Support multiple versions of Fast DDS in CI

Signed-off-by: Raul Sanchez-Mateos <[email protected]>
eProsima · May 13, 2024 · 255c0c9 · 255c0c9
1 parent 947abed
commit 255c0c9
Show file tree

Hide file tree

Showing 7 changed files with 572 additions and 317 deletions.
diff --git a/.github/actions/project_dependencies/action.yml b/.github/actions/project_dependencies/action.yml
@@ -11,6 +11,13 @@ inputs:
     description: Specify cmake_build_type option to download specific artifact
     required: true
 
+  custom_version_build:
+    description: >
+      Use the custom version build from eProsima-CI.
+      If set to false, the workflow will run the tests for Fast DDS v2 and v3.
+    required: true
+    default: 'custom'
+
   dependencies_artifact_postfix:
     description: Specify artifact postfix in case it wants to use a manual one
     required: false
@@ -47,7 +54,7 @@ runs:
     - name: Download dependencies artifact
       uses: eProsima/eProsima-CI/multiplatform/download_dependency@v0
       with:
-        artifact_name: built_ddspipe_${{ inputs.os }}_${{ inputs.cmake_build_type }}${{ inputs.dependencies_artifact_postfix }}
+        artifact_name: built_ddspipe_${{ inputs.custom_version_build }}_${{ inputs.os }}_${{ inputs.cmake_build_type }}${{ inputs.dependencies_artifact_postfix }}
         workflow_source: build_ddspipe.yml
         workflow_source_repository: eProsima/eProsima-CI
         target_workspace: ${{ inputs.target_workspace }}

diff --git a/.github/docker/ddsrouter/Dockerfile b/.github/docker/ddsrouter/Dockerfile
@@ -43,7 +43,7 @@ WORKDIR /ddsrouter
 
 
 ARG fastcdr_branch=master
-ARG fastdds_branch=master
+ARG fastdds_branch=2.x
 ARG devutils_branch=main
 ARG ddspipe_branch=main
 ARG ddsrouter_branch=main

diff --git a/.github/docker/vulcanexus/Dockerfile b/.github/docker/vulcanexus/Dockerfile
@@ -1,7 +1,7 @@
 ARG docker_image_base
 FROM $docker_image_base
 
-LABEL author=javierparis@eprosima.com
+LABEL author=raul@eprosima.com
 
 # Avoid interactuation with installation of some package that needs the locale.
 ENV TZ=Europe/Madrid

diff --git a/.github/workflows/docker-reusable-workflow.yml b/.github/workflows/docker-reusable-workflow.yml
@@ -0,0 +1,136 @@
+name: docker-reusable-workflow
+
+on:
+  workflow_call:
+    inputs:
+
+      fastcdr_branch:
+        description: 'Branch or tag of Fast CDR repository (https://github.com/eProsima/Fast-CDR)'
+        required: true
+        default: 'master'
+        type: string
+
+      fastdds_branch:
+        description: 'Branch or tag of Fast DDS repository (https://github.com/eProsima/Fast-DDS)'
+        required: true
+        default: 'master'
+        type: string
+
+      ddspipe_branch:
+        description: 'Branch or tag of DDS Pipe repository (https://github.com/eProsima/DDS-Pipe)'
+        required: true
+        default: 'main'
+        type: string
+
+      ddsrouter_branch:
+        description: 'Branch or tag of DDS Router repository (https://github.com/eProsima/DDS-Router)'
+        required: true
+        default: 'main'
+        type: string
+
+      custom_version_build:
+        description: >
+          Version of Fast DDS build from eProsima-CI.
+        required: true
+        type: string
+
+      dependencies_artifact_postfix:
+        description: 'Postfix name to add to artifact name to download dependencies. This is use to download a specific artifact version from eProsima-CI.'
+        required: true
+        default: '_nightly'
+        type: string
+
+env:
+  code_packages_names: 'ddsrouter_test'
+  docs_packages_names: ''
+
+jobs:
+  docker-test:
+
+    runs-on: ubuntu-22.04
+
+    env:
+      DDSROUTER_COMPOSE_TEST_DOCKER_IMAGE: "ddsrouter:ci"
+      DDSROUTER_COMPOSE_TEST_ROS2_DOCKER_IMAGE: "vulcanexus:ci"
+
+    steps:
+
+      - name: Sync repository
+        uses: eProsima/eProsima-CI/external/checkout@v0
+        with:
+          path: ${{ github.workspace }}/src
+
+      # Build Vulcanexus Docker image
+      - name: Build custom Vulcanexus Docker image
+        run: |
+          cd ./src/.github/docker/vulcanexus
+          docker build \
+            --no-cache \
+            --build-arg docker_image_base=eprosima/vulcanexus:humble-core \
+            -t ${{ env.DDSROUTER_COMPOSE_TEST_ROS2_DOCKER_IMAGE }} \
+            -f Dockerfile .
+
+      # Build DDS Router Docker image
+      - name: Build DDS Router Docker image
+        run: |
+          cd ./src/.github/docker/ddsrouter
+          docker build \
+            --no-cache \
+            --build-arg fastcdr_branch=${{ inputs.fastcdr_branch }} \
+            --build-arg fastdds_branch=${{ inputs.fastdds_branch }} \
+            --build-arg ddspipe_branch=${{ inputs.ddspipe_branch }} \
+            --build-arg ddsrouter_branch=${{ inputs.ddsrouter_branch }} \
+            -t ${{ env.DDSROUTER_COMPOSE_TEST_DOCKER_IMAGE }} \
+            -f Dockerfile .
+
+      # Check Docker images exist
+      - name: Check if Docker images exist
+        run: |
+          [ -n "$(docker images -q ${{ env.DDSROUTER_COMPOSE_TEST_DOCKER_IMAGE }})" ] || echo "DDS Router Docker image does not exists"
+          [ -n "$(docker images -q ${{ env.DDSROUTER_COMPOSE_TEST_ROS2_DOCKER_IMAGE }})" ] || echo "Vulcanexus image does not exists"
+
+      - name: Download dependencies and install requirements
+        uses: ./src/.github/actions/project_dependencies
+        with:
+          os: ubuntu-22.04
+          cmake_build_type: "Release"
+          custom_version_build: ${{ inputs.custom_version_build }}
+          dependencies_artifact_postfix: ${{ inputs.dependencies_artifact_postfix }}
+          secret_token: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Compile docker tests
+        uses: eProsima/eProsima-CI/multiplatform/colcon_build@v0
+        with:
+          workspace: ${{ github.workspace }}
+          colcon_build_args: --packages-up-to ddsrouter_test
+          cmake_args: -DBUILD_COMPOSE_TESTS=ON -DCMAKE_BUILD_TYPE=Release
+          workspace_dependencies: ${{ github.workspace }}/install
+          colcon_meta_file: ${{ github.workspace }}/src/.github/workflows/configurations/${{ runner.os }}/colcon.meta
+
+      # Run ddsrouter_test compose tests
+      - name: Run flaky tests
+        continue-on-error: true
+        run: |
+          export DDSROUTER_COMPOSE_TEST_DOCKER_IMAGE=${{ env.DDSROUTER_COMPOSE_TEST_DOCKER_IMAGE }}
+          export DDSROUTER_COMPOSE_TEST_ROS2_DOCKER_IMAGE=${{ env.DDSROUTER_COMPOSE_TEST_ROS2_DOCKER_IMAGE }}
+          source ${{ github.workspace }}/install/setup.bash
+          colcon test \
+            --packages-select ddsrouter_test \
+            --event-handlers console_direct+ \
+            --return-code-on-test-failure \
+            --ctest-args \
+              --label-regex xfail \
+              --timeout 120
+
+      - name: Run tests
+        run: |
+          export DDSROUTER_COMPOSE_TEST_DOCKER_IMAGE=${{ env.DDSROUTER_COMPOSE_TEST_DOCKER_IMAGE }}
+          export DDSROUTER_COMPOSE_TEST_ROS2_DOCKER_IMAGE=${{ env.DDSROUTER_COMPOSE_TEST_ROS2_DOCKER_IMAGE }}
+          source ${{ github.workspace }}/install/setup.bash
+          colcon test \
+            --packages-select ddsrouter_test \
+            --event-handlers console_direct+ \
+            --return-code-on-test-failure \
+            --ctest-args \
+              --label-exclude xfail \
+              --timeout 120
diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
@@ -0,0 +1,53 @@
+# Nightly test workflow for DDS Router
+name: nightly
+
+on:
+  schedule:
+    - cron: '0 5 * * *'
+
+jobs:
+
+  reusable_tests_v2:
+    name: reusable_tests_v2
+    uses: ./.github/workflows/reusable-workflow.yml
+    with:
+      custom_version_build: 'v2'
+      dependencies_artifact_postfix: '_nightly'
+    secrets: inherit
+
+  # Uncomment this block to run the tests for Fast DDS v3 when DDS Router is updated
+  # Also specify here (and above) the workflow version/branch to use (@v0, @main, etc.)
+  # reusable_tests_v3:
+  #   name: reusable_tests_v3
+  #   uses: ./.github/workflows/reusable-workflow.yml
+  #   with:
+  #     custom_version_build: 'v3'
+  #     dependencies_artifact_postfix: '_nightly'
+  #   secrets: inherit
+
+  reusable_docker_tests_v2:
+    name: reusable_docker_tests_v2
+    uses: ./.github/workflows/docker-reusable-workflow.yml
+    with:
+      fastcdr_branch: 'master'
+      fastdds_branch: '2.x'
+      ddspipe_branch: 'main'
+      ddsrouter_branch: 'main'
+      custom_version_build: 'v2'
+      dependencies_artifact_postfix: '_nightly'
+    secrets: inherit
+
+  # Uncomment this block to run the tests for Fast DDS v3 when DDS Router is updated
+  # Also specify here (and above) the workflow version/branch to use (@v0, @main, etc.)
+  # reusable_docker_tests_v3:
+  #   name: reusable_docker_tests_v3
+  #   uses: ./.github/workflows/docker-reusable-workflow.yml
+  #   with:
+  #     fastcdr_branch: 'master'
+  #     fastdds_branch: '3.x'
+  #     ddspipe_branch: 'main'
+  #     ddsrouter_branch: 'main'
+  #     custom_version_build: 'v3'
+  #     dependencies_artifact_postfix: '_nightly'
+  #   secrets: inherit
+