feat(RPS-976): added integration test CI (#25)

Co-authored-by: cbiering <christoph.biering@wandelbots.com>

.github/workflows/ci-dev.yaml

@@ -1,4 +1,4 @@
-name: Test, Lint and Format
+name: Typecheck, Lint and Format
 
 on:
   pull_request:
@@ -15,7 +15,7 @@ jobs:
       - name: Check out repository
         uses: actions/checkout@v4
 
-      - name: Set up Python 3.10
+      - name: Set up Python
         uses: actions/setup-python@v4
         with:
           python-version: '3.10'
@@ -24,12 +24,6 @@ jobs:
         run: |
           pip install poetry
           poetry install
-          mkdir envs
-          touch envs/.env.tests
-          echo "NOVA_API=test.instance.mock.io" > envs/.env.tests
-          echo "CELL_NAME=cell" >> envs/.env.tests
-          echo "MOTION_GROUP=virtual-robot" >> envs/.env.tests
-          echo "TCP=Flange" >> envs/.env.tests
 
       - name: Check formatting with ruff
         run: poetry run ruff format --check .
@@ -42,5 +36,4 @@ jobs:
 
       - name: Run tests
         run: |
-          cp envs/.env.tests envs/test_.env.tests
           PYTHONPATH=. poetry run pytest -rs -v

.github/workflows/run-examples.yaml

@@ -0,0 +1,90 @@
+name: Run examples
+
+on:
+  pull_request:
+    branches:
+      - main
+
+jobs:
+  run-examples:
+    runs-on: ubuntu-latest
+
+    concurrency:
+      group: ${{ github.workflow }}-${{ github.head_ref }}
+      cancel-in-progress: true
+
+    strategy:
+      fail-fast: false
+      max-parallel: 1
+      matrix:
+        example_file:
+          - "01_basic.py"
+          - "02_plan_and_execute.py"
+          - "03_move_and_set_ios.py"
+          - "04_move_multiple_robots.py"
+          - "05_selection_motion_group_activation.py"
+          - "06_api_usage.py"
+
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v4
+        with:
+          python-version: '3.10'
+
+      - name: Create NOVA instance and check connection
+        env:
+          PORTAL_STG_REFRESH_URL: ${{ secrets.PORTAL_STG_REFRESH_URL }}
+          PORTAL_STG_REFRESH_CLIENT_ID: ${{ secrets.PORTAL_STG_REFRESH_CLIENT_ID }}
+          PORTAL_STG_REFRESH_TOKEN: ${{ secrets.PORTAL_STG_REFRESH_TOKEN }}
+          API_VERSION: "v1"
+          # Optional
+          PROJECT_VERSION: "1.0.0"
+          GITHUB_RUN_ID: ${{ github.run_id }}
+          INSECURE_CURL: "true"   # If you need to skip SSL verification
+        run: |
+          source ./scripts/create_nova_instance.sh
+          echo $PORTAL_STG_HOST
+          echo "PORTAL_STG_HOST=$PORTAL_STG_HOST" >> $GITHUB_ENV
+          echo "PORTAL_STG_INSTANCE_ID=$PORTAL_STG_INSTANCE_ID" >> $GITHUB_ENV
+          echo "PORTAL_STG_ACCESS_TOKEN=$PORTAL_STG_ACCESS_TOKEN" >> $GITHUB_ENV
+
+      - name: Set up Python environment
+        run: |
+          pip install poetry
+          poetry install
+
+      - name: "Run example: examples/${{ matrix.example_file }}"
+        run: |
+          touch ./.env
+          echo "NOVA_API=https://${{ env.PORTAL_STG_HOST }}" >> ./.env
+          echo "NOVA_ACCESS_TOKEN=${{ env.PORTAL_STG_ACCESS_TOKEN }}" >> ./.env
+          echo "CELL_NAME=cell" >> ./.env
+
+          n=0
+          max_retries=3
+          until [ $n -ge $max_retries ]
+          do
+            echo "Attempt $((n+1)) to run ${{ matrix.example_file }}..."
+            PYTHONPATH=. poetry run python examples/${{ matrix.example_file }} && break
+
+            n=$((n+1))
+            echo "Failed attempt $n. Retrying in 5s..."
+            sleep 5
+          done
+
+          if [ $n -ge $max_retries ]; then
+            echo "Failed after $max_retries attempts."
+            exit 1
+          fi
+
+      # Always run cleanup, whether success or failure
+      - name: Cleanup - Delete instance
+        if: always()
+        run: |
+          ./scripts/delete_nova_instance.sh
+        env:
+          PORTAL_STG_INSTANCE_ID: ${{ env.PORTAL_STG_INSTANCE_ID }}
+          PORTAL_STG_ACCESS_TOKEN: ${{ env.PORTAL_STG_ACCESS_TOKEN }}

.gitignore

@@ -1,3 +1,4 @@
+devportal.env
 .devcontainer/devcontainer.env
 # from Makefile generated
 .formatted

devportal.env.tpl

@@ -0,0 +1,4 @@
+export PORTAL_STG_REFRESH_URL=""
+export PORTAL_STG_REFRESH_TOKEN=""
+export PORTAL_STG_REFRESH_CLIENT_ID=""
+export API_VERSION="v1"

examples/01_basic.py

@@ -1,6 +1,7 @@
 import asyncio
 
 from nova import Nova
+from nova.api import models
 
 """
 Example: Getting the current state of a robot.
@@ -13,31 +14,31 @@
 async def main():
     async with Nova() as nova:
         cell = nova.cell()
-        controllers = await cell.controllers()
-        controller = controllers[0]
+        controller = await cell.ensure_virtual_robot_controller(
+            "ur",
+            models.VirtualControllerTypes.UNIVERSALROBOTS_MINUS_UR10E,
+            models.Manufacturer.UNIVERSALROBOTS,
+        )
 
-        async with controller:
-            activated_motion_group_ids = await controller.activated_motion_group_ids()
-            print(activated_motion_group_ids)
+        async with controller[0] as motion_group:
+            tcp_names = await motion_group.tcp_names()
+            print(tcp_names)
 
-        motion_group = controller[0]
+            tcp = tcp_names[0]
 
-        tcp_names = await motion_group.tcp_names()
-        print(tcp_names)
+            # Current motion group state
+            state = await motion_group.get_state(tcp)
+            print(state)
 
-        tcp = tcp_names[0]
+            # Current joints positions
+            joints = await motion_group.joints()
+            print(joints)
 
-        # Current motion group state
-        state = await motion_group.get_state(tcp)
-        print(state)
+            # Current TCP pose
+            tcp_pose = await motion_group.tcp_pose(tcp)
+            print(tcp_pose)
 
-        # Current joints positions
-        joints = await motion_group.joints()
-        print(joints)
-
-        # Current TCP pose
-        tcp_pose = await motion_group.tcp_pose(tcp)
-        print(tcp_pose)
+        await cell.delete_robot_controller(controller.name)
 
 
 if __name__ == "__main__":

examples/02_plan_and_execute.py

@@ -1,5 +1,6 @@
 import asyncio
 
+from nova.api import models
 from nova import Nova, MotionSettings
 from nova.actions import jnt, ptp
 from nova.types import Pose
@@ -13,32 +14,35 @@
 
 
 async def main():
-    nova = Nova()
-    cell = nova.cell()
-    controllers = await cell.controllers()
-    controller = controllers[0]
-
-    # Connect to the controller and activate motion groups
-    async with controller[0] as motion_group:
-        home_joints = await motion_group.joints()
-        tcp_names = await motion_group.tcp_names()
-        tcp = tcp_names[0]
-
-        # Get current TCP pose and offset it slightly along the x-axis
-        current_pose = await motion_group.tcp_pose(tcp)
-        target_pose = current_pose @ Pose((1, 0, 0, 0, 0, 0))
-
-        actions = [
-            jnt(home_joints),
-            ptp(target_pose),
-            jnt(home_joints),
-            ptp(target_pose @ [100, 0, 0, 0, 0, 0]),
-            jnt(home_joints),
-            ptp(target_pose @ (100, 100, 0, 0, 0, 0)),
-            jnt(home_joints),
-            ptp(target_pose @ Pose((0, 100, 0, 0, 0, 0))),
-            jnt(home_joints),
-        ]
+    async with Nova() as nova:
+        cell = nova.cell()
+        controller = await cell.ensure_virtual_robot_controller(
+            "ur",
+            models.VirtualControllerTypes.UNIVERSALROBOTS_MINUS_UR10E,
+            models.Manufacturer.UNIVERSALROBOTS,
+        )
+
+        # Connect to the controller and activate motion groups
+        async with controller[0] as motion_group:
+            home_joints = await motion_group.joints()
+            tcp_names = await motion_group.tcp_names()
+            tcp = tcp_names[0]
+
+            # Get current TCP pose and offset it slightly along the x-axis
+            current_pose = await motion_group.tcp_pose(tcp)
+            target_pose = current_pose @ Pose((1, 0, 0, 0, 0, 0))
+
+            actions = [
+                jnt(home_joints),
+                ptp(target_pose),
+                jnt(home_joints),
+                ptp(target_pose @ [50, 0, 0, 0, 0, 0]),
+                jnt(home_joints),
+                ptp(target_pose @ (50, 100, 0, 0, 0, 0)),
+                jnt(home_joints),
+                ptp(target_pose @ Pose((0, 50, 0, 0, 0, 0))),
+                jnt(home_joints),
+            ]
 
         # you can update the settings of the action
         for action in actions:
@@ -47,7 +51,7 @@ async def main():
         joint_trajectory = await motion_group.plan(actions, tcp)
         await motion_group.execute(joint_trajectory, tcp, actions=actions)
 
-    await nova.close()
+        await cell.delete_robot_controller(controller.name)
 
 
 if __name__ == "__main__":