Merge branch 'master' into devel

robotology · Dec 30, 2024 · 313c40c · 313c40c
2 parents 14cf492 + a7666fa
commit 313c40c
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Showing 11 changed files with 96 additions and 50 deletions.
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
@@ -0,0 +1,5 @@
+{
+  "name": "CDE for robots-configuration",
+  "image": "ghcr.io/robotology/robots-configuration:latest",
+  "remoteUser": "codespace"
+}
diff --git a/.github/workflows/ci-nodeps.yml b/.github/workflows/ci-nodeps.yml
@@ -2,7 +2,21 @@ name: CI Workflow with nodeps CMake preset
 
 on:
   push:
+    branches:
+    - 'master'
+    - 'devel'
+    paths-ignore:
+      - 'experimentalSetups/**'
+      - 'iCubTemplates/**'
+      - 'tests/**'
+      - '.github/**'
   pull_request:
+    types: [opened, reopened, synchronize, ready_for_review]
+    paths-ignore:
+      - 'experimentalSetups/**'
+      - 'iCubTemplates/**'
+      - 'tests/**'
+      - '.github/**'
   workflow_dispatch:
 
 jobs:

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -37,31 +37,22 @@ jobs:
         echo "${DEPENDENCIES_DIR}/install/bin" >> $GITHUB_PATH
         echo "YARP_DATA_DIRS=${DEPENDENCIES_DIR}/install/share/yarp:${DEPENDENCIES_DIR}/install/share/iCub:${DEPENDENCIES_DIR}/install/share/CER:${DEPENDENCIES_DIR}/install/share/navigation:${DEPENDENCIES_DIR}/install/share/ICUBcontrib" >> $GITHUB_ENV
 
-    - name: Configure
+    - name: Configure Tests
       shell: bash
       run: |
-        mkdir -p build && cd build
-        cmake -DCMAKE_PREFIX_PATH=${DEPENDENCIES_DIR}/install \
-              -DCMAKE_INSTALL_PREFIX=${DEPENDENCIES_DIR}/install \
-              -DBUILD_TESTING:BOOL=ON \
-              -DINSTALL_ALL_ROBOTS:BOOL=ON ..
+        cd ./tests/dry-run/
+        ./configure-tests.sh
 
-    - name: Install
+    - name: Tests
       shell: bash
       run: |
-        cd build
-        cmake --build . --config Release --target install
-
-    - name: Test
-      shell: bash
-      run: |
-        cd build
+        cd ./tests/dry-run/build
         ctest --timeout 60 --output-on-failure -L run
 
     - name: Upload Output
       if: always()
       uses: actions/upload-artifact@main
       with:
         name: dry-run_${{ github.run_id }}
-        path: build/dry-run_log_*.txt
+        path: tests/dry-run/build/dry-run_log_*.txt
         retention-days: 30
diff --git a/.github/workflows/publish-docker.yml b/.github/workflows/publish-docker.yml
@@ -21,10 +21,11 @@ jobs:
         workdir: tests/dockerfiles
         buildargs: DEPENDENCIES_DIR
         registry: ghcr.io
+        tags: "latest"
     - name: Clean up Registry from untagged images
-      uses: actions/delete-package-versions@v4.1.1
+      uses: actions/delete-package-versions@v5
       with: 
         package-name: 'robots-configuration'
         package-type: 'container'
         min-versions-to-keep: 0
-        delete-only-untagged-versions: "true"
+        delete-only-untagged-versions: "true"
diff --git a/.gitpod.yml b/.gitpod.yml
diff --git a/R1SN001/CMakeLists.txt b/R1SN001/CMakeLists.txt
@@ -0,0 +1,11 @@
+set(appname R1SN001)
+
+set(scripts CER.xml yarprobotinterface.ini general.xml yarpmotorgui.ini firmwareupdater.ini)
+
+yarp_install(FILES ${scripts} DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY calibrators DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY wrappers DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY hardware DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY sensors  DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+yarp_install(DIRECTORY camera   DESTINATION ${ICUBCONTRIB_ROBOTS_INSTALL_DIR}/${appname})
+
diff --git a/R1SN001/wrappers/FT/cer_right_arm-FT_wrapper.xml b/R1SN001/wrappers/FT/cer_right_arm-FT_wrapper.xml
@@ -2,7 +2,7 @@
 <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
 
 
-	<device xmlns:xi="http://www.w3.org/2001/XInclude" name="left_arm_as_wrapper" type="analogServer">
+	<device xmlns:xi="http://www.w3.org/2001/XInclude" name="right_arm_as_wrapper" type="analogServer">
 		<param name="period">       10  				</param>
 		<param name="name">     /cer/right_arm/FT:o				</param>
 

diff --git a/tests/dockerfiles/Dockerfile b/tests/dockerfiles/Dockerfile
@@ -72,14 +72,14 @@ RUN cd ${DEPENDENCIES_DIR} && \
     cmake --build . --config Release --target install
 
 # yarp-device-rplidar
-#RUN cd ${DEPENDENCIES_DIR} && \
-#    git clone https://github.com/robotology/yarp-device-rplidar.git && \
-#    cd yarp-device-rplidar && mkdir -p build && cd build && \
-#    git checkout master && \
-#    cmake .. \
-#          -DCMAKE_PREFIX_PATH=${DEPENDENCIES_DIR}/install \
-#          -DCMAKE_INSTALL_PREFIX=${DEPENDENCIES_DIR}/install && \
-#    cmake --build . --config Release --target install
+RUN cd ${DEPENDENCIES_DIR} && \
+    git clone https://github.com/robotology/yarp-device-rplidar.git && \
+    cd yarp-device-rplidar && mkdir -p build && cd build && \
+    git checkout master && \
+    cmake .. \
+          -DCMAKE_PREFIX_PATH=${DEPENDENCIES_DIR}/install \
+          -DCMAKE_INSTALL_PREFIX=${DEPENDENCIES_DIR}/install && \
+    cmake --build . --config Release --target install
 
 # icub-firmware-shared
 RUN cd ${DEPENDENCIES_DIR} && \
@@ -131,19 +131,19 @@ RUN cd ${DEPENDENCIES_DIR} && \
           -DCMAKE_INSTALL_PREFIX=${DEPENDENCIES_DIR}/install && \
     cmake --build . --target install
 
-# Create user gitpod
-RUN useradd -l -u 33333 -G sudo -md /home/gitpod -s /bin/bash -p gitpod gitpod && \
+# Create user codespace
+RUN useradd -l -u 33333 -G sudo -md /home/codespace -s /bin/bash -p codespace codespace && \
     # passwordless sudo for users in the 'sudo' group
     sed -i.bkp -e 's/%sudo\s\+ALL=(ALL\(:ALL\)\?)\s\+ALL/%sudo ALL=NOPASSWD:ALL/g' /etc/sudoers
 
-# Switch to gitpod user
-USER gitpod
+# Switch to codespace user
+USER codespace
 
 # Install informative git for bash
 RUN git clone https://github.com/magicmonty/bash-git-prompt.git ~/.bash-git-prompt --depth=1
 
 # Set up .bashrc
-WORKDIR /home/gitpod
+WORKDIR /home/codespace
 RUN echo "GIT_PROMPT_ONLY_IN_REPO=1" >> ~/.bashrc && \
     echo "source \${HOME}/.bash-git-prompt/gitprompt.sh" >> ~/.bashrc && \
     echo "export DEPENDENCIES_DIR=${DEPENDENCIES_DIR}" >> ~/.bashrc && \
@@ -153,8 +153,8 @@ RUN echo "GIT_PROMPT_ONLY_IN_REPO=1" >> ~/.bashrc && \
 # Switch back to root
 USER root
 
-# Make sure specific dirs are owned by gitpod user
-RUN chown -R gitpod.gitpod ${DEPENDENCIES_DIR}
+# Make sure specific dirs are owned by codespace user
+RUN chown -R codespace.codespace ${DEPENDENCIES_DIR}
 
 RUN rm -Rf /var/lib/apt/lists/*
 

diff --git a/tests/dry-run/README.md b/tests/dry-run/README.md
@@ -6,3 +6,29 @@ The CI can perform two types of dry-run:
 2. DEV dry-run, to check the consistency of the devices: e.g., missing parameters, deprecated devices...
 
 The output of the dry-run is stored as artifact within the CI workflow to enable later inspection.
+
+### Invoking `ctest`
+
+#### List available tests
+```console
+ctest -N
+```
+
+#### Run specific tests
+```console
+ctest -R test_name
+ctest -R "test.*"
+```
+
+#### Run tests associated with specific labels
+```console
+ctest -L "all;run;skip"
+```
+
+#### Run all available tests
+```console
+ctest
+```
+
+### Skipped tests
+Tests that have to be ignored are listed in the `skip_tests.txt` file.
diff --git a/tests/dry-run/configure-tests.sh b/tests/dry-run/configure-tests.sh
@@ -0,0 +1,14 @@
+#!/usr/bin/bash
+################################################################################
+#                                                                              #
+# Copyright (C) 2024 Fondazione Istitito Italiano di Tecnologia (IIT)          #
+# All Rights Reserved.                                                         #
+#                                                                              #
+################################################################################
+
+mkdir -p build && cd build
+cmake -DCMAKE_PREFIX_PATH=${DEPENDENCIES_DIR}/install \
+      -DCMAKE_INSTALL_PREFIX=${DEPENDENCIES_DIR}/install \
+      -DBUILD_TESTING:BOOL=ON \
+      -DINSTALL_ALL_ROBOTS:BOOL=ON ../../../
+cmake --build . --config Release --target install
diff --git a/tests/dry-run/skip_tests.txt b/tests/dry-run/skip_tests.txt
@@ -1,6 +1 @@
-dry-run_R1SN001_xml
-dry-run_R1SN002_xml
-dry-run_R1SN003_xml
-dry-run_R1SN001_dev
-dry-run_R1SN002_dev
-dry-run_R1SN003_dev
+dry-run_R1SN002_dev