Package restricted replay evaluation data #12
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| name: CI | |
| on: | |
| push: | |
| branches: | |
| - main | |
| pull_request: | |
| workflow_dispatch: | |
| permissions: | |
| contents: read | |
| jobs: | |
| docker-build-and-smoke: | |
| runs-on: ubuntu-latest | |
| env: | |
| BTOPS_REPOSITORY: ${{ vars.BTOPS_REPOSITORY || 'Radon213/btops_ws' }} | |
| BTOPS_REF: ${{ vars.BTOPS_REF || 'cda8abb706d1c5c4132f7661d83a33c4c5b65e9c' }} | |
| BTOPS_LOCAL_CONTEXT: ./btops_ws | |
| AUTO_APMS_REPO_URL: ${{ vars.AUTO_APMS_REPO_URL || 'https://github.com/AutoAPMS/auto-apms.git' }} | |
| AUTO_APMS_REF: ${{ vars.AUTO_APMS_REF || '19ac8d558e35f657b8464694c5ddc524c6c31861' }} | |
| steps: | |
| - name: Checkout taskplanner | |
| uses: actions/checkout@v4 | |
| - name: Checkout BT Ops | |
| uses: actions/checkout@v4 | |
| with: | |
| repository: ${{ env.BTOPS_REPOSITORY }} | |
| ref: ${{ env.BTOPS_REF }} | |
| path: btops_ws | |
| ssh-key: ${{ secrets.BTOPS_DEPLOY_KEY }} | |
| persist-credentials: false | |
| - name: Build Docker image | |
| run: docker compose build taskplanner-dev | |
| - name: Build ROS workspace | |
| run: > | |
| docker compose run --rm taskplanner-dev bash -lc | |
| "colcon build --symlink-install --cmake-args -DBUILD_TESTING=OFF" | |
| - name: Build webapp | |
| run: > | |
| docker compose run --rm taskplanner-dev bash -lc | |
| "cd webapp && npm ci && npm run build" | |
| - name: Run integration unit tests | |
| run: > | |
| docker compose run --rm taskplanner-dev bash -lc | |
| "source install/setup.bash && | |
| python3 -m unittest | |
| tools.test_serve_image_raw_snapshot | |
| tools.test_pr1_digital_twin | |
| tools.test_pr1_real_vlm -v" | |
| - name: Smoke test thyroidectomy | |
| run: > | |
| docker compose run --rm | |
| -e VLM_MODE=mock | |
| -e SURGEON_ACTOR_MODE=rule | |
| taskplanner-dev bash -lc | |
| "source install/setup.bash && | |
| ros2 run bringup taskplanner_smoke_test --spec-name thyroidectomy --runtime-check functional" | |
| - name: Smoke test nephrectomy | |
| run: > | |
| docker compose run --rm | |
| -e VLM_MODE=mock | |
| -e SURGEON_ACTOR_MODE=rule | |
| taskplanner-dev bash -lc | |
| "source install/setup.bash && | |
| ros2 run bringup taskplanner_smoke_test --spec-name nephrectomy --runtime-check functional" | |
| - name: Smoke test inguinal hernia repair | |
| run: > | |
| docker compose run --rm | |
| -e VLM_MODE=mock | |
| -e SURGEON_ACTOR_MODE=rule | |
| taskplanner-dev bash -lc | |
| "source install/setup.bash && | |
| ros2 run bringup taskplanner_smoke_test --spec-name inguinal_hernia_repair --runtime-check functional" |