -c "roslaunch picarx_clutchgear_driver ackermann_clutchgear_driver.launch i2c_port:=/dev/i2c-11"
+    command: /bin/bash -c "roslaunch picarx_clutchgear_driver ackermann_clutchgear_driver.launch i2c_port:=$${I2C:-/dev/i2c-0}"
     depends_on:
       picarx:
         condition: service_healthy
@@ -126,7 +126,7 @@ services:
     volumes:
       - /sys/class/gpio:/sys/class/gpio
       - /dev/gpiochip0:/dev/gpiochip0
-      - /dev/i2c-11:/dev/i2c-11
+      - ${I2C:-/dev/i2c-0}:${I2C:-/dev/i2c-0}
       - ./core:/root/catkin_ws/src/core
       - ./ros/skills/ackermann_drive:/root/catkin_ws/src/skills/ackermann_drive
     command: /bin/bash -c "roslaunch picarx_ackermann_drive ackermann_skill.launch"
@@ -150,10 +150,10 @@ services:
     volumes:
       - /sys/class/gpio:/sys/class/gpio
       - /dev/gpiochip0:/dev/gpiochip0
-      - /dev/i2c-11:/dev/i2c-11
+      - ${I2C:-/dev/i2c-0}:${I2C:-/dev/i2c-0}
       - ./core:/root/catkin_ws/src/core
       - ./ros/emulators/dcmotor:/root/catkin_ws/src/emulators/dcmotor
-    command: /bin/bash -c "roslaunch picarx_dcmotor_emulator dcmotor_emulator_left.launch i2c_port:=/dev/i2c-11"
+    command: /bin/bash -c "roslaunch picarx_dcmotor_emulator dcmotor_emulator_left.launch i2c_port:=$${I2C:-/dev/i2c-0}"
     restart: on-failure
 
   motor_emulator_right-dtp:
@@ -165,10 +165,10 @@ services:
     volumes:
       - /sys/class/gpio:/sys/class/gpio
       - /dev/gpiochip0:/dev/gpiochip0
-      - /dev/i2c-11:/dev/i2c-11
+      - ${I2C:-/dev/i2c-0}:${I2C:-/dev/i2c-0}
       - ./core:/root/catkin_ws/src/core
       - ./ros/emulators/dcmotor:/root/catkin_ws/src/emulators/dcmotor
-    command: /bin/bash -c "roslaunch picarx_dcmotor_emulator dcmotor_emulator_right.launch i2c_port:=/dev/i2c-11"
+    command: /bin/bash -c "roslaunch picarx_dcmotor_emulator dcmotor_emulator_right.launch i2c_port:=$${I2C:-/dev/i2c-0}"
     restart: on-failure
 
   steering_emulator-dtp:
@@ -186,10 +186,10 @@ services:
     volumes:
       - /sys/class/gpio:/sys/class/gpio
       - /dev/gpiochip0:/dev/gpiochip0
-      - /dev/i2c-11:/dev/i2c-11
+      - ${I2C:-/dev/i2c-0}:${I2C:-/dev/i2c-0}
       - ./core:/root/catkin_ws/src/core
       - ./ros/emulators/clutchgear:/root/catkin_ws/src/emulators/clutchgear
-    command: /bin/bash -c "roslaunch picarx_clutchgear_emulator ackermann_clutchgear_emulator.launch i2c_port:=/dev/i2c-11"
+    command: /bin/bash -c "roslaunch picarx_clutchgear_emulator ackermann_clutchgear_emulator.launch i2c_port:=$${I2C:-/dev/i2c-0}"
     restart: on-failure
 
 networks: