Integration tests #1596
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| name: Integration tests | |
| on: | |
| workflow_dispatch: | |
| pull_request: | |
| push: | |
| branches: | |
| - master | |
| schedule: | |
| - cron: '38 2 * * *' | |
| jobs: | |
| build: | |
| timeout-minutes: 60 | |
| runs-on: ubuntu-latest | |
| name: build (${{matrix.env.URSIM_VERSION}}-${{matrix.env.ROBOT_MODEL}}) | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| env: | |
| - ROBOT_MODEL: 'ur5' | |
| URSIM_VERSION: '3.14.3' | |
| PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/cb3' | |
| - ROBOT_MODEL: 'ur5e' | |
| URSIM_VERSION: '5.9.4' | |
| PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series' | |
| - ROBOT_MODEL: 'ur20' | |
| URSIM_VERSION: 'latest' | |
| PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series' | |
| - ROBOT_MODEL: 'ur5e' | |
| URSIM_VERSION: '10.7.0' | |
| PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/polyscopex' | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: start ursim | |
| run: | | |
| scripts/start_ursim.sh -m $ROBOT_MODEL -v $URSIM_VERSION -p $PROGRAM_FOLDER -d | |
| env: | |
| DOCKER_RUN_OPTS: --network ursim_net | |
| ROBOT_MODEL: ${{matrix.env.ROBOT_MODEL}} | |
| URSIM_VERSION: ${{matrix.env.URSIM_VERSION}} | |
| PROGRAM_FOLDER: ${{matrix.env.PROGRAM_FOLDER}} | |
| - name: configure | |
| run: mkdir build && cd build && cmake .. -DBUILDING_TESTS=1 -DINTEGRATION_TESTS=1 -DWITH_ASAN=ON | |
| env: | |
| CXXFLAGS: -g -O2 -fprofile-arcs -ftest-coverage | |
| CFLAGS: -g -O2 -fprofile-arcs -ftest-coverage | |
| LDFLAGS: -fprofile-arcs -ftest-coverage | |
| - name: build | |
| run: cmake --build build --config Debug | |
| - name: Create folder for test artifacts | |
| run: mkdir -p test_artifacts | |
| - name: test | |
| run: cd build && ctest --output-on-failure --output-junit junit.xml | |
| - name: Upload test results to Codecov | |
| if: ${{ !cancelled() }} | |
| uses: codecov/test-results-action@v1 | |
| with: | |
| token: ${{ secrets.CODECOV_TOKEN }} | |
| fail_ci_if_error: true | |
| - name: run examples | |
| run: ./run_examples.sh "192.168.56.101" 1 | |
| - name: install gcovr | |
| run: sudo apt-get install -y gcovr | |
| - name: gcovr | |
| run: cd build && gcovr -r .. --gcov-ignore-parse-errors negative_hits.warn_once_per_file | |
| - name: Upload coverage to Codecov | |
| uses: codecov/codecov-action@v5 | |
| with: | |
| fail_ci_if_error: true | |
| token: ${{ secrets.CODECOV_TOKEN }} | |
| flags: ${{ matrix.env.ROBOT_MODEL }}-${{ matrix.env.URSIM_VERSION }} | |
| - name: Generate URSim log files | |
| if: always() && matrix.env.URSIM_VERSION != '10.7.0' | |
| run: | | |
| nc -q 1 192.168.56.101 29999 <<END | |
| saveLog | |
| END | |
| mkdir -p ursim_logs | |
| docker cp ursim:/ursim/URControl.log ursim_logs/URControl.log | |
| docker cp ursim:/ursim/polyscope.log ursim_logs/polyscope.log | |
| docker cp ursim:/ursim/log_history.txt ursim_logs/log_history.txt | |
| - name: Copy flight reports | |
| if: failure() && matrix.env.URSIM_VERSION != '10.7.0' | |
| run: | | |
| mkdir -p ursim_logs/flightreports | |
| docker cp ursim:/ursim/flightreports/. ursim_logs/flightreports/ | |
| - name: Upload logfiles | |
| uses: actions/upload-artifact@v4 | |
| if: always() && matrix.env.URSIM_VERSION != '10.7.0' | |
| with: | |
| name: ${{matrix.env.ROBOT_MODEL}}_${{matrix.env.URSIM_VERSION}}_URSim_Logs | |
| path: ursim_logs | |
| if-no-files-found: error | |
| retention-days: 10 | |
| - name: Upload test artifacts | |
| uses: actions/upload-artifact@v4 | |
| if: always() && matrix.env.URSIM_VERSION != '10.7.0' | |
| with: | |
| name: ${{matrix.env.ROBOT_MODEL}}_${{matrix.env.URSIM_VERSION}}_test_artifacts | |
| path: test_artifacts | |
| if-no-files-found: error | |
| retention-days: 10 | |
| test_start_ursim: | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - uses: ruby/setup-ruby@v1 | |
| with: | |
| ruby-version: '3.3' # Not needed with a .ruby-version, .tool-versions or mise.toml | |
| bundler-cache: true # runs 'bundle install' and caches installed gems automatically | |
| - name: Setup Bats and bats libs | |
| id: setup-bats | |
| uses: bats-core/[email protected] | |
| - name: Install Ruby dependencies | |
| run: bundle update --bundler && bundle install | |
| - name: Run unittests | |
| shell: bash | |
| env: | |
| BATS_LIB_PATH: ${{ steps.setup-bats.outputs.lib-path }} | |
| run: bundle exec bashcov --skip-uncovered bats tests/test_start_ursim.bats | |
| - name: Upload reports to Codecov | |
| uses: codecov/codecov-action@v5 | |
| with: | |
| fail_ci_if_error: true | |
| token: ${{ secrets.CODECOV_TOKEN }} | |
| flags: start_ursim |