Retry and reconnects: #19
Workflow file for this run
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| --- | |
| name: Container image creation | |
| # author: "Guillem Gari <[email protected]>" | |
| # description: | | |
| # This workflow builds and pushes a container image to a private registry, | |
| # then performs a simple usage test. It's triggered on pushes to ros2*, | |
| # branches, specific tags, pull requests, or manually. | |
| # Key features: | |
| # - Runs on self-hosted Kubernetes runners | |
| # - Builds and pushes Docker image on changes in monitored paths | |
| # - Performs a non-crash test using the built image | |
| # - Supports multiple ROS distributions (Humble, Iron, Rolling, etc.) | |
| # - Uses dynamic versioning based on Git context | |
| on: | |
| push: | |
| branches: | |
| - ros2* | |
| tags: | |
| - '(humble|iron|rolling|melodic|noetic|jazzy)-[0-9]+.[0-9]+.[0-9]+(-rc[0-9]+)?' | |
| - '[0-9]+.[0-9]+.[0-9]+(-rc[0-9]+)?' | |
| pull_request: | |
| types: [opened, reopened, synchronize] | |
| branches: | |
| - ros2* | |
| workflow_dispatch: | |
| env: | |
| MONITORED_PATHS: >- | |
| daly_bms | |
| setup-container | |
| setup-container.yaml | |
| jobs: | |
| build: | |
| name: Build and upload image | |
| runs-on: | |
| - self-hosted | |
| - internal-robotnik | |
| - linux | |
| - kubernetes | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 0 | |
| - uses: ./.github/actions/check-changes | |
| id: check_changes | |
| with: | |
| monitored_paths: ${{ env.MONITORED_PATHS }} | |
| - uses: ./.github/actions/set-version | |
| id: set_version | |
| with: | |
| github_ref: ${{ github.ref }} | |
| github_event_name: ${{ github.event_name }} | |
| github_head_ref: ${{ github.head_ref }} | |
| github_base_ref: ${{ github.base_ref }} | |
| github_sha: ${{ github.sha }} | |
| - name: Login to Robotnik Registry | |
| if: steps.check_changes.outputs.has_changes == 'true' | |
| uses: docker/login-action@v3 | |
| with: | |
| registry: registry.robotnik.ws | |
| username: ${{ secrets.REGISTRY_USER }} | |
| password: ${{ secrets.REGISTRY_PASSWORD }} | |
| - name: Configure docker files | |
| if: steps.check_changes.outputs.has_changes == 'true' | |
| run: | | |
| yq e '.images.version = "${{ steps.set_version.outputs.version }}"' -i setup-container.yaml | |
| setup-container/scripts/setup.sh | |
| - name: Build image and push | |
| if: steps.check_changes.outputs.has_changes == 'true' | |
| run: | | |
| cd container/cd | |
| docker compose build --push | |
| serial-void-non-crash-test: | |
| name: Void serial non crash test | |
| needs: [build] | |
| runs-on: | |
| - self-hosted | |
| - internal-robotnik | |
| - linux | |
| - kubernetes | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 0 | |
| - uses: ./.github/actions/check-changes | |
| id: check_changes | |
| with: | |
| monitored_paths: ${{ env.MONITORED_PATHS }} | |
| - uses: ./.github/actions/set-version | |
| id: set_version | |
| with: | |
| github_ref: ${{ github.ref }} | |
| github_event_name: ${{ github.event_name }} | |
| github_head_ref: ${{ github.head_ref }} | |
| github_base_ref: ${{ github.base_ref }} | |
| github_sha: ${{ github.sha }} | |
| - name: Login to Robotnik Registry | |
| if: steps.check_changes.outputs.has_changes == 'true' | |
| uses: docker/login-action@v3 | |
| with: | |
| registry: registry.robotnik.ws | |
| username: ${{ secrets.REGISTRY_USER }} | |
| password: ${{ secrets.REGISTRY_PASSWORD }} | |
| - name: Configure docker files | |
| if: steps.check_changes.outputs.has_changes == 'true' | |
| run: | | |
| yq e '.images.version = "${{ steps.set_version.outputs.version }}"' -i setup-container.yaml | |
| yq e '.images.sites.local = "robotnik"' -i setup-container.yaml | |
| setup-container/scripts/setup.sh | |
| - name: Pull image | |
| if: steps.check_changes.outputs.has_changes == 'true' | |
| run: | | |
| cd container | |
| cd debug | |
| docker compose pull | |
| - name: Void run for 15 seconds | |
| if: steps.check_changes.outputs.has_changes == 'true' | |
| run: | | |
| cd container | |
| cd debug | |
| docker compose up -d | |
| sleep 1 | |
| docker compose exec bms sudo apt update | |
| docker compose exec bms sudo apt install -y socat | |
| docker compose exec --detach bms /usr/bin/socat -d -d pty,link=/tmp/vserial1,raw,echo=0 pty,link=/tmp/vserial2,raw,echo=0 | |
| timeout 15 docker compose exec bms /bin/bash -c 'ROBOT_BMS_PORT=/tmp/vserial1 STARTUP_TYPE=launch ros_launcher.sh' || exit_code=$? | |
| if [[ $exit_code -eq 124 ]] | |
| then | |
| echo "No crash, test passed" | |
| exit 0 | |
| fi | |
| exit 1 |