[ci] added dry-run

robotology · Apr 10, 2023 · 2f7c1c2 · 2f7c1c2
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diff --git a/.github/workflows/dry-run.yml b/.github/workflows/dry-run.yml
@@ -0,0 +1,161 @@
+name: Dry-Run
+
+on:
+  schedule:
+    - cron:  '0 0 * * MON'
+  workflow_dispatch:
+
+jobs:
+  build:
+    name: '[${{ matrix.os }}@${{ matrix.build_type }}]'
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        build_type: [Release]
+        os: [ubuntu-latest]
+
+    steps:
+    - uses: actions/checkout@main
+      with:
+        ref: devel
+
+    # Remove apt repos that are known to break from time to time
+    # See https://github.com/actions/virtual-environments/issues/323
+    - name: Remove broken apt repos
+      run: |
+        for apt_file in `grep -lr microsoft /etc/apt/sources.list.d/`; do sudo rm $apt_file; done
+
+    # ============
+    # DEPENDENCIES
+    # ============
+    - name: Dependencies
+      run: |
+        sudo apt update
+        sudo apt install git build-essential cmake libace-dev libtinyxml-dev coinor-libipopt-dev libeigen3-dev libgsl-dev \
+                         xmlstarlet zip
+
+    - name: Determine Source-based Dependencies required versions
+      shell: bash
+      run: |
+        cd ${GITHUB_WORKSPACE}/..
+        git clone https://github.com/robotology/icub-main.git --depth 1 --branch devel
+        cd icub-main
+
+        grep -m 1 YCM_REQUIRED_VERSION CMakeLists.txt | sed "s/[^0-9.]//g" >> YCM_VERSION.txt
+        grep -m 1 YARP_REQUIRED_VERSION CMakeLists.txt | sed "s/[^0-9.]//g" >> YARP_VERSION.txt
+        echo "ycm_version=$(cat YCM_VERSION.txt)" >> $GITHUB_ENV
+        echo "yarp_version=$(cat YARP_VERSION.txt)" >> $GITHUB_ENV
+
+        grep -m 1 icub_firmware_shared_VERSION conf/iCubFindDependencies.cmake | sed "s/[^0-9.]//g" >> icub_firmware_shared_VERSION.txt
+        gh --repo robotology/icub-firmware-shared release list >> icub_firmware_shared_RELEASES.txt
+        if grep -q $(cat icub_firmware_shared_VERSION.txt) icub_firmware_shared_RELEASES.txt; then
+          echo "icub_firmware_shared_branch=v$(cat icub_firmware_shared_VERSION.txt)" >> $GITHUB_ENV
+        else
+          echo "icub_firmware_shared_branch=devel" >> $GITHUB_ENV
+        fi
+      env:
+        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
+    - name: Source-based Dependencies
+      shell: bash
+      run: |
+        # ycm
+        cd ${GITHUB_WORKSPACE}/..
+        git clone https://github.com/robotology/ycm.git --depth 1 --branch v${{ env.ycm_version }}
+        cd ycm && mkdir -p build && cd build
+        cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..
+        cmake --build . --config ${{ matrix.build_type }} --target install
+
+        # yarp
+        cd ${GITHUB_WORKSPACE}/..
+        git clone https://github.com/robotology/yarp.git --depth 1 --branch v${{ env.yarp_version }}
+        cd yarp && mkdir -p build && cd build
+        cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
+        -DYARP_COMPILE_DEVICE_PLUGINS:BOOL=ON -DYARP_COMPILE_CARRIER_PLUGINS:BOOL=OFF -DYARP_COMPILE_PORTMONITOR_PLUGINS:BOOL=OFF -DYARP_COMPILE_EXECUTABLES:BOOL=ON ..
+        cmake --build . --config ${{ matrix.build_type }} --target install
+
+        # icub-firmware-shared
+        cd ${GITHUB_WORKSPACE}/..
+        git clone https://github.com/robotology/icub-firmware-shared.git --depth 1 --branch ${{ env.icub_firmware_shared_branch }}
+        cd icub-firmware-shared && mkdir -p build && cd build
+        cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..
+        cmake --build . --config ${{ matrix.build_type }} --target install
+
+        # icub-main
+        cd ${GITHUB_WORKSPACE}/..
+        cd icub-main && mkdir -p build && cd build
+        cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
+              -DBUILD_SHARED_LIBS:BOOL=OFF \
+              -DICUB_USE_icub_firmware_shared:BOOL=ON \
+              -DENABLE_icubmod_skinWrapper:BOOL=ON \
+              -DENABLE_icubmod_sharedcan:BOOL=ON \
+              -DENABLE_icubmod_canmotioncontrol:BOOL=ON \
+              -DENABLE_icubmod_canBusAnalogSensor:BOOL=ON \
+              -DENABLE_icubmod_canBusInertialMTB:BOOL=ON \
+              -DENABLE_icubmod_canBusSkin:BOOL=ON \
+              -DENABLE_icubmod_canBusVirtualAnalogSensor:BOOL=ON \
+              -DENABLE_icubmod_embObjFTsensor:BOOL=ON \
+              -DENABLE_icubmod_embObjIMU:BOOL=ON \
+              -DENABLE_icubmod_embObjInertials:BOOL=ON \
+              -DENABLE_icubmod_embObjMais:BOOL=ON \
+              -DENABLE_icubmod_embObjMotionControl:BOOL=ON \
+              -DENABLE_icubmod_embObjBattery:BOOL=ON \
+              -DENABLE_icubmod_embObjSkin:BOOL=ON \
+              -DENABLE_icubmod_embObjStrain:BOOL=ON \
+              -DENABLE_icubmod_embObjMultipleFTsensors:BOOL=ON \
+              -DENABLE_icubmod_parametricCalibrator:BOOL=ON \
+              -DENABLE_icubmod_parametricCalibratorEth:BOOL=ON \
+              -DENABLE_icubmod_cartesiancontrollerserver:BOOL=ON ..
+        cmake --build . --config ${{ matrix.build_type }} --target install
+
+        # icub-contrib-common
+        cd ${GITHUB_WORKSPACE}/..
+        git clone https://github.com/robotology/icub-contrib-common.git --depth 1
+        cd icub-contrib-common && mkdir -p build && cd build
+        cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..
+        cmake --build . --config ${{ matrix.build_type }} --target install 
+
+    - name: Extend Path
+      shell: bash
+      run: |
+        echo "${GITHUB_WORKSPACE}/install/bin" >> $GITHUB_PATH
+        echo "YARP_DATA_DIRS=${GITHUB_WORKSPACE}/install/share/yarp:${GITHUB_WORKSPACE}/install/share/iCub:${GITHUB_WORKSPACE}/install/share/ICUBcontrib" >> $GITHUB_ENV
+
+    # ===================
+    # CMAKE-BASED PROJECT
+    # ===================
+    - name: Configure
+      shell: bash
+      run: |
+        mkdir -p build
+        cd build
+        cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install \
+              -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
+              -DBUILD_TESTING:BOOL=ON \
+              -DINSTALL_ALL_ROBOTS:BOOL=ON ..
+
+    - name: Build
+      shell: bash
+      run: |
+        cd build
+        cmake --build . --config ${{ matrix.build_type }}
+        
+    - name: Install
+      shell: bash
+      run: |
+        cd build
+        cmake --build . --config ${{ matrix.build_type }} --target install
+
+    - name: Test
+      shell: bash
+      run: |
+        cd build
+        ctest --timeout 60 --output-on-failure
+        zip -q dry-run_log.zip dry-run_log_*.txt
+
+    - name: Upload Output
+      uses: actions/upload-artifact@main
+      with:
+        name: dry-run
+        path: dry-run_log.zip
+        retention-days: 30
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -21,6 +21,12 @@ set(ROBOT_DIR "${CMAKE_CURRENT_SOURCE_DIR}/${ROBOT_NAME}")
 
 icubcontrib_set_default_prefix()
 
+if(UNIX)
+    find_program(BASH_PROGRAM bash)
+    include(CTest)
+    enable_testing()
+endif()
+
 if(INSTALL_ALL_ROBOTS)
     # List the subdirectories (http://stackoverflow.com/questions/7787823/cmake-how-to-get-the-name-of-all-subdirectories-of-a-directory)
     macro(SUBDIRLIST result curdir)
@@ -43,6 +49,11 @@ if(INSTALL_ALL_ROBOTS)
         if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/${dir}/CMakeLists.txt)
             message(STATUS "Exists")
             add_subdirectory(${dir})
+            if(BASH_PROGRAM)
+                set(test_name "dry-run_${dir}")
+                add_test(NAME ${test_name} COMMAND ${BASH_PROGRAM} ${CMAKE_CURRENT_SOURCE_DIR}/scripts/dry-run/dry-run.sh ${dir})
+                message(STATUS "Also added test ${test_name}")
+            endif()
         else()
             message(STATUS "Does not")
         endif()

diff --git a/scripts/dry-run/dry-run.sh b/scripts/dry-run/dry-run.sh
@@ -0,0 +1,75 @@
+#!/usr/bin/bash
+################################################################################
+#                                                                              #
+# Copyright (C) 2023 Fondazione Istitito Italiano di Tecnologia (IIT)          #
+# All Rights Reserved.                                                         #
+#                                                                              #
+################################################################################
+
+# search for paths
+echo "Searching for required resources..."
+file_yri=$(YARP_ROBOT_NAME=$1 yarp resource --context yarprobotinterface --from yarprobotinterface.ini | tail -1 | sed 's/\"//g')
+dir_robot=$(dirname ${file_yri})
+file_general=$(find ${dir_robot} -name "general.xml")
+file_pc104=$(find ${dir_robot} -name "pc104.xml")
+
+# skip if not enough info
+if [[ ! -f "${file_yri}" || ! -f "${file_general}" || ! -f "${file_pc104}" ]]; then
+  echo "$1 robot doesn't contain the info required for performing dry-run → skipped!"
+  exit 0
+fi
+
+# prepare for dry-run
+echo "Preparing the robot..."
+xmlstarlet edit --inplace --update "/params/group/param[@name='skipCalibration']" --value 'true' ${file_general}
+xmlstarlet edit --inplace --delete "/params/group[@name='DEBUG']" ${file_pc104}
+xmlstarlet edit --inplace --subnode /params --type elem --name "group" --var new_node '$prev' \
+                --insert '$new_node' --type attr --name "name" --value 'DEBUG' ${file_pc104}
+xmlstarlet edit --inplace --subnode "/params/group[@name='DEBUG']" --type elem --name "param" --var new_node '$prev' \
+                --insert '$new_node' --type attr --name "name" --value 'embBoardsConnected' ${file_pc104}
+xmlstarlet edit --inplace --update "/params/group[@name='DEBUG']/param" --value '0' ${file_pc104}
+
+# perform dry-run
+echo "Starting yarpserver..."
+yarpserver --write --silent &
+yarp wait /root
+
+echo "Starting yarprobotinterface..."
+log_file=dry-run_log_$1.txt
+YARP_ROBOT_NAME=$1 yarprobotinterface > ${log_file} 2>&1 &
+
+# robot_port may not be opened → we cannot use `yarp wait`
+robot_port=/$1/yarprobotinterface
+echo "Checking the existence of ${robot_port}..."
+for i in {1..5}
+do
+  if yarp exists ${robot_port}; then
+    echo "${robot_port} is active"
+    break
+  fi
+  sleep 1
+done
+
+echo "Checking shutdown condition..."
+while true
+do
+  response=$(echo "get_phase" | yarp rpc ${robot_port})
+  if [[ "${response}" == *"run"* ]]; then
+    echo "yarprobotinterface was running happily"
+    break
+  fi
+
+  if ! pgrep yarprobotinterface > /dev/null; then
+    echo "yarprobotinterface didn't run correctly"
+    break
+  fi
+  sleep 1
+done
+
+# clean up
+echo "Cleaning up..."
+killall yarpserver
+
+# parse the log
+
+exit 0