RSDK-7558 Add extended motion tests (viamrobotics#4125)

Author: biotinker

.github/workflows/motion-pull-request-trusted.yml

@@ -23,3 +23,4 @@ jobs:
       github.event_name == 'workflow_dispatch' || 
       (github.event_name == 'pull_request_target' && (github.event.label.name == 'safe to test' || github.event.label.name == 'appimage') && contains(github.event.pull_request.labels.*.name, 'safe to test'))
     uses: viamrobotics/rdk/.github/workflows/motion-benchmarks.yml@main
+

.github/workflows/motion-tests.yml

@@ -0,0 +1,64 @@
+name: Motion Extended Tests
+
+on:
+  workflow_dispatch:
+  workflow_call:
+
+jobs:
+  check-files:
+    name: Check files
+    runs-on: ubuntu-latest
+    outputs:
+      EXTENDED_MOTION_TEST: ${{ steps.file_checker.outputs.EXTENDED_MOTION_TEST }}
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ github.event_name == 'pull_request_target' && github.event.pull_request.head.sha || github.ref }}
+          fetch-depth: 0
+      - name: check modified files
+        id: file_checker
+        run: |
+          ( git diff --name-only origin/${{github.base_ref}} | grep -e "motionplan" \
+            -e "referenceframe" \
+            -e "spatialmath" \
+            -e "components/base/wheeled" \
+            -e "components/base/kinematicbase" \
+            -e "components/encoder/fake" \
+            -e "components/motor/fake" \
+            -e "services/motion/builtin" && echo "EXTENDED_MOTION_TEST=true" >> "$GITHUB_OUTPUT" ) || \
+            ( echo "EXTENDED_MOTION_TEST=false" >> "$GITHUB_OUTPUT" )
+
+  motion-tests-extended:
+    name:  Motion Extended Tests
+    needs: check-files
+    runs-on: [buildjet-8vcpu-ubuntu-2204]
+    container: ghcr.io/viamrobotics/rdk-devenv:amd64-cache
+    if: ${{ needs.check-files.outputs.EXTENDED_MOTION_TEST == 'true' }}
+    timeout-minutes: 30
+    steps:
+
+    - name: Check out PR branch code
+      if: github.event_name == 'pull_request_target'
+      uses: actions/checkout@v3
+      with:
+        ref: ${{ github.event.pull_request.head.sha }}
+
+    - name: Check out code in motion-testing repository
+      uses: actions/checkout@v3
+      with:
+        repository: viamrobotics/motion-testing
+        path: motion-testing
+
+    - name: Change ownership to testbot
+      run: chown -R testbot:testbot .
+
+    - name: Run motion tests on PR branch
+      shell: bash
+      env: 
+        URL: ${{ github.event.pull_request.head.repo.html_url }}
+        SHA: ${{ github.event.pull_request.head.sha }}
+      run: |
+        cd motion-testing
+        go mod edit -replace go.viam.com/rdk=${URL#"https://"}@$SHA
+        sudo -Hu testbot bash -lc "go mod tidy && go test ./... -v -run TestMotionExtended"

.github/workflows/test.yml

@@ -200,6 +200,10 @@ jobs:
     - name: Run go unit tests on Pi
       run: make test-pi
 
+  motion_tests:
+    name: Test Longer-running Motion Plans if affected
+    uses: viamrobotics/rdk/.github/workflows/motion-tests.yml@main
+
   test_web_e2e:
     name: Test End-to-End and Web
     runs-on: [buildjet-4vcpu-ubuntu-2204]
@@ -236,7 +240,7 @@ jobs:
 
   test_passing:
     name: All Tests Passing
-    needs: [test_go, test_web_e2e, test_pi, test32]
+    needs: [test_go, test_web_e2e, test_pi, test32, motion_tests]
     runs-on: [ubuntu-latest]
     if: always()
     steps:
@@ -246,10 +250,12 @@ jobs:
           echo Go 32-bit Tests: ${{ needs.test32.result }}
           echo Go Pi Tests: ${{ needs.test_pi.result }}
           echo Web/E2E Tests: ${{ needs.test_web_e2e.result }}
+          echo Motion Tests: ${{ needs.motion_tests.result }}
           [ "${{ needs.test_go.result }}" == "success" ] && \
           [ "${{ needs.test32.result }}" == "success" ] && \
           [ "${{ needs.test_pi.result }}" == "success" ] && \
           [ "${{ needs.test_web_e2e.result }}" == "success" ]
+          [ "${{ needs.motion_tests.result }}" == "success" ]
 
       # Now that RDK is public, can't directly comment without token having full read/write access
       # code-coverage-comment.yml will trigger seperately and post the actual comments