splitted actions in push and pr, added more documentation

cau-se · Sep 1, 2024 · 70b865c · 70b865c
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commit 70b865c
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diff --git a/.github/workflows/build-x64.yml b/.github/workflows/build-x64.yml
diff --git a/.github/workflows/pr-arm32v7.yml b/.github/workflows/pr-arm32v7.yml
@@ -0,0 +1,43 @@
+name: PiCar-X PR Build (RPI3)
+
+on: [pull_request, workflow_dispatch]
+
+env:
+  REGISTRY: ghcr.io
+
+jobs:
+  build:
+    runs-on: [self-hosted, Linux, ARM]
+
+    steps:
+      - uses: actions/checkout@v4
+      - name: build core container
+        working-directory: ./PiCar-X
+        run: |
+          TAG=${{ github.sha }} ARCH=arm32v7 docker compose -f docker-compose-core.yml build --no-cache
+
+      - uses: actions/checkout@v4
+      - name: build dtp containers without gazebo
+        working-directory: ./PiCar-X
+        run: |
+          TAG=${{ github.sha }} 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 ghcr.io/cau-se/arches-picar-x/picarx:${{ github.sha }} pytest ./src/core/picarx/tests
+
+  integration-tests:
+    runs-on: [self-hosted, Linux, ARM]
+    needs: [unit-tests]
+    steps:
+      - uses: actions/checkout@v4
+      - name: Integration Test dcmotor
+        working-directory: ./PiCar-X
+        run: |
+          docker run --rm --name dcmotor-integration-test -v /sys/class/gpio:/sys/class/gpio -v /dev/i2c-11:/dev/i2c-11 --privileged  ghcr.io/cau-se/arches-picar-x/drivers/dcmotor:${{ github.sha }} rostest picarx_dcmotor_driver integration_tests.test i2c_port:=/dev/i2c-11
diff --git a/.github/workflows/pr-arm64v8.yml b/.github/workflows/pr-arm64v8.yml
@@ -0,0 +1,43 @@
+name: PiCar-X PR Build (RPI4)
+
+on: [pull_request, workflow_dispatch]
+
+env:
+  REGISTRY: ghcr.io
+
+jobs:
+  build:
+    runs-on: [self-hosted, Linux, ARM64]
+
+    steps:
+      - uses: actions/checkout@v4
+      - name: build core container
+        working-directory: ./PiCar-X
+        run: |
+          TAG=${{ github.sha }} ARCH=arm64v8 docker compose -f docker-compose-core.yml build --no-cache
+
+      - uses: actions/checkout@v4
+      - name: build dtp containers without gazebo
+        working-directory: ./PiCar-X
+        run: |
+          TAG=${{ github.sha }} ARCH=arm64v8 docker compose -f docker-compose-dtp-no-gazebo.yml build --no-cache
+
+  unit-tests:
+    runs-on: [self-hosted, Linux, ARM64]
+    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:${{ github.sha }} pytest ./src/core/picarx/tests
+
+  integration-tests:
+    runs-on: [self-hosted, Linux, ARM64]
+    needs: [unit-tests]
+    steps:
+      - uses: actions/checkout@v4
+      - name: Integration Test dcmotor
+        working-directory: ./PiCar-X
+        run: |
+          docker run --rm --name dcmotor-integration-test -v /sys/class/gpio:/sys/class/gpio -v /dev/i2c-11:/dev/i2c-11 --privileged  ghcr.io/cau-se/arches-picar-x/drivers/dcmotor:${{ github.sha }} rostest picarx_dcmotor_driver integration_tests.test i2c_port:=/dev/i2c-11
diff --git a/.github/workflows/pr-x64.yml b/.github/workflows/pr-x64.yml
@@ -0,0 +1,56 @@
+name: PiCar-X Main Build
+
+on: [pull_request, workflow_dispatch]
+
+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: |
+          docker compose -f docker-compose-dtp-headless-gazebo.yml down
+
diff --git a/.github/workflows/build-arm32v7.yml → .github/workflows/push-arm32v7.yml b/.github/workflows/build-arm32v7.yml → .github/workflows/push-arm32v7.yml
@@ -1,4 +1,4 @@
-name: PiCar-X Main Build (RPI3)
+name: PiCar-X Main Build on PUSH (RPI3)
 
 on: [pull_request, workflow_dispatch]
 
@@ -10,16 +10,6 @@ jobs:
     runs-on: [self-hosted, Linux, ARM]
 
     steps:
-      - name: Checkout Repository
-        uses: actions/checkout@v4
-
-      - name: Log in to the Container registry
-        uses: docker/login-action@65b78e6e13532edd9afa3aa52ac7964289d1a9c1
-        with:
-          registry: ${{ env.REGISTRY }}
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-
       - uses: actions/checkout@v4
       - name: build core container
         working-directory: ./PiCar-X

diff --git a/.github/workflows/build-arm64v8.yml → .github/workflows/push-arm64v8.yml b/.github/workflows/build-arm64v8.yml → .github/workflows/push-arm64v8.yml
@@ -1,4 +1,5 @@
-name: PiCar-X Main Build (RPI4)
+name: PiCar-X Main Build on PUSH (RPI4)
+
 on: [pull_request, workflow_dispatch]
 
 env:
@@ -9,16 +10,6 @@ jobs:
     runs-on: [self-hosted, Linux, ARM64]
 
     steps:
-      - name: Checkout Repository
-        uses: actions/checkout@v4
-
-      - name: Log in to the Container registry
-        uses: docker/login-action@65b78e6e13532edd9afa3aa52ac7964289d1a9c1
-        with:
-          registry: ${{ env.REGISTRY }}
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-
       - uses: actions/checkout@v4
       - name: build core container
         working-directory: ./PiCar-X

diff --git a/.github/workflows/push-x64.yml b/.github/workflows/push-x64.yml
@@ -0,0 +1,63 @@
+name: PiCar-X Main Build on PUSH (RPI3)
+
+on: [push, workflow_dispatch]
+
+env:
+  REGISTRY: ghcr.io
+
+jobs:
+  build:
+    runs-on: [self-hosted, Linux, ARM]
+
+    steps:
+      - uses: actions/checkout@v4
+      - name: build core container
+        working-directory: ./PiCar-X
+        run: |
+          TAG=latest ARCH=arm32v7 docker compose -f docker-compose-core.yml build --no-cache
+
+      - uses: actions/checkout@v4
+      - name: build dtp containers without gazebo
+        working-directory: ./PiCar-X
+        run: |
+          TAG=latest 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 ghcr.io/cau-se/arches-picar-x/picarx:latest pytest ./src/core/picarx/tests
+
+  integration-tests:
+    runs-on: [self-hosted, Linux, ARM]
+    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-11:/dev/i2c-11 --privileged  ghcr.io/cau-se/arches-picar-x/drivers/dcmotor:latest rostest picarx_dcmotor_driver integration_tests.test i2c_port:=/dev/i2c-11
+
+  release:
+    runs-on: [self-hosted, Linux, ARM]
+    needs: [integration-tests]
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          path: ${{ github.sha }}
+
+      - name: Log in to the Container registry
+        uses: docker/login-action@65b78e6e13532edd9afa3aa52ac7964289d1a9c1
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Push to ghcr.io
+        working-directory: ./PiCar-X
+        run: |
+          TAG=latest docker compose -f docker-compose-dtp-no-gazebo.yml push