From b37bb1157205e89fe23db73cf6392a9d7d68ad90 Mon Sep 17 00:00:00 2001 From: Jakub Delicat Date: Fri, 4 Oct 2024 08:16:43 +0000 Subject: [PATCH] Changed Licence | Added CI/CD Signed-off-by: Jakub Delicat --- .github/pull_request_template.md | 14 ++ .github/workflows/pre-commit.yaml | 11 + .github/workflows/protect-default-branch.yaml | 24 ++ .github/workflows/run-unit-tests.yaml | 79 ++++++ LICENSE | 230 +++++++++++++++--- 5 files changed, 329 insertions(+), 29 deletions(-) create mode 100644 .github/pull_request_template.md create mode 100644 .github/workflows/pre-commit.yaml create mode 100644 .github/workflows/protect-default-branch.yaml create mode 100644 .github/workflows/run-unit-tests.yaml diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md new file mode 100644 index 0000000..0da4113 --- /dev/null +++ b/.github/pull_request_template.md @@ -0,0 +1,14 @@ +### Description + +- + +### Requirements + +- [ ] Code style guidelines followed +- [ ] Documentation updated + +### Tests 🧪 + +- [ ] Robot +- [ ] Container +- [ ] Simulation diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml new file mode 100644 index 0000000..08f7311 --- /dev/null +++ b/.github/workflows/pre-commit.yaml @@ -0,0 +1,11 @@ +--- +name: Pre-Commit + +on: + push: + +jobs: + pre-commit: + uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master + with: + ros_distro: humble diff --git a/.github/workflows/protect-default-branch.yaml b/.github/workflows/protect-default-branch.yaml new file mode 100644 index 0000000..678daeb --- /dev/null +++ b/.github/workflows/protect-default-branch.yaml @@ -0,0 +1,24 @@ +--- +name: Validate PR head branch +on: + pull_request: + branches: + - ros2 + +jobs: + check-head-branch: + runs-on: ubuntu-latest + steps: + - name: Check allowed branches + run: | + pattern="^[0-9]+\.[0-9]+\.[0-9]+-[0-9]{8}$" # This regex matches the X.X.X-YYYYMMDD pattern + if [[ "${{ github.head_ref }}" == *"hotfix"* ]]; then + echo "PR from a branch containing 'hotfix' is allowed." + exit 0 + elif [[ "${{ github.head_ref }}" =~ $pattern ]]; then + echo "PR from a branch matching X.X.X-YYYYMMDD pattern is allowed." + exit 0 + else + echo "PRs must come from branches containing 'hotfix' phrase or matching X.X.X-YYYYMMDD pattern." + exit 1 + fi diff --git a/.github/workflows/run-unit-tests.yaml b/.github/workflows/run-unit-tests.yaml new file mode 100644 index 0000000..ca65b19 --- /dev/null +++ b/.github/workflows/run-unit-tests.yaml @@ -0,0 +1,79 @@ +--- +name: Run panther unit tests + +on: + workflow_dispatch: + # TODO: ENABLE WHEN READY + # 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/wibotic_ros + + - name: Resolve dependencies + working-directory: ros2_ws + run: | + 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 }} diff --git a/LICENSE b/LICENSE index 3f4d3f2..261eeb9 100644 --- a/LICENSE +++ b/LICENSE @@ -1,29 +1,201 @@ -BSD 3-Clause License - -Copyright © 2019, WiBotic Inc. -All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - -1. 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