Integration tests with gazebo #10
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| name: PiCar-X Main Build | |
| on: [pull_request] | |
| jobs: | |
| build: | |
| runs-on: [self-hosted, Linux, X64] | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - 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] | |
| needs: [build] | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - 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] | |
| needs: [unit-tests] | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Integration Test dcmotor | |
| 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 | |
| - name: Speed tests using Gazebo headless | |
| working-directory: ./PiCar-X | |
| run: | | |
| i2c=/dev/i2c-0 docker compose -f docker-compose-dtp-inttest.yml up -d | |
| docker exec picar-x-picarx-gazebo-control-1 /bin/bash -c "source ./install/setup.bash && sleep 30; python3 ./src/simulation/picarx_control/tests/steering_integration_test.py" | |
| - name: Remove running containers after tests | |
| if: success() || failure() | |
| working-directory: ./PiCar-X | |
| run: | | |
| docker compose -f docker-compose-dtp-inttest.yml down | |
| release: | |
| runs-on: [self-hosted, Linux, X64] | |
| needs: [integration-tests] | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Push to Docker Hub | |
| working-directory: ./PiCar-X | |
| run: | | |
| TAG=latest docker compose -f docker-compose-dtp.yml push |