Make spline functions return whether the robot is moving or not #249
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| name: Integration tests | |
| on: [push, pull_request] | |
| jobs: | |
| build: | |
| timeout-minutes: 30 | |
| runs-on: ubuntu-latest | |
| name: build (${{matrix.env.URSIM_VERSION}}-${{matrix.env.ROBOT_MODEL}}) | |
| strategy: | |
| matrix: | |
| env: | |
| - DOCKER_RUN_OPTS: --network ursim_net | |
| BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101' | |
| CTEST_OUTPUT_ON_FAILURE: 1 | |
| ROBOT_MODEL: 'ur5' | |
| URSIM_VERSION: '3.14.3' | |
| PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/cb3' | |
| - DOCKER_RUN_OPTS: --network ursim_net | |
| BEFORE_INIT: 'apt-get update -qq && apt-get install -y iproute2 iputils-ping && ip addr && ping -c5 192.168.56.101' | |
| CTEST_OUTPUT_ON_FAILURE: 1 | |
| ROBOT_MODEL: 'ur5e' | |
| URSIM_VERSION: '5.9.4' | |
| PROGRAM_FOLDER: 'tests/resources/dockerursim/programs/e-series' | |
| steps: | |
| - uses: actions/checkout@v1 | |
| - name: start ursim | |
| run: | | |
| scripts/start_ursim.sh -m $ROBOT_MODEL -v $URSIM_VERSION -p $PROGRAM_FOLDER -d | |
| env: ${{matrix.env}} | |
| - name: install gtest | |
| run: sudo apt-get install -y libgtest-dev | |
| - name: install boost | |
| run: sudo apt-get install -y libboost-dev | |
| - name: configure | |
| run: mkdir build && cd build && cmake .. -DBUILDING_TESTS=1 -DINTEGRATION_TESTS=1 -DWITH_ASAN=ON | |
| env: | |
| CXXFLAGS: -g -O2 -fprofile-arcs -ftest-coverage | |
| CFLAGS: -g -O2 -fprofile-arcs -ftest-coverage | |
| LDFLAGS: -fprofile-arcs -ftest-coverage | |
| - name: build | |
| run: cmake --build build --config Debug | |
| - name: Create folder for test artifacts | |
| run: mkdir -p test_artifacts | |
| - name: test | |
| run: cd build && ctest --output-on-failure | |
| - name: run examples | |
| run: ./run_examples.sh "192.168.56.101" 1 | |
| - name: install gcovr | |
| run: sudo apt-get install -y gcovr | |
| - name: gcovr | |
| run: cd build && gcovr -r .. | |
| - name: Upload coverage to Codecov | |
| uses: codecov/codecov-action@v3 | |
| with: | |
| gcov: true | |
| - name: Generate URSim log files | |
| if: always() | |
| run: | | |
| nc -q 1 192.168.56.101 29999 <<END | |
| saveLog | |
| END | |
| mkdir -p ursim_logs | |
| docker cp ursim:/ursim/URControl.log ursim_logs/URControl.log | |
| docker cp ursim:/ursim/polyscope.log ursim_logs/polyscope.log | |
| docker cp ursim:/ursim/log_history.txt ursim_logs/log_history.txt | |
| - name: Copy flight reports | |
| if: failure() | |
| run: | | |
| mkdir -p ursim_logs/flightreports | |
| docker cp ursim:/ursim/flightreports/. ursim_logs/flightreports/ | |
| - name: Upload logfiles | |
| uses: actions/upload-artifact@v3 | |
| if: always() | |
| with: | |
| name: ${{matrix.env.ROBOT_MODEL}}_${{matrix.env.URSIM_VERSION}}_URSim_Logs | |
| path: ursim_logs | |
| if-no-files-found: error | |
| retention-days: 10 | |
| - name: Upload test artifacts | |
| uses: actions/upload-artifact@v3 | |
| if: always() | |
| with: | |
| name: ${{matrix.env.ROBOT_MODEL}}_${{matrix.env.URSIM_VERSION}}_test_artifacts | |
| path: test_artifacts | |
| if-no-files-found: error | |
| retention-days: 10 | |
| check_links: | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v2 | |
| - name: Check URLs | |
| run: | | |
| .github/helpers/check_urls.sh -rI \ | |
| --exclude-dir=.git \ | |
| --exclude-dir=build/ \ | |
| --exclude-dir=tests \ | |
| --exclude=package.xml \ | |
| --exclude-dir=CMakeModules \ | |
| --exclude=tcp_socket.cpp \ | |
| --exclude-dir=debian \ | |
| --exclude=dataflow.graphml \ | |
| --exclude=start_ursim.sh | |
| rosdoc_lite_check: | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v1 | |
| - uses: ./.github/actions/rosdoc_lite_action |