Add airstack test

.airstack/modules/dev.sh

@@ -3,33 +3,17 @@
 # dev.sh - Development-related commands for AirStack
 # This module provides commands for development tasks
 
-# Function to run tests
+# Run tests via the dockerized pytest runner. All args forward to pytest.
 function cmd_dev_test {
-    log_info "Running tests..."
-
-    local test_path="$PROJECT_ROOT/tests"
-    local test_filter=""
-
-    # Parse arguments
-    for arg in "$@"; do
-        if [[ "$arg" == --path=* ]]; then
-            test_path="${arg#--path=}"
-        elif [[ "$arg" == --filter=* ]]; then
-            test_filter="${arg#--filter=}"
-        fi
-    done
-
-    if [ -n "$test_filter" ]; then
-        log_info "Running tests matching '$test_filter' in $test_path"
-        # Add your test command here, e.g.:
-        # pytest "$test_path" -k "$test_filter"
-        echo "Test command would run here with filter: $test_filter"
-    else
-        log_info "Running all tests in $test_path"
-        # Add your test command here, e.g.:
-        # pytest "$test_path"
-        echo "Test command would run here"
-    fi
+    check_docker
+    local compose_file="$PROJECT_ROOT/tests/docker/docker-compose.yaml"
+    local env_file="$PROJECT_ROOT/.env"
+    export AIRSTACK_PATH="$PROJECT_ROOT"
+    # Grant X access so sim containers spawned by tests in GUI mode
+    # (`pytest --gui`) can reach the host's X server. No-op otherwise.
+    xhost + || log_warn "xhost failed (is DISPLAY set? xhost installed?)"
+    docker compose --env-file "$env_file" -f "$compose_file" build --quiet
+    docker compose --env-file "$env_file" -f "$compose_file" run --rm test pytest "$@"
 }
 
 # Function to build documentation

.env

@@ -11,7 +11,7 @@
 PROJECT_NAME="airstack"
 # If you've run ./airstack.sh setup, then this will auto-generate from the git commit hash every time a change is made 
 # to a Dockerfile or docker-compose.yaml file. Otherwise this can also be set explicitly to make a release version.
-VERSION="0.18.0-alpha.5"
+VERSION="0.18.0-alpha.6"
 # Choose "dev" or "prebuilt". "dev" is for mounted code that must be built live. "prebuilt" is for built ros_ws baked into the image
 DOCKER_IMAGE_BUILD_MODE="dev"  
 # Where to push and pull images from. Can replace with your docker hub username if using docker hub.
@@ -37,8 +37,9 @@ PLAY_SIM_ON_START="false"
 # ===============================================
 
 # ================= MS-AIRSIM =====================
-MS_AIRSIM_ENV_DIR="../environments"
-MS_AIRSIM_BINARY_PATH="/ms-airsim-env/AbandonedPark/LinuxNoEditor/AbandonedPark.sh"
+# Do not set if you want airstack to fetch a simple blocks world.
+# MS_AIRSIM_ENV_DIR=./simulation/ms-airsim/assets/scenes
+# MS_AIRSIM_BINARY_PATH="/ms-airsim-env/Blocks/LinuxNoEditor/Blocks.sh"
 # =================================================
 
 # ================= ROBOT =====================

.github/runners/airstack-runner.service

@@ -0,0 +1,26 @@
+[Unit]
+Description=AirStack GitHub Actions Runner (ephemeral)
+Documentation=https://docs.github.com/en/actions/hosting-your-own-runners
+After=network-online.target docker.service
+Wants=network-online.target
+
+[Service]
+User=runner
+Group=runner
+WorkingDirectory=/opt/actions-runner
+
+# Place runtime configuration here (REPO_URL, RUNNER_LABELS, etc.).
+# Each line: KEY=value  (no quotes needed, no export keyword)
+EnvironmentFile=/etc/github-runner-env
+
+ExecStart=/opt/actions-runner/register-runner.sh
+
+# Restart unconditionally so the loop survives transient API errors or reboots.
+Restart=always
+RestartSec=5
+
+# Give the runner enough time to finish a long job before systemd kills it.
+TimeoutStopSec=120
+
+[Install]
+WantedBy=multi-user.target

.github/runners/register-runner.sh

@@ -0,0 +1,96 @@
+#!/usr/bin/env bash
+# AirStack ephemeral GitHub Actions runner loop.
+#
+# Registers a fresh runner, executes exactly one job, then loops to re-register.
+# The --ephemeral flag tells the GitHub API to remove the runner after one job,
+# preventing stale registrations and cross-job state pollution.
+#
+# Setup (one-time, on the OpenStack VM):
+#   1. Create a non-root runner user:
+#        sudo useradd -m -s /bin/bash runner
+#        sudo usermod -aG docker runner
+#
+#   2. Download and unpack the GitHub Actions runner into RUNNER_DIR:
+#        sudo mkdir -p /opt/actions-runner
+#        cd /opt/actions-runner
+#        # Get the latest runner URL from:
+#        # https://github.com/actions/runner/releases
+#        curl -Lo actions-runner.tar.gz <URL>
+#        tar xzf actions-runner.tar.gz
+#        sudo chown -R runner:runner /opt/actions-runner
+#
+#   3. Store a GitHub PAT (repo scope for private repos, public_repo for public):
+#        echo "ghp_YOUR_TOKEN_HERE" | sudo tee /etc/github-runner-pat
+#        sudo chmod 600 /etc/github-runner-pat
+#        sudo chown runner:runner /etc/github-runner-pat
+#
+#   4. Copy this script into the runner directory and make it executable:
+#        sudo cp register-runner.sh /opt/actions-runner/register-runner.sh
+#        sudo chown runner:runner /opt/actions-runner/register-runner.sh
+#        sudo chmod +x /opt/actions-runner/register-runner.sh
+#
+#   5. Install the systemd unit (see airstack-runner.service) and enable it:
+#        sudo cp airstack-runner.service /etc/systemd/system/
+#        sudo systemctl daemon-reload
+#        sudo systemctl enable --now airstack-runner.service
+#
+# Configuration: set these in /etc/github-runner-env (loaded by the systemd unit)
+# or export them before running this script manually.
+
+set -euo pipefail
+
+REPO_URL="${REPO_URL:-https://github.com/YOUR_ORG/AirStack}"
+# Derived from REPO_URL for the registration token API call, e.g. "YOUR_ORG/AirStack"
+REPO_PATH="${REPO_PATH:-$(echo "$REPO_URL" | sed 's|https://github.com/||')}"
+RUNNER_DIR="${RUNNER_DIR:-/opt/actions-runner}"
+PAT_FILE="${PAT_FILE:-/etc/github-runner-pat}"
+RUNNER_LABELS="${RUNNER_LABELS:-self-hosted,airstack,gpu}"
+RUNNER_GROUP="${RUNNER_GROUP:-Default}"
+
+if [ ! -f "$PAT_FILE" ]; then
+  echo "ERROR: PAT file not found at $PAT_FILE" >&2
+  exit 1
+fi
+
+echo "Starting ephemeral runner loop for $REPO_URL"
+
+while true; do
+  echo "[$(date -u +%FT%TZ)] Requesting registration token..."
+
+  TOKEN=$(curl -sf -X POST \
+    -H "Authorization: token $(cat "$PAT_FILE")" \
+    -H "Accept: application/vnd.github+json" \
+    "https://api.github.com/repos/${REPO_PATH}/actions/runners/registration-token" \
+    | jq -r .token)
+
+  if [ -z "$TOKEN" ] || [ "$TOKEN" = "null" ]; then
+    echo "ERROR: Failed to obtain registration token. Check PAT and repo path." >&2
+    sleep 30
+    continue
+  fi
+
+  echo "[$(date -u +%FT%TZ)] Configuring runner (ephemeral)..."
+
+  # --ephemeral: runner de-registers itself after completing one job.
+  # --replace: allows re-registration with the same name after a restart.
+  # Runner name encodes hostname + PID so parallel instances are unique.
+  "$RUNNER_DIR/config.sh" \
+    --url "$REPO_URL" \
+    --token "$TOKEN" \
+    --name "openstack-$(hostname -s)-$$" \
+    --labels "$RUNNER_LABELS" \
+    --runnergroup "$RUNNER_GROUP" \
+    --ephemeral \
+    --unattended \
+    --replace
+
+  echo "[$(date -u +%FT%TZ)] Runner configured. Waiting for a job..."
+
+  # run.sh blocks until the job completes, then returns (ephemeral runner exits cleanly).
+  "$RUNNER_DIR/run.sh" || true
+
+  echo "[$(date -u +%FT%TZ)] Job finished. Re-registering..."
+
+  # Brief pause to avoid hammering the API if config.sh / run.sh fail immediately.
+  sleep 2
+done