Add conductor demo workflow #12
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| name: Exercise the System With Conductor | |
| #on: [workflow_dispatch] | |
| on: [push] | |
| env: | |
| DEBIAN_FRONTEND: "noninteractive" | |
| jobs: | |
| demo: | |
| name: Demo System | |
| timeout-minutes: 30 | |
| runs-on: ubuntu-22.04 | |
| steps: | |
| - name: Print Environment | |
| run: | | |
| echo "GITHUB_WORKFLOW=$GITHUB_WORKFLOW" | |
| echo "GITHUB_RUN_ID=$GITHUB_RUN_ID" | |
| echo "GITHUB_RUN_NUMBER=$GITHUB_RUN_NUMBER" | |
| echo "GITHUB_JOB=$GITHUB_JOB" | |
| echo "GITHUB_ACTION=$GITHUB_ACTION" | |
| echo "GITHUB_ACTOR=$GITHUB_ACTOR" | |
| echo "GITHUB_REF=$GITHUB_REF" | |
| echo "GITHUB_SHA=$GITHUB_SHA" | |
| docker --version | |
| - name: Checkout Sources | |
| uses: actions/checkout@v3 | |
| - name: Install System Packages | |
| run: | | |
| sudo apt-get update | |
| sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg | |
| echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null | |
| sudo apt-get update | |
| sudo apt-get install -y --no-install-recommends gz-garden gcc-arm-none-eabi libnewlib-arm-none-eabi build-essential cmake | |
| - name: Install Conductor | |
| run: | | |
| # TODO - use a release artifact when we have one | |
| git clone https://github.com/auxoncorp/conductor.git --branch demo-system-changes | |
| cd conductor | |
| cargo install --path conductor-cli | |
| conductor --version | |
| - name: System Build | |
| run: | | |
| cd freertos && ./build.sh && cd .. | |
| cd gazebo && ./build.sh && cd .. | |
| docker network create --subnet=192.0.2.1/24 --opt com.docker.network.bridge.name=conductor0 net | |
| conductor system build | |
| - name: System Graph | |
| run: | | |
| conductor system export graph -f mermaid --color --directed > system.mermaid | |
| echo '## System' >> $GITHUB_STEP_SUMMARY | |
| echo '```mermaid' >> $GITHUB_STEP_SUMMARY | |
| cat system.mermaid >> $GITHUB_STEP_SUMMARY | |
| echo '```' >> $GITHUB_STEP_SUMMARY | |
| - name: System Start | |
| run: | | |
| conductor system start | |
| - name: Wait for Stopping Conditions | |
| timeout-minutes: 10 | |
| env: | |
| GZ_PARTITION: "gazebo-world" | |
| run: | | |
| sleep 1 | |
| gz topic -e -n 1 -t /world/Moving_robot/model/vehicle_blue/link/chassis/sensor/chassis_contact/contact | |
| - name: System Stats | |
| run: | | |
| conductor system stats > stats.txt | |
| cat stats.txt | |
| echo '## Stats' >> $GITHUB_STEP_SUMMARY | |
| echo '```text' >> $GITHUB_STEP_SUMMARY | |
| cat stats.txt >> $GITHUB_STEP_SUMMARY | |
| echo '```' >> $GITHUB_STEP_SUMMARY | |
| - name: System Stop | |
| run: | | |
| docker container list --no-trunc | |
| docker stop $(docker ps -a -q) |