ci.yaml

name: CI of LocomanipController

on:
  push:
    branches:
      - '**'
  pull_request:
    branches:
      - '**'
  schedule:
    - cron: '0 0 * * 0'

jobs:
  build-and-test:
    strategy:
      fail-fast: false
      matrix:
        os: [ubuntu-20.04]
        catkin-build: [catkin, standalone]
        build-type: [RelWithDebInfo, Debug]
        mc-rtc-version: [head, stable]
        motion-type: [PushCartWaypoint]
        exclude:
          - build-type: Debug
            mc-rtc-version: stable
          # Some packages have not been released onto the stable mirror yet
          - catkin-build: standalone
            mc-rtc-version: stable
        include:
          - os: ubuntu-20.04
            catkin-build: catkin
            build-type: RelWithDebInfo
            mc-rtc-version: head
            motion-type: PushCartVelMode
          - os: ubuntu-20.04
            catkin-build: standalone
            build-type: RelWithDebInfo
            mc-rtc-version: head
            motion-type: PushCartVelMode
          - os: ubuntu-20.04
            catkin-build: catkin
            build-type: RelWithDebInfo
            mc-rtc-version: head
            motion-type: PushCartHandForce
          - os: ubuntu-20.04
            catkin-build: standalone
            build-type: RelWithDebInfo
            mc-rtc-version: head
            motion-type: PushCartHandForce
    runs-on: ${{ matrix.os }}
    env:
      RESULTS_POSTFIX: ${{ matrix.motion-type }}-${{ matrix.catkin-build }}
    steps:
      - name: Setup environment variables
        run: |
          set -e
          set -x
          if [ "${{ matrix.os }}" == "ubuntu-20.04" ] && \
             [ "${{ matrix.build-type }}" == "RelWithDebInfo" ] && \
             [ "${{ matrix.mc-rtc-version }}" == "head" ]
          then
            echo "RUN_SIMULATION_STEPS=true" >> $GITHUB_ENV
          else
            echo "RUN_SIMULATION_STEPS=false" >> $GITHUB_ENV
          fi
          if [ "${{ matrix.os }}" == "ubuntu-20.04" ] && \
             [ "${{ matrix.catkin-build }}" == "catkin" ] && \
             [ "${{ matrix.build-type }}" == "RelWithDebInfo" ] && \
             [ "${{ matrix.mc-rtc-version }}" == "head" ] && \
             [ "${{ matrix.motion-type }}" == "PushCartWaypoint" ] && \
             [ "${{ github.repository_owner }}" == "isri-aist" ] && \
             [ "${{ github.ref }}" == "refs/heads/master" ]
          then
            echo "UPLOAD_DOCUMENTATION=true" >> $GITHUB_ENV
          else
            echo "UPLOAD_DOCUMENTATION=false" >> $GITHUB_ENV
          fi
          if [ "${{ matrix.catkin-build }}" == "catkin" ]
          then
            echo "CI_DIR=${GITHUB_WORKSPACE}/catkin_ws/src/${{ github.repository }}/.github/workflows" >> $GITHUB_ENV
          else
            echo "CI_DIR=${GITHUB_WORKSPACE}/.github/workflows" >> $GITHUB_ENV
          fi
      - name: Install dependencies
        uses: jrl-umi3218/github-actions/install-dependencies@master
        with:
          ubuntu: |
            apt-mirrors:
              mc-rtc:
                cloudsmith: mc-rtc/${{ matrix.mc-rtc-version }}
            apt: libmc-rtc-dev mc-rtc-utils mc-state-observation doxygen graphviz jvrc-choreonoid choreonoid libcnoid-dev
          ros: |
            apt: ros-base mc-rtc-plugin eigen-conversions
      - name: Install standalone dependencies
        if: matrix.catkin-build == 'standalone'
        uses: jrl-umi3218/github-actions/install-dependencies@master
        with:
          build-type: ${{ matrix.build-type }}
          ubuntu: |
            apt: libforcecontrolcollection-dev libtrajectorycollection-dev libcentroidalcontrolcollection-dev
          github: |
            - path: isri-aist/BaselineWalkingController
            - path: isri-aist/CnoidRosUtils
      - name: Checkout repository code
        if: matrix.catkin-build == 'standalone'
        uses: actions/checkout@v3
        with:
          submodules: recursive
      - name: Standalone build
        if: matrix.catkin-build == 'standalone'
        uses: jrl-umi3218/github-actions/build-cmake-project@master
        with:
          build-type: ${{ matrix.build-type }}
      - name: Catkin build
        if: matrix.catkin-build == 'catkin'
        uses: jrl-umi3218/github-actions/build-catkin-project@master
        with:
          build-type: ${{ matrix.build-type }}
          cmake-args: -DINSTALL_DOCUMENTATION=${{ env.UPLOAD_DOCUMENTATION }} -DENABLE_QLD=ON
          catkin-test-args: --no-deps
          build-packages: locomanip_controller
          test-packages: locomanip_controller
      - name: Run simulation
        if: env.RUN_SIMULATION_STEPS == 'true'
        # https://github.com/jrl-umi3218/lipm_walking_controller/blob/b564d655388ae6a6725c504e5c74a62192e58c7c/.github/workflows/build.yml#L64-L92
        run: |
          set -e
          set -x
          sudo apt-get install -y -qq xvfb ffmpeg mesa-utils fluxbox xserver-xorg xserver-xorg-core xserver-xorg-video-all libwayland-egl1-mesa
          set +x
          if [ "${{ matrix.catkin-build }}" == "catkin" ]
          then
            . ${GITHUB_WORKSPACE}/catkin_ws/devel/setup.bash
          fi
          set -x
          export DISPLAY=":1"
          Xvfb ${DISPLAY} -screen 0 1920x1080x24 &
          sleep 10s
          fluxbox 2> /dev/null &
          mkdir -p ${HOME}/.config/mc_rtc/controllers
          if [ "${{ matrix.catkin-build }}" == "catkin" ]
          then
            cp ${GITHUB_WORKSPACE}/catkin_ws/src/${{ github.repository }}/etc/mc_rtc.yaml ${HOME}/.config/mc_rtc
          else
            echo "Enabled: LocomanipController" > ${HOME}/.config/mc_rtc/mc_rtc.yaml
          fi
          cp ${{ env.CI_DIR }}/config/${{ matrix.motion-type }}.yaml ${HOME}/.config/mc_rtc/controllers/LocomanipController.yaml
          ffmpeg -y -f x11grab -s 1920x1080 -r 30 -i ${DISPLAY} -qscale 0 -vcodec huffyuv /tmp/video.avi > /dev/null 2>&1 < /dev/null &
          FFMPEG_PID=$!
          /usr/share/hrpsys/samples/JVRC1/clear-omninames.sh
          roscore > /dev/null 2>&1 < /dev/null &
          ROSCORE_PID=$!
          sleep 1s
          if [ "${{ matrix.catkin-build }}" == "catkin" ]; then
            roscd locomanip_controller/cnoid/project
          else
            cd /usr/share/hrpsys/samples/JVRC1
          fi
          if [ "${{ matrix.motion-type }}" == "PushCartWaypoint" ]; then
            CNOID_FILE=LMC_JVRC1_Cart.cnoid
          elif [ "${{ matrix.motion-type }}" == "PushCartVelMode" ]; then
            CNOID_FILE=LMC_JVRC1_Cart.cnoid
          else # if [ "${{ matrix.motion-type }}" == "PushCartHandForce" ]; then
            CNOID_FILE=LMC_JVRC1_CartHighFriction.cnoid
          fi
          choreonoid ${CNOID_FILE} --test-mode --start-simulation &
          CNOID_PID=$!
          if [ "${{ matrix.motion-type }}" == "PushCartWaypoint" ]; then
            SLEEP_DURATION="150s"
          elif [ "${{ matrix.motion-type }}" == "PushCartVelMode" ]; then
            SLEEP_DURATION="100s"
          else # if [ "${{ matrix.motion-type }}" == "PushCartHandForce" ]; then
            SLEEP_DURATION="100s"
          fi
          sleep ${SLEEP_DURATION}
          kill -2 ${ROSCORE_PID}
          kill -2 ${CNOID_PID}
          kill -2 ${FFMPEG_PID}
          sleep 1s
          kill -9 ${CNOID_PID} || true
          sleep 10s
          mkdir -p /tmp/results
          ffmpeg -nostats -i /tmp/video.avi /tmp/results/LMC-video-${RESULTS_POSTFIX}.mp4
          LOG_FILENAME=LMC-log-${RESULTS_POSTFIX}
          mv `readlink -f /tmp/mc-control-LocomanipController-latest.bin` /tmp/${LOG_FILENAME}.bin
          tar czf /tmp/results/${LOG_FILENAME}.tar.gz -C /tmp ${LOG_FILENAME}.bin
      - name: Upload simulation data
        if: env.RUN_SIMULATION_STEPS == 'true'
        uses: actions/upload-artifact@v3
        with:
          name: LMC-ci-results-${{ matrix.catkin-build }}
          path: /tmp/results
      - name: Check simulation results
        if: env.RUN_SIMULATION_STEPS == 'true'
        run: |
          set -e
          set -x
          if [ "${{ matrix.motion-type }}" == "PushCartWaypoint" ]; then
            EXPECTED_OBJ_POS="1.18 0.494 0.0"
          elif [ "${{ matrix.motion-type }}" == "PushCartVelMode" ]; then
            EXPECTED_OBJ_POS="1.33 -0.073 0.0"
          else # if [ "${{ matrix.motion-type }}" == "PushCartHandForce" ]; then
            EXPECTED_OBJ_POS="2.0 0.0 0.0"
          fi
          LOG_FILENAME=LMC-log-${RESULTS_POSTFIX}
          python3 ${{ env.CI_DIR }}/scripts/checkSimulationResults.py /tmp/${LOG_FILENAME}.bin --expected-obj-pos ${EXPECTED_OBJ_POS}
      - name: Upload documentation
        if: env.UPLOAD_DOCUMENTATION == 'true'
        run: |
          set -e
          set -x
          cd ${GITHUB_WORKSPACE}/catkin_ws/src/${{ github.repository }}
          git config --global user.name "Masaki Murooka"
          git config --global user.email "m-murooka@aist.go.jp"
          git remote set-url origin "https://mmurooka:${{ secrets.CI_TOKEN }}@github.com/isri-aist/LocomanipController"
          git fetch --depth=1 origin gh-pages:gh-pages
          git clean -dfx
          rm -rf cmake/
          git checkout --quiet gh-pages
          rm -rf doxygen/
          cp -r ${GITHUB_WORKSPACE}/catkin_ws/build/locomanip_controller/doc/html/ doxygen
          git add doxygen
          git_status=`git status -s`
          if test -n "$git_status"; then
            git commit --quiet -m "Update Doxygen HTML files from commit ${{ github.sha }}"
            git push origin gh-pages
          else
            echo "Github pages documentation is already up-to-date."
          fi