pr-x64.yml

name: PiCar-X PR Build

on:
  pull_request:
    paths:
      - PiCar-X/**
      - .github/workflows/pr-*.yml

env:
  REGISTRY: ghcr.io

jobs:
  build:
    runs-on: [self-hosted, Linux, X64]

    steps:
      - uses: actions/checkout@v4

      - name: build core container
        working-directory: ./PiCar-X
        run: |
          TAG=${{ github.sha }} docker compose -f docker-compose-core.yml build --no-cache

      - name: build dtp containers without gazebo
        working-directory: ./PiCar-X
        run: |
          TAG=${{ github.sha }} docker compose -f docker-compose-dtp-headless-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 ghcr.io/cau-se/arches-picar-x/picarx:${{ github.sha }} 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  ghcr.io/cau-se/arches-picar-x/drivers/dcmotor:${{ github.sha }} 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-headless-gazebo.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: |
          TAG=${{ github.sha }} docker compose -f docker-compose-dtp-headless-gazebo.yml down