tests_suite_develop.yml

name: Test Suite (develop)

# note: this workflow is only triggered by the nightly scheduled run.
# it is identical to master's workflow, but targets the develop branch.
on:
  schedule:
    - cron:  '0 23 * * *'

concurrency:
  group: ${{ github.workflow }}-${{ github.ref }}
  cancel-in-progress: true

defaults:
  run:
    shell: bash

jobs:
  test-sources:
    if: ${{ contains(github.event.pull_request.labels.*.name, 'test sources') || github.event_name == 'schedule' }}
    strategy:
      fail-fast: false
      matrix:
        os: [ubuntu-20.04, macos-11]
        include:
          - os: ubuntu-20.04
            DEPENDENCIES_INSTALLATION: "sudo apt update; sudo apt -y install clang-format-10 cppcheck"
          - os: macos-11
            DEPENDENCIES_INSTALLATION: "brew install clang-format@11 cppcheck; ln /usr/local/bin/clang-format-11 /usr/local/bin/clang-format"
    runs-on: ${{ matrix.os }}
    steps:
    - uses: actions/checkout@v3
      if: matrix.os == 'ubuntu-20.04' || github.event.pull_request.draft == false
      with:
        submodules: true
        ref: develop
    - name: Set up Python 3.8
      if: matrix.os == 'ubuntu-20.04' || github.event.pull_request.draft == false
      uses: actions/setup-python@v4
      with:
        python-version: 3.8
    - name: Test Sources
      if: matrix.os == 'ubuntu-20.04' || github.event.pull_request.draft == false
      run: |
        ${{ matrix.DEPENDENCIES_INSTALLATION }}
        export OPENDR_HOME=$PWD
        export OPENDR_DEVICE=cpu
        pip install -r tests/requirements.txt
        python -m unittest discover -s tests
  test-tools:
    if: ${{ contains(github.event.pull_request.labels.*.name, 'test tools') || github.event_name == 'schedule' }}
    strategy:
      fail-fast: false
      matrix:
        os: [ubuntu-20.04]
        package:
          - engine
          - utils
          - perception/activity_recognition
          - perception/compressive_learning
          - perception/face_recognition
          - perception/heart_anomaly_detection
          - perception/multimodal_human_centric
          - perception/pose_estimation
          - perception/fall_detection
          - perception/speech_recognition
          - perception/skeleton_based_action_recognition/costgcn
          - perception/skeleton_based_action_recognition/pstgcn
          - perception/skeleton_based_action_recognition/stbln
          - perception/skeleton_based_action_recognition/stgcn
          - perception/skeleton_based_action_recognition/tagcn
          - perception/semantic_segmentation
          - perception/binary_high_resolution
          - perception/object_tracking_2d
          # - perception/object_tracking_3d # passes, but disabled due to free() crash
          - perception/object_detection_2d/centernet
          - perception/object_detection_2d/detr
          - perception/object_detection_2d/gem
          - perception/object_detection_2d/ssd
          - perception/object_detection_2d/nanodet
          - perception/object_detection_2d/yolov3
          - perception/object_detection_2d/yolov5
          - perception/object_detection_2d/retinaface
          - perception/object_detection_2d/nms
          # - perception/object_detection_3d # passes, but disabled due to free() crash
          - perception/facial_expression_recognition
          - simulation/human_model_generation
          - control/mobile_manipulation
          - control/single_demo_grasp
          - planning/end_to_end_planning
          - control/multi_object_search
    runs-on: ${{ matrix.os }}
    steps:
    - uses: actions/checkout@v2
      with:
        submodules: true
        ref: develop
    - name: Set up Python 3.8
      uses: actions/setup-python@v2
      with:
        python-version: 3.8
    - name: Test Tools
      run: |
        export ROS_DISTRO=noetic
        export OPENDR_HOME=$PWD
        ./bin/install.sh
        source bin/activate.sh
        python3 -m pip install -r tests/sources/requirements.txt
        if [ ${{ matrix.package }} = "ctests" ]; then
          make ctests
        else
          if [[ ${{ matrix.package }} == "control/mobile_manipulation" || ${{ matrix.package }} == "planning/end_to_end_planning" ]]; then
            source tests/sources/tools/control/mobile_manipulation/run_ros.sh
          fi
          python3 -m unittest discover -s tests/sources/tools/${{ matrix.package }}
        fi
  build-wheel:
    if: ${{ contains(github.event.pull_request.labels.*.name, 'test release') || github.event_name == 'schedule' }}
    runs-on: ubuntu-20.04
    steps:
    - uses: actions/checkout@v3
      with:
        submodules: true
        ref: develop
    - name: Set up Python 3.8
      uses: actions/setup-python@v2
      with:
        python-version: 3.8
    - name: Install prerequisites
      run: |
        python3 -m pip install --upgrade pip
        python3 -m pip install setuptools wheel twine
    - name: Build Wheel
      run:
        ./bin/build_wheel.sh
    - name: Upload wheel as artifact
      uses: actions/upload-artifact@v2
      with:
        name: wheel-artifact
        path:
          dist/*.tar.gz
  build-docker:
    if: ${{ contains(github.event.pull_request.labels.*.name, 'test release') || github.event_name == 'schedule' }}
    runs-on: ubuntu-20.04
    steps:
    - name: Free Disk Space
      uses: jlumbroso/free-disk-space@v1.2.0
    - uses: actions/checkout@v3
      with:
        submodules: true
        ref: develop
    - name: Get branch name
      id: branch-name
      uses: tj-actions/branch-names@v7
    - name: Build image
      run: |
        docker build --no-cache --tag opendr/opendr-toolkit:cpu_test --build-arg branch=${{ steps.branch-name.outputs.current_branch }} --build-arg ros_distro=noetic --file Dockerfile .
        docker save opendr/opendr-toolkit:cpu_test > cpu_test.zip
    - name: Upload image artifact
      uses: actions/upload-artifact@v2
      with:
        name: docker-artifact
        path:
          cpu_test.zip
  test-wheel:
    needs: build-wheel
    if: ${{ contains(github.event.pull_request.labels.*.name, 'test release') || github.event_name == 'schedule' }}
    strategy:
      fail-fast: false
      matrix:
        os: [ubuntu-20.04]
        package:
          - engine
          - utils
          - perception/activity_recognition
          - perception/compressive_learning
          - perception/face_recognition
          - perception/heart_anomaly_detection
          - perception/multimodal_human_centric
          - perception/pose_estimation
          - perception/fall_detection
          - perception/speech_recognition
          - perception/skeleton_based_action_recognition/costgcn
          - perception/skeleton_based_action_recognition/pstgcn
          - perception/skeleton_based_action_recognition/stbln
          - perception/skeleton_based_action_recognition/stgcn
          - perception/skeleton_based_action_recognition/tagcn
          - perception/semantic_segmentation
          - perception/binary_high_resolution
          - perception/object_tracking_2d
          # - perception/object_tracking_3d # passes, but disabled due to free() crash
          - perception/object_detection_2d/centernet
          - perception/object_detection_2d/detr
          - perception/object_detection_2d/gem
          - perception/object_detection_2d/ssd
          - perception/object_detection_2d/nanodet
          - perception/object_detection_2d/yolov3
          - perception/object_detection_2d/yolov5
          - perception/object_detection_2d/retinaface
          - perception/object_detection_2d/nms
          # - perception/object_detection_3d # passes, but disabled due to free() crash
          - perception/facial_expression_recognition
          - simulation/human_model_generation
          #- control/multi_object_search
          #- control/mobile_manipulation
          #- control/single_demo_grasp
          #- planning/end_to_end_planning
    runs-on: ubuntu-20.04
    steps:
    - uses: actions/checkout@v3
      with:
        submodules: true
        ref: develop
    - name: Set up Python 3.8
      uses: actions/setup-python@v4
      with:
        python-version: 3.8
    - name: Download artifact
      uses: actions/download-artifact@v2
      with:
        path: artifact
    - name: Get branch name
      id: branch-name
      uses: tj-actions/branch-names@v7
    - name: Test Wheel
      run: |
        export OPENDR_HOME=$PWD
        export DISABLE_BCOLZ_AVX2=true
        export OPENDR_DEVICE=cpu
        export PYTHONPATH=$OPENDR_HOME/src:$PYTHONPATH
        export ROS_DISTRO=noetic

        sudo apt -y install python3.8-venv libfreetype6-dev git build-essential cmake python3-dev wget libopenblas-dev libsndfile1 libboost-dev python3-dev

        python3 -m venv venv
        source venv/bin/activate
        python3 -m pip install --upgrade pip
        python3 -m pip install wheel==0.38.4

        # install all tools one at a time
        while read f; do
          package=$(sed "s/_/-/g" <<< $f)
          package=(${package//// })
          if [ ! -z ${package[1]} ]; then package=${package[1]}; fi

          if [ "$package" != "opendr" ]; then
            python3 -m pip install --find-links ./artifact/wheel-artifact/ ./artifact/wheel-artifact/opendr-toolkit-$package-*.tar.gz
          fi
        done < packages.txt

        cd src/opendr/perception/object_detection_2d/retinaface; make; cd $OPENDR_HOME

        # run the test
        python3 -m unittest discover -s tests/sources/tools/${{ matrix.package }}
  test-wheel-separate:
    needs: build-wheel
    if: ${{ contains(github.event.pull_request.labels.*.name, 'test release') || github.event_name == 'schedule' }}
    strategy:
      fail-fast: false
      matrix:
        os: [ubuntu-20.04]
        package:
          - engine
          - utils
          - perception/activity_recognition
          - perception/compressive_learning
          - perception/face_recognition
          - perception/heart_anomaly_detection
          - perception/multimodal_human_centric
          - perception/pose_estimation
          - perception/fall_detection
          - perception/speech_recognition
          - perception/skeleton_based_action_recognition/costgcn
          - perception/skeleton_based_action_recognition/pstgcn
          - perception/skeleton_based_action_recognition/stbln
          - perception/skeleton_based_action_recognition/stgcn
          - perception/skeleton_based_action_recognition/tagcn
          - perception/semantic_segmentation
          - perception/binary_high_resolution
          - perception/object_tracking_2d
          # - perception/object_tracking_3d # passes, but disabled due to free() crash
          - perception/object_detection_2d/centernet
          - perception/object_detection_2d/detr
          - perception/object_detection_2d/gem
          - perception/object_detection_2d/ssd
          - perception/object_detection_2d/nanodet
          - perception/object_detection_2d/yolov3
          - perception/object_detection_2d/yolov5
          - perception/object_detection_2d/retinaface
          - perception/object_detection_2d/nms
          # - perception/object_detection_3d # passes, but disabled due to free() crash
          - perception/facial_expression_recognition
          - simulation/human_model_generation
          #- control/multi_object_search
          #- control/mobile_manipulation
          #- control/single_demo_grasp
          #- planning/end_to_end_planning
    runs-on: ubuntu-20.04
    steps:
    - uses: actions/checkout@v3
      with:
        submodules: true
        ref: develop
    - name: Set up Python 3.8
      uses: actions/setup-python@v4
      with:
        python-version: 3.8
    - name: Download artifact
      uses: actions/download-artifact@v2
      with:
        path: artifact
    - name: Get branch name
      id: branch-name
      uses: tj-actions/branch-names@v7
    - name: Test Wheel Separate
      run: |
        export OPENDR_HOME=$PWD
        export DISABLE_BCOLZ_AVX2=true
        export OPENDR_DEVICE=cpu
        export PYTHONPATH=$OPENDR_HOME/src:$PYTHONPATH
        export ROS_DISTRO=noetic

        sudo apt -y install python3.8-venv libfreetype6-dev git build-essential cmake python3-dev wget libopenblas-dev libsndfile1 libboost-dev libeigen3-dev

        python3 -m venv venv
        source venv/bin/activate
        python3 -m pip install --upgrade pip
        python3 -m pip install wheel==0.38.4

        # get the name of the wheel to install based on the test being run
        package=$(sed "s/_/-/g" <<< ${{ matrix.package }})
        package=(${package//// })
        if [ ! -z ${package[1]} ]; then package=${package[1]}; fi

        # all packages require the engine
        python3 -m pip install --find-links ./artifact/wheel-artifact/ ./artifact/wheel-artifact/opendr-toolkit-engine-*.tar.gz

        # install specific package
        if [ ${{ matrix.package }} == "utils" ]; then
          python3 -m pip install --find-links ./artifact/wheel-artifact/ ./artifact/wheel-artifact/opendr-toolkit-hyperparameter-tuner-*.tar.gz
          python3 -m pip install --find-links ./artifact/wheel-artifact/ ./artifact/wheel-artifact/opendr-toolkit-ambiguity-measure-*.tar.gz
        else
          # install required dependencies for derived tools, we do so manually to ensure the local one is used
          if [ ${{ matrix.package }} == "perception/fall_detection" ]; then
            python3 -m pip install --find-links ./artifact/wheel-artifact/ ./artifact/wheel-artifact/opendr-toolkit-pose-estimation-*.tar.gz
          elif [ ${{ matrix.package }} == "perception/heart_anomaly_detection" ]; then
            python3 -m pip install --find-links ./artifact/wheel-artifact/ ./artifact/wheel-artifact/opendr-toolkit-compressive-learning-*.tar.gz
          elif [ ${{ matrix.package }} == "perception/multimodal_human_centric" ]; then
            python3 -m pip install --find-links ./artifact/wheel-artifact/ ./artifact/wheel-artifact/opendr-toolkit-compressive-learning-*.tar.gz
            python3 -m pip install --find-links ./artifact/wheel-artifact/ ./artifact/wheel-artifact/opendr-toolkit-object-detection-2d-*.tar.gz
          elif [ ${{ matrix.package }} == "perception/object_tracking_3d" ]; then
            python3 -m pip install --find-links ./artifact/wheel-artifact/ ./artifact/wheel-artifact/opendr-toolkit-object-detection-3d-*.tar.gz
          fi

          # install the package itself
          python3 -m pip install --find-links ./artifact/wheel-artifact/ ./artifact/wheel-artifact/opendr-toolkit-$package-*.tar.gz
        fi

        if [[ ${{ matrix.package }} == "perception/object_detection_2d/retinaface" ]]; then
          cd src/opendr/perception/object_detection_2d/retinaface; make; cd $OPENDR_HOME
        fi

        # run the test
        python3 -m unittest discover -s tests/sources/tools/${{ matrix.package }}
  test-docker:
    needs: build-docker
    if: ${{ contains(github.event.pull_request.labels.*.name, 'test release') || github.event_name == 'schedule' }}
    strategy:
      fail-fast: false
      matrix:
        os: [ubuntu-20.04]
        package:
          - engine
          - utils
          - perception/activity_recognition
          - perception/compressive_learning
          - perception/face_recognition
          - perception/heart_anomaly_detection
          - perception/multimodal_human_centric
          - perception/pose_estimation
          - perception/fall_detection
          - perception/speech_recognition
          - perception/skeleton_based_action_recognition/costgcn
          - perception/skeleton_based_action_recognition/pstgcn
          - perception/skeleton_based_action_recognition/stbln
          - perception/skeleton_based_action_recognition/stgcn
          - perception/skeleton_based_action_recognition/tagcn
          - perception/semantic_segmentation
          - perception/binary_high_resolution
          - perception/object_tracking_2d
          # - perception/object_tracking_3d # passes, but disabled due to free() crash
          - perception/object_detection_2d/centernet
          - perception/object_detection_2d/detr
          - perception/object_detection_2d/gem
          - perception/object_detection_2d/ssd
          - perception/object_detection_2d/nanodet
          - perception/object_detection_2d/yolov3
          - perception/object_detection_2d/yolov5
          - perception/object_detection_2d/retinaface
          - perception/object_detection_2d/nms
          # - perception/object_detection_3d # passes, but disabled due to free() crash
          - perception/facial_expression_recognition
          - simulation/human_model_generation
          - control/mobile_manipulation
          - control/single_demo_grasp
          - planning/end_to_end_planning
          # - control/multi_object_search # needs CUDA Docker container
    runs-on: ubuntu-20.04
    steps:
    - name: Free Disk Space
      uses: jlumbroso/free-disk-space@v1.2.0
    - name: Download artifact
      uses: actions/download-artifact@v2
      with:
        path: artifact
    - name: Test docker
      run: |
        docker load < ./artifact/docker-artifact/cpu_test.zip
        docker run --name toolkit -i opendr/opendr-toolkit:cpu_test bash
        docker start toolkit
        if [[ ${{ matrix.package }} == "control/mobile_manipulation" || ${{ matrix.package }} == "planning/end_to_end_planning" ]]; then
          docker exec -i toolkit bash -c "source bin/activate.sh && source tests/sources/tools/control/mobile_manipulation/run_ros.sh && python3 -m unittest discover -s tests/sources/tools/${{ matrix.package }}"
        else
          docker exec -i toolkit bash -c "source bin/activate.sh && python3 -m unittest discover -s tests/sources/tools/${{ matrix.package }}"
        fi
  delete-docker-artifacts:
    needs: [build-docker, test-docker]
    if: ${{ always() }}
    strategy:
      matrix:
        os: [ubuntu-20.04]
    runs-on: ${{ matrix.os }}
    steps:
    - name: Delete docker artifacts
      uses: geekyeggo/delete-artifact@v1
      with:
        name: docker-artifact
  delete-wheel-artifacts:
    needs: [build-wheel, test-wheel, test-wheel-separate]
    if: ${{ always() }}
    strategy:
      matrix:
        os: [ubuntu-20.04]
    runs-on: ${{ matrix.os }}
    steps:
    - name: Delete wheel artifacts
      uses: geekyeggo/delete-artifact@v1
      with:
        name: wheel-artifact