test_build.yml

---
name: test-build
on:
  pull_request:
    branches: [main]
  workflow_dispatch:
concurrency: 
  group: ${{ github.workflow }}-${{ github.ref }}
  cancel-in-progress: true
jobs:
  build:
    #TODO model dependency to image-workflow. Workaround: retrigger run after image-workflow finished.
    runs-on: intellabs-01
    container:
      image: ghcr.io/intellabs/scenario-execution:humble
      credentials:
        username: ${{ github.repository_owner }}
        password: ${{ secrets.GITHUB_TOKEN }}
    steps:
      - name: Checkout code
        uses: actions/checkout@b4ffde65f46336ab88eb53be808477a3936bae11 #v4.1.1
        with:
          submodules: true
      - name: Build
        shell: bash
        run: |
          source /opt/ros/humble/setup.bash
          colcon build --continue-on-error
          source install/setup.bash
      - name: Cache Build
        id: cache-test-id
        uses: actions/cache/save@0c45773b623bea8c8e75f6c82b208c3cf94ea4f9 # v4.0.2
        with:
          path: .
          key: ${{ runner.os }}-build-${{ github.run_number }}
  test-scenario-execution:
    needs: [build]
    runs-on: intellabs-01
    container:
      image: ghcr.io/intellabs/scenario-execution:humble
      credentials:
        username: ${{ github.repository_owner }}
        password: ${{ secrets.GITHUB_TOKEN }}
    steps:
      - name: Restore cache
        uses: actions/cache/restore@0c45773b623bea8c8e75f6c82b208c3cf94ea4f9 # v4.0.2
        with:
          key: ${{ runner.os }}-build-${{ github.run_number }}
          path: .
      - name: Test
        shell: bash
        run: |
          source /opt/ros/humble/setup.bash
          source install/setup.bash
          export -n CYCLONEDDS_URI
          export ROS_DOMAIN_ID=2
          colcon test --packages-select \
          scenario_execution \
          scenario_execution_gazebo \
          scenario_coverage \
          --event-handlers console_direct+ \
          --return-code-on-test-failure \
          --pytest-args \
          --junit-xml=TEST.xml
          # Add "--capture=no" to see output of tests
      - name: Upload result
        uses: actions/upload-artifact@ef09cdac3e2d3e60d8ccadda691f4f1cec5035cb
        if: always()
        with:
          name: test-scenario-execution
          path: ./**/TEST.xml
  test-scenario-execution-ros:
    needs: [build]
    runs-on: intellabs-01
    container:
      image: ghcr.io/intellabs/scenario-execution:humble
      credentials:
        username: ${{ github.repository_owner }}
        password: ${{ secrets.GITHUB_TOKEN }}
    steps:
      - name: Restore cache
        uses: actions/cache/restore@0c45773b623bea8c8e75f6c82b208c3cf94ea4f9 # v4.0.2
        with:
          key: ${{ runner.os }}-build-${{ github.run_number }}
          path: .
      - name: Test
        shell: bash
        run: |
          source /opt/ros/humble/setup.bash
          source install/setup.bash
          export -n CYCLONEDDS_URI
          export ROS_DOMAIN_ID=2
          colcon test --packages-select \
          scenario_execution_ros \
          --event-handlers console_direct+ \
          --return-code-on-test-failure \
          --pytest-args \
          --junit-xml=TEST.xml
          # Add "--capture=no" to see output of tests
      - name: Upload result
        uses: actions/upload-artifact@ef09cdac3e2d3e60d8ccadda691f4f1cec5035cb
        if: always()
        with:
          name: test-scenario-execution-ros
          path: ./**/TEST.xml
  scenario-files-validation:
    needs: [build]
    runs-on: intellabs-01
    container:
      image: ghcr.io/intellabs/scenario-execution:humble
      credentials:
        username: ${{ github.repository_owner }}
        password: ${{ secrets.GITHUB_TOKEN }}
    steps:
      - name: Restore cache
        uses: actions/cache@0c45773b623bea8c8e75f6c82b208c3cf94ea4f9 # v4.0.2
        with:
          key: ${{ runner.os }}-build-${{ github.run_number }}
          path: .
      - name: Test Scenario Files
        shell: bash
        run: |
          source /opt/ros/humble/setup.bash
          source install/setup.bash
          find . -name "*.osc" | grep -Ev "lib_osc/*|examples/example_scenario_variation|scenario_coverage|fail*|install|build" | while read -r file; do 
            echo "$file"; 
            ros2 run scenario_execution scenario_execution "$file" -n; 
          done
  test-example-scenario:
    needs: [build]
    runs-on: intellabs-01
    container:
      image: ghcr.io/intellabs/scenario-execution:humble
      credentials:
        username: ${{ github.repository_owner }}
        password: ${{ secrets.GITHUB_TOKEN }}
    steps:
      - name: Restore cache
        uses: actions/cache@0c45773b623bea8c8e75f6c82b208c3cf94ea4f9 # v4.0.2
        with:
          key: ${{ runner.os }}-build-${{ github.run_number }}
          path: .
      - name: Test Example Scenario
        shell: bash
        run: |
          source /opt/ros/humble/setup.bash
          source install/setup.bash
          #shellcheck disable=SC1083
          scenario_batch_execution -i examples/example_scenario/ -o test_example_scenario -- ros2 launch scenario_execution_ros scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR}
      - name: Upload result
        uses: actions/upload-artifact@ef09cdac3e2d3e60d8ccadda691f4f1cec5035cb
        if: always()
        with:
          name: test-example-scenario-result
          path: test_example_scenario/test.xml
  test-example-library:
    needs: [build]
    runs-on: intellabs-01
    container:
      image: ghcr.io/intellabs/scenario-execution:humble
      credentials:
        username: ${{ github.repository_owner }}
        password: ${{ secrets.GITHUB_TOKEN }}
    steps:
      - name: Restore cache
        uses: actions/cache@0c45773b623bea8c8e75f6c82b208c3cf94ea4f9 # v4.0.2
        with:
          key: ${{ runner.os }}-build-${{ github.run_number }}
          path: .
      - name: Test Example Library
        shell: bash
        run: |
          source /opt/ros/humble/setup.bash
          source install/setup.bash
          # shellcheck disable=SC1083
          scenario_batch_execution -i examples/example_library/scenarios -o test_example_library -- ros2 launch scenario_execution_ros scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR}
      - name: Upload result
        uses: actions/upload-artifact@ef09cdac3e2d3e60d8ccadda691f4f1cec5035cb
        if: always()
        with:
          name: test-example-library-result
          path: test_example_library/test.xml
  test-example-variation:
    needs: [build]
    runs-on: intellabs-01
    container:
      image: ghcr.io/intellabs/scenario-execution:humble
      credentials:
        username: ${{ github.repository_owner }}
        password: ${{ secrets.GITHUB_TOKEN }}
    steps:
      - name: Restore cache
        uses: actions/cache@0c45773b623bea8c8e75f6c82b208c3cf94ea4f9 # v4.0.2
        with:
          key: ${{ runner.os }}-build-${{ github.run_number }}
          path: .
      - name: Test Example Variation
        shell: bash
        run: |
          source /opt/ros/humble/setup.bash
          source install/setup.bash
          scenario_variation -o scenario_variation_out examples/example_scenario_variation/example_scenario_variation.osc
          # shellcheck disable=SC1083
          scenario_batch_execution -i scenario_variation_out -o test_example_variation -- ros2 launch scenario_execution_ros scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR}
      - name: Upload result
        uses: actions/upload-artifact@ef09cdac3e2d3e60d8ccadda691f4f1cec5035cb
        if: always()
        with:
          name: test-example-variation-result
          path: test_example_variation/test.xml
  test-example-nav2:
    needs: [build]
    runs-on: intellabs-01
    container:
      image: ghcr.io/intellabs/scenario-execution:humble
      credentials:
        username: ${{ github.repository_owner }}
        password: ${{ secrets.GITHUB_TOKEN }}
    steps:
      - name: Restore cache
        uses: actions/cache@0c45773b623bea8c8e75f6c82b208c3cf94ea4f9 # v4.0.2
        with:
          key: ${{ runner.os }}-build-${{ github.run_number }}
          path: .
      - name: Test Example Nav2
        shell: bash
        run: |
          source /opt/ros/humble/setup.bash
          source install/setup.bash
          Xvfb :1 -screen 0 800x600x16 &
          export DISPLAY=:1.0
          export -n CYCLONEDDS_URI
          export ROS_DOMAIN_ID=2
          export IGN_PARTITION=${HOSTNAME}:${GITHUB_RUN_ID}
          sed -i 's/60s/600s/g' examples/example_nav2/example_nav2.osc
          # shellcheck disable=SC1083
          scenario_batch_execution -i examples/example_nav2/ -o test_example_nav2 -- ros2 launch tb4_sim_scenario sim_nav_scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR}
      - name: Upload result
        uses: actions/upload-artifact@ef09cdac3e2d3e60d8ccadda691f4f1cec5035cb
        if: always()
        with:
          name: test-example-nav2-result
          path: test_example_nav2/test.xml
  test-example-simulation:
    needs: [build]
    runs-on: intellabs-01
    container:
      image: ghcr.io/intellabs/scenario-execution:humble
      credentials:
        username: ${{ github.repository_owner }}
        password: ${{ secrets.GITHUB_TOKEN }}
    steps:
      - name: Restore cache
        uses: actions/cache@0c45773b623bea8c8e75f6c82b208c3cf94ea4f9 # v4.0.2
        with:
          key: ${{ runner.os }}-build-${{ github.run_number }}
          path: .
      - name: Test Example Simulation
        shell: bash
        run: |
          source /opt/ros/humble/setup.bash
          source install/setup.bash
          Xvfb :1 -screen 0 800x600x16 &
          export DISPLAY=:1.0
          export -n CYCLONEDDS_URI
          export ROS_DOMAIN_ID=2
          export IGN_PARTITION=${HOSTNAME}:${GITHUB_RUN_ID}
          sed -i 's/120s/600s/g' examples/example_simulation/scenarios/example_simulation.osc
          # shellcheck disable=SC1083
          scenario_batch_execution -i examples/example_simulation/scenarios/ -o test_example_simulation -- ros2 launch tb4_sim_scenario sim_nav_scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR}
      - name: Upload result
        uses: actions/upload-artifact@ef09cdac3e2d3e60d8ccadda691f4f1cec5035cb
        if: always()
        with:
          name: test-example-simulation-result
          path: test_example_simulation/test.xml
  test-example-multirobot:
    needs: [build]
    runs-on: intellabs-01
    container:
      image: ghcr.io/intellabs/scenario-execution:humble
      credentials:
        username: ${{ github.repository_owner }}
        password: ${{ secrets.GITHUB_TOKEN }}
    steps:
      - name: Restore cache
        uses: actions/cache@0c45773b623bea8c8e75f6c82b208c3cf94ea4f9 # v4.0.2
        with:
          key: ${{ runner.os }}-build-${{ github.run_number }}
          path: .
      - name: Test Example Multirobot
        shell: bash
        run: |
          source /opt/ros/humble/setup.bash
          source install/setup.bash
          Xvfb :1 -screen 0 800x600x16 &
          export DISPLAY=:1.0
          export -n CYCLONEDDS_URI
          export ROS_DOMAIN_ID=2
          export IGN_PARTITION=${HOSTNAME}:${GITHUB_RUN_ID}
          sed -i 's/240s/900s/g' examples/example_multi_robot/example_multi_robot.osc
          # shellcheck disable=SC1083
          scenario_batch_execution -i examples/example_multi_robot/ -o test_example_multirobot -- ros2 launch tb4_sim_scenario sim_nav_scenario_launch.py scenario:={SCENARIO} yaw:=3.14 output_dir:={OUTPUT_DIR}
      - name: Upload result
        uses: actions/upload-artifact@ef09cdac3e2d3e60d8ccadda691f4f1cec5035cb
        if: always()
        with:
          name: test-example-multirobot-result
          path: test_example_multirobot/test.xml
  test-example-external-method:
    needs: [build]
    runs-on: intellabs-01
    container:
      image: ghcr.io/intellabs/scenario-execution:humble
      credentials:
        username: ${{ github.repository_owner }}
        password: ${{ secrets.GITHUB_TOKEN }}
    steps:
      - name: Restore cache
        uses: actions/cache@0c45773b623bea8c8e75f6c82b208c3cf94ea4f9 # v4.0.2
        with:
          key: ${{ runner.os }}-build-${{ github.run_number }}
          path: .
      - name: Test Example External Method
        shell: bash
        run: |
          source /opt/ros/humble/setup.bash
          source install/setup.bash
          export -n CYCLONEDDS_URI
          export ROS_DOMAIN_ID=2
          # shellcheck disable=SC1083
          scenario_batch_execution -i examples/example_external_method/scenarios -o test_example_external_method -- ros2 launch scenario_execution_ros scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR}
      - name: Upload result
        uses: actions/upload-artifact@ef09cdac3e2d3e60d8ccadda691f4f1cec5035cb
        if: always()
        with:
          name: test-example-external-method-result
          path: test_example_external_method/test.xml
  test-scenario-execution-gazebo:
    needs: [build]
    runs-on: intellabs-01
    container:
      image: ghcr.io/intellabs/scenario-execution:humble
      credentials:
        username: ${{ github.repository_owner }}
        password: ${{ secrets.GITHUB_TOKEN }}
    steps:
      - name: Restore cache
        uses: actions/cache@0c45773b623bea8c8e75f6c82b208c3cf94ea4f9 # v4.0.2
        with:
          key: ${{ runner.os }}-build-${{ github.run_number }}
          path: .
      - name: Test Scenario Execution Gazebo
        shell: bash
        run: |
          source /opt/ros/humble/setup.bash
          source install/setup.bash
          Xvfb :1 -screen 0 800x600x16 &
          export DISPLAY=:1.0
          export -n CYCLONEDDS_URI
          export ROS_DOMAIN_ID=2
          export IGN_PARTITION=${HOSTNAME}:${GITHUB_RUN_ID}
          # shellcheck disable=SC1083
          scenario_batch_execution -i simulation/gazebo/test_scenario_execution_gazebo/scenarios/ -o test_scenario_execution_gazebo -- ros2 launch tb4_sim_scenario sim_nav_scenario_launch.py scenario:={SCENARIO} output_dir:={OUTPUT_DIR}
      - name: Upload result
        uses: actions/upload-artifact@ef09cdac3e2d3e60d8ccadda691f4f1cec5035cb
        if: always()
        with:
          name: test-example-simulation-result
          path: test_example_simulation/test.xml
  tests:
    needs: 
    - test-scenario-execution
    - test-scenario-execution-ros
    - scenario-files-validation
    - test-example-scenario
    - test-example-library
    - test-example-variation
    - test-example-nav2
    - test-example-simulation
    - test-example-multirobot
    - test-example-external-method
    - test-scenario-execution-gazebo
    runs-on: intellabs-01
    if: ${{ always() }}
    steps:
      - name: Download all artifacts
        uses: actions/download-artifact@7a1cd3216ca9260cd8022db641d960b1db4d1be4 #v4.0
        with:
          path: downloaded-artifacts
      - name: Publish Test Results
        uses: EnricoMi/publish-unit-test-result-action@f355d34d53ad4e7f506f699478db2dd71da9de5f #v2.15.1
        with:
          check_name: Test Results
          check_run: false
          action_fail: true
          comment_mode: always
          files: |
            downloaded-artifacts/test-scenario-execution/scenario_execution/TEST.xml
            downloaded-artifacts/test-scenario-execution-ros/scenario_execution_ros/TEST.xml
            downloaded-artifacts/test-scenario-execution/scenario_coverage/TEST.xml
            downloaded-artifacts/test-example-scenario-result/test.xml
            downloaded-artifacts/test-example-library-result/test.xml
            downloaded-artifacts/test-example-variation-result/test.xml
            downloaded-artifacts/test-example-nav2-result/test.xml
            downloaded-artifacts/test-example-simulation-result/test.xml
            downloaded-artifacts/test-example-multirobot-result/test.xml
            downloaded-artifacts/test-example-external-method-result/test.xml