Multi robot spawn working #17
Workflow file for this run
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| --- | |
| name: Run panther unit tests | |
| on: | |
| workflow_dispatch: | |
| pull_request: | |
| branches: | |
| - ros2-devel | |
| jobs: | |
| test: | |
| name: Run unit tests | |
| runs-on: self-hosted | |
| env: | |
| HUSARION_ROS_BUILD_TYPE: hardware | |
| ROS_DISTRO: humble | |
| TEST_RESULT_FILENAME: last_run_results.txt | |
| COVERAGE_RESULT_FILENAME: coverage_results.log | |
| steps: | |
| - name: Prepare filesystem | |
| working-directory: ${{ runner.temp }} | |
| run: | | |
| touch ${{ env.TEST_RESULT_FILENAME }} | |
| touch ${{ env.COVERAGE_RESULT_FILENAME }} | |
| - name: Checkout repository | |
| uses: actions/checkout@v3 | |
| with: | |
| ref: ${{ github.ref }} | |
| path: ros2_ws/src/panther_ros | |
| - name: Resolve dependencies | |
| working-directory: ros2_ws | |
| run: | | |
| vcs import < src/panther_ros/panther/panther_hardware.repos src | |
| sudo apt update | |
| rosdep update --rosdistro $ROS_DISTRO | |
| rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y | |
| - name: Build | |
| working-directory: ros2_ws | |
| run: | | |
| source /opt/ros/$ROS_DISTRO/setup.bash | |
| if [ -f install/setup.bash ]; then source install/setup.bash; fi | |
| colcon build --symlink-install --parallel-workers $(nproc) --packages-up-to panther --cmake-args -DCMAKE_CXX_FLAGS='-fprofile-arcs -ftest-coverage' | |
| - name: Test | |
| working-directory: ros2_ws | |
| run: | | |
| source install/setup.bash | |
| colcon test --packages-up-to panther --retest-until-pass 10 --event-handlers console_cohesion+ --return-code-on-test-failure | |
| echo "result=$?" >> ${{ runner.temp }}/${{ env.TEST_RESULT_FILENAME }} | |
| colcon lcov-result --packages-up-to panther --verbose >> ${{ runner.temp }}/${{ env.COVERAGE_RESULT_FILENAME }} | |
| lines_cov=$(cat ${{ runner.temp }}/${{ env.COVERAGE_RESULT_FILENAME }} | grep -E 'lines' | head -1) | |
| functions_cov=$(cat ${{ runner.temp }}/${{ env.COVERAGE_RESULT_FILENAME }} | grep -E 'functions' | head -1) | |
| branches_cov=$(cat ${{ runner.temp }}/${{ env.COVERAGE_RESULT_FILENAME }} | grep -E 'branches' | head -1) | |
| echo "lines_cov=$lines_cov">> ${{ runner.temp }}/${{ env.TEST_RESULT_FILENAME }} | |
| echo "functions_cov=$functions_cov" >> ${{ runner.temp }}/${{ env.TEST_RESULT_FILENAME }} | |
| echo "branches_cov=$branches_cov" >> ${{ runner.temp }}/${{ env.TEST_RESULT_FILENAME }} | |
| - name: Collect unit tests output | |
| working-directory: ${{ runner.temp }} | |
| id: unit-tests-output | |
| run: cat ${{ env.TEST_RESULT_FILENAME }} >> "$GITHUB_OUTPUT" | |
| - name: Validate tests result | |
| uses: nick-fields/assert-action@v1 | |
| with: | |
| expected: 0 | |
| actual: ${{ steps.unit-tests-output.outputs.result }} | |
| - name: Comment PR | |
| uses: thollander/actions-comment-pull-request@v2 | |
| with: | |
| message: | | |
| **Test coverage of modified packages:** | |
| ${{ steps.unit-tests-output.outputs.lines_cov }} | |
| ${{ steps.unit-tests-output.outputs.functions_cov }} | |
| ${{ steps.unit-tests-output.outputs.branches_cov }} |