name: Demo Tests
on:
push:
branches: [ main, develop ]
paths:
- 'demos/**'
- '.github/workflows/demo-tests.yml'
pull_request:
branches: [ main, develop ]
paths:
- 'demos/**'
- '.github/workflows/demo-tests.yml'
jobs:
test-demos:
runs-on: ubuntu-22.04
strategy:
matrix:
python-version: ['3.10', '3.11']
steps:
- name: Checkout code
uses: actions/checkout@v3
- name: Set up Python ${{ matrix.python-version }}
uses: actions/setup-python@v4
with:
python-version: ${{ matrix.python-version }}
- name: Install Python dependencies
run: |
python -m pip install --upgrade pip
pip install pytest pytest-cov pytest-asyncio pyyaml
- name: Install ROS2 Humble
run: |
sudo apt update
sudo apt install -y software-properties-common
sudo add-apt-repository universe
sudo apt update && sudo apt install -y curl gnupg lsb-release
# Add ROS2 apt repository
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
# Install ROS2 Humble base
sudo apt update
sudo apt install -y ros-humble-ros-base
- name: Install ros_gz packages
run: |
sudo apt install -y \
ros-humble-ros-gz-bridge \
ros-humble-ros-gz-interfaces
- name: Install rclpy
run: |
pip install rclpy
- name: Source ROS2
run: |
echo "source /opt/ros/humble/setup.bash" >> $GITHUB_ENV
- name: Lint Python code
run: |
pip install flake8
# Stop on syntax errors or undefined names
flake8 demos --count --select=E9,F63,F7,F82 --show-source --statistics
# Check for complexity and style (warnings only)
flake8 demos --count --exit-zero --max-complexity=10 --max-line-length=127 --statistics
- name: Test demo framework
run: |
cd demos
pytest framework/ -v --cov=framework --cov-report=xml --cov-report=term
- name: Test Hello World demo configuration
run: |
cd demos/01_hello_world
pytest test_hello_world_demo.py -v -k "config" --cov=. --cov-report=term
- name: Test Obstacle Course demo configuration
run: |
cd demos/02_obstacle_course
pytest test_obstacle_course_demo.py -v -k "config or file" --cov=. --cov-report=term
- name: Validate demo configurations
run: |
cd demos
python3 -c "
from framework import ConfigLoader
import sys
# Test Hello World config
try:
config = ConfigLoader.load_demo_config('01_hello_world/config.yaml')
is_valid, errors = ConfigLoader.validate_config(config)
if not is_valid:
print(f'Hello World config validation failed: {errors}')
sys.exit(1)
print('✓ Hello World config valid')
except Exception as e:
print(f'Hello World config error: {e}')
sys.exit(1)
# Test Obstacle Course config
try:
config = ConfigLoader.load_demo_config('02_obstacle_course/config.yaml')
is_valid, errors = ConfigLoader.validate_config(config)
if not is_valid:
print(f'Obstacle Course config validation failed: {errors}')
sys.exit(1)
print('✓ Obstacle Course config valid')
except Exception as e:
print(f'Obstacle Course config error: {e}')
sys.exit(1)
print('All configurations valid!')
"
- name: Check SDF syntax
run: |
# Check that SDF files are well-formed XML
sudo apt install -y libxml2-utils
echo "Checking obstacle_course.sdf..."
xmllint --noout demos/02_obstacle_course/worlds/obstacle_course.sdf
echo "Checking simple_robot.sdf..."
xmllint --noout demos/02_obstacle_course/models/simple_robot.sdf
echo "All SDF files valid!"
- name: Upload coverage reports
uses: codecov/codecov-action@v3
with:
files: ./demos/coverage.xml
flags: demos
name: demo-tests
- name: Test summary
if: always()
run: |
echo "## Test Results" >> $GITHUB_STEP_SUMMARY
echo "" >> $GITHUB_STEP_SUMMARY
echo "- ✅ Python linting passed" >> $GITHUB_STEP_SUMMARY
echo "- ✅ Framework tests passed" >> $GITHUB_STEP_SUMMARY
echo "- ✅ Demo configuration tests passed" >> $GITHUB_STEP_SUMMARY
echo "- ✅ Configuration validation passed" >> $GITHUB_STEP_SUMMARY
echo "- ✅ SDF syntax validation passed" >> $GITHUB_STEP_SUMMARY
echo "" >> $GITHUB_STEP_SUMMARY
echo "**Note**: Full demo execution requires Gazebo and is tested manually." >> $GITHUB_STEP_SUMMARY
lint-yaml:
runs-on: ubuntu-22.04
steps:
- name: Checkout code
uses: actions/checkout@v3
- name: Install yamllint
run: |
sudo apt install -y yamllint
- name: Lint YAML files
run: |
# Create yamllint config
cat > .yamllint.yml << EOF
extends: default
rules:
line-length:
max: 120
indentation:
spaces: 2
trailing-spaces: {}
document-start: disable
EOF
# Lint all YAML files in demos
yamllint -c .yamllint.yml demos/**/*.yaml demos/**/*.yml
- name: Validate workflow files
run: |
yamllint -c .yamllint.yml .github/workflows/*.yml
check-scripts:
runs-on: ubuntu-22.04
steps:
- name: Checkout code
uses: actions/checkout@v3
- name: Install shellcheck
run: |
sudo apt install -y shellcheck
- name: Check bash scripts
run: |
# Check all .sh files
find demos -name "*.sh" -type f -exec shellcheck {} \;
- name: Verify executables
run: |
# Check that demo scripts are executable
test -x demos/run_demo.py || exit 1
test -x demos/01_hello_world/hello_world_demo.py || exit 1
test -x demos/02_obstacle_course/obstacle_course_demo.py || exit 1
test -x demos/02_obstacle_course/setup.sh || exit 1
echo "All required files are executable!"
