taskplanner_ws/.github/workflows/ci.yml at main · Radon213/taskplanner_ws · GitHub

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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"