build-arm32v7.yml

name: PiCar-X Main Build

on: [pull_request]

jobs:
  build:
    runs-on: [self-hosted, Linux, ARM]

    steps:
    - uses: actions/checkout@v4

    - name: build core container
      working-directory: ./PiCar-X
      run: |
        TAG=latest-arm32v7 ARCH=arm32v7 docker compose -f docker-compose-core.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]
    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-arm32v7 pytest ./src/core/picarx/tests

  integration-tests:
    runs-on: [self-hosted, Linux, ARM]
    needs: [unit-tests]
    steps:
    - uses: actions/checkout@v4
    - 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:latest-arm32v7 rostest picarx_dcmotor_driver integration_tests.test i2c_port:=/dev/i2c-11 

  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-arm32v7 docker compose -f docker-compose-dtp-no-gazebo.yml push