rmcs_visual_mining/.github/workflows/gtest.yml at main · Alliance-Algorithm/rmcs_visual_mining · GitHub

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name: Run Test

on:
  pull_request:
    paths:
      - "src/**"
      - "test/**"
      - "tool/**"
      - "CMakeLists.txt"
      - "package.xml"
      - ".github/workflows/gtest.yml"
  workflow_dispatch:

concurrency:
  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
  cancel-in-progress: true

env:
  RMCS_REPO: https://github.com/Alliance-Algorithm/RMCS.git
  RMCS_REF: main
  HIKCAMERA_REPO: https://github.com/Alliance-Algorithm/ros2-hikcamera.git

jobs:
  test:
    runs-on: ubuntu-latest
    container:
      image: qzhhhi/rmcs-develop
      options: --user 0

    env:
      TEST_ASSETS_ROOT: /tmp/auto_aim

    steps:
      - name: Checkout rmcs_auto_aim_v2
        uses: actions/checkout@v4
        with:
          path: rmcs_auto_aim_v2

      - name: Clone RMCS workspace
        shell: bash
        run: |
          set -euo pipefail
          git clone --depth 1 --recurse-submodules --branch "${RMCS_REF}" "${RMCS_REPO}" /tmp/RMCS
          git clone --depth 1 "${HIKCAMERA_REPO}" /tmp/RMCS/rmcs_ws/src/hikcamera
          mkdir -p /tmp/RMCS/rmcs_ws/src/rmcs_auto_aim_v2
          tar -C "${GITHUB_WORKSPACE}/rmcs_auto_aim_v2" --exclude=".git" -cf - . \
            | tar -C /tmp/RMCS/rmcs_ws/src/rmcs_auto_aim_v2 -xf -

      - name: Install yq dependency
        run: |
          apt-get update
          apt-get install -y yq

      - name: Build RMCS workspace
        shell: bash
        working-directory: /tmp/RMCS/rmcs_ws
        run: |
          set -euo pipefail
          set +u
          source /opt/ros/jazzy/setup.bash
          set -u
          colcon build --packages-up-to rmcs_auto_aim_v2

      - name: Download test assets
        shell: bash
        run: |
          set -euo pipefail
          set +u
          source /opt/ros/jazzy/setup.bash
          source /tmp/RMCS/rmcs_ws/install/setup.bash
          set -u
          cd /tmp/RMCS/rmcs_ws/src/rmcs_auto_aim_v2/test
          TEST_ASSETS_ROOT="$TEST_ASSETS_ROOT" ./download_assets.sh

      - name: Configure test project
        shell: bash
        run: |
          set -euo pipefail
          set +u
          source /opt/ros/jazzy/setup.bash
          source /tmp/RMCS/rmcs_ws/install/setup.bash
          set -u
          cd /tmp/RMCS/rmcs_ws/src/rmcs_auto_aim_v2/test
          cmake -S . -B build -DCMAKE_BUILD_TYPE=Release

      - name: Build test project
        shell: bash
        run: |
          set -euo pipefail
          set +u
          source /opt/ros/jazzy/setup.bash
          source /tmp/RMCS/rmcs_ws/install/setup.bash
          set -u
          cd /tmp/RMCS/rmcs_ws/src/rmcs_auto_aim_v2/test
          cmake --build build --parallel

      - name: Run gtests
        shell: bash
        run: |
          set -euo pipefail
          set +u
          source /opt/ros/jazzy/setup.bash
          source /tmp/RMCS/rmcs_ws/install/setup.bash
          set -u
          cd /tmp/RMCS/rmcs_ws/src/rmcs_auto_aim_v2/test
          ctest --test-dir build --output-on-failure