Include taped test in the CI pipeline

RobotecAI · Mar 19, 2024 · 918bf45 · 918bf45
1 parent 7238846
commit 918bf45
Showing 1 changed file with 20 additions and 11 deletions.
diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml
@@ -33,7 +33,7 @@ jobs:
     needs: [checkout-repository, load-env]
     uses: ./.github/workflows/build-subworkflow.yml
     with:
-      build-command: ./setup.py --build-dir build-core
+      build-command: ./setup.py --build-taped-test --build-dir build-core
       self-hosted-user-id: ${{ needs.load-env.outputs.user-id }}
       optix-install-dir: ${{ needs.load-env.outputs.optix-install-dir }}
       docker-image: localhost:5000/rgl:latest
@@ -42,7 +42,7 @@ jobs:
     needs: [checkout-repository, load-env]
     uses: ./.github/workflows/build-subworkflow.yml
     with:
-      build-command: './setup.py --with-pcl --build-dir build-pcl'
+      build-command: './setup.py --with-pcl --build-taped-test --build-dir build-pcl'
       self-hosted-user-id: ${{ needs.load-env.outputs.user-id }}
       optix-install-dir: ${{ needs.load-env.outputs.optix-install-dir }}
       docker-image: localhost:5000/rgl:latest
@@ -82,7 +82,7 @@ jobs:
     with:
       build-command: '
         source /opt/ros/humble/setup.bash &&
-        ./setup.py --with-pcl --with-ros2-standalone --with-udp --with-snow --build-dir build-all'
+        ./setup.py --with-pcl --with-ros2-standalone --with-udp --with-snow --build-taped-test --build-dir build-all'
       self-hosted-user-id: ${{ needs.load-env.outputs.user-id }}
       optix-install-dir: ${{ needs.load-env.outputs.optix-install-dir }}
       docker-image: localhost:5000/rgl:latest
@@ -92,14 +92,18 @@ jobs:
     needs: [build-core]
     uses: ./.github/workflows/test-subworkflow.yml
     with:
-      test-command: 'cd build-core/test && ./RobotecGPULidar_test'
+      test-command: '
+      export RGL_TAPED_TEST_DATA_DIR=$(pwd)/external/taped_test_data &&
+      cd build-core/test && ./RobotecGPULidar_test && ./RobotecGPULidar_taped_test'
       docker-image: localhost:5000/rgl:latest
 
   test-pcl-dev:
     needs: [ build-pcl ]
     uses: ./.github/workflows/test-subworkflow.yml
     with:
-      test-command: 'cd build-pcl/test && ./RobotecGPULidar_test'
+      test-command: '
+      export RGL_TAPED_TEST_DATA_DIR=$(pwd)/external/taped_test_data &&
+      cd build-pcl/test && ./RobotecGPULidar_test && ./RobotecGPULidar_taped_test'
       docker-image: localhost:5000/rgl:latest
 
   test-ros2-dev:
@@ -141,17 +145,20 @@ jobs:
         source /opt/ros/humble/setup.bash &&
         source /rgldep/radar_msgs/install/setup.bash &&
         export RGL_TEST_VLP16_CALIB_FILE=$(pwd)/extensions/udp/test/resources/Ros2Vlp16Calib.yaml &&
+        export RGL_TAPED_TEST_DATA_DIR=$(pwd)/external/taped_test_data &&
         cd build-all/test &&
-        export RMW_IMPLEMENTATION=rmw_fastrtps_cpp && ./RobotecGPULidar_test &&
-        export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp && ./RobotecGPULidar_test'
+        export RMW_IMPLEMENTATION=rmw_fastrtps_cpp && ./RobotecGPULidar_test && ./RobotecGPULidar_taped_test &&
+        export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp && ./RobotecGPULidar_test && ./RobotecGPULidar_taped_test'
       docker-image: localhost:5000/rgl:latest
 
 ###### TEST WITH CLEAN UBUNTU DOCKER IMAGE ######
   test-core-prod:
     needs: [build-core]
     uses: ./.github/workflows/test-subworkflow.yml
     with:
-      test-command: 'cd build-core/test && ./RobotecGPULidar_test'
+      test-command: '
+      export RGL_TAPED_TEST_DATA_DIR=$(pwd)/external/taped_test_data &&
+      cd build-core/test && ./RobotecGPULidar_test && ./RobotecGPULidar_taped_test'
       docker-image: nvidia/cuda:11.7.1-base-ubuntu22.04
 
   test-pcl-prod:
@@ -161,7 +168,8 @@ jobs:
       # Additionally, install PCL extension dependent libraries for runtime
       test-command: '
         apt update && apt install -y libxcursor1 libgl1 &&
-        cd build-pcl/test && ./RobotecGPULidar_test'
+        export RGL_TAPED_TEST_DATA_DIR=$(pwd)/external/taped_test_data &&
+        cd build-pcl/test && ./RobotecGPULidar_test && ./RobotecGPULidar_taped_test'
       docker-image: nvidia/cuda:11.7.1-base-ubuntu22.04
 
   test-ros2-prod:
@@ -202,6 +210,7 @@ jobs:
         apt update && apt install -y libxcursor1 libgl1 &&
         cd build-all/test &&
         cp -r ../ros2_standalone/*.so* ../ &&
-        export RMW_IMPLEMENTATION=rmw_fastrtps_cpp && ./RobotecGPULidar_test &&
-        export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp && ./RobotecGPULidar_test'
+        export RGL_TAPED_TEST_DATA_DIR=$(pwd)/external/taped_test_data &&
+        export RMW_IMPLEMENTATION=rmw_fastrtps_cpp && ./RobotecGPULidar_test && ./RobotecGPULidar_taped_test &&
+        export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp && ./RobotecGPULidar_test && ./RobotecGPULidar_taped_test'
       docker-image: nvidia/cuda:11.7.1-base-ubuntu22.04