tests_suite.yml

name: Test Suite (master)

on:
  pull_request:
    types: [opened, synchronize, reopened, labeled, unlabeled]
  schedule:
    - cron:  '0 23 * * *'

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

defaults:
  run:
    shell: bash

env:
    # XXX: Workaround for https://github.com/actions/cache/issues/1141
    SEGMENT_DOWNLOAD_TIMEOUT_MINS: 5

jobs:
  test-sources:
    if: ${{ contains(github.event.pull_request.labels.*.name, 'test sources')  }}
    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
    - 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

  install-toolkit:
    if: ${{ contains(github.event.pull_request.labels.*.name, 'test tools') || github.event_name == 'schedule' }}
    strategy:
      fail-fast: false
      matrix:
        os: [ubuntu-20.04]
    runs-on: ${{ matrix.os }}
    steps:
    - uses: actions/checkout@v3
      with:
        submodules: true
    - name: Set up Python 3.8
      uses: actions/setup-python@v4
      with:
        python-version: 3.8
    - name: Cache Python dependencies and virtual environment
      id: cache-python-deps
      uses: actions/cache@v3
      with:
        path: |
          ~/.cache/pip
          venv
        key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}-${{ hashFiles('**/dependencies.ini') }}-${{ hashFiles('**/install.sh') }}
        # restore-keys: |
        #   ${{ runner.os }}-pip-
    - name: Install toolkit and dependencies
      if: steps.cache-python-deps.outputs.cache-hit != 'true'
      run: |
        export ROS_DISTRO=noetic
        
        ./bin/install.sh
        source bin/activate.sh
        python3 -m pip install -r tests/requirements.txt

  test-tools:
    needs: install-toolkit
    if: ${{ contains(github.event.pull_request.labels.*.name, 'test tools') }}
    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/gesture_recognition
          - 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_tracking_3d/single_object_tracking
          - 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/speech_transcription/vosk
          - perception/speech_transcription/whisper
          # - 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 # Throws error, probably due to detectron2 installation #463
          # - planning/end_to_end_planning
          - control/multi_object_search
    runs-on: ${{ matrix.os }}
    steps:
    - uses: actions/checkout@v3
      with:
        submodules: true
    - name: Set up Python 3.8
      uses: actions/setup-python@v4
      with:
        python-version: 3.8
    - name: Restore Python dependencies and virtual environment cache
      id: cache-python-deps
      uses: actions/cache@v3
      with:
        path: |
          ~/.cache/pip
          venv
        key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}-${{ hashFiles('**/dependencies.ini') }}-${{ hashFiles('**/install.sh') }}

    - name: Run toolkit tests without cache
      if: steps.cache-python-deps.outputs.cache-hit != 'true'
      run: |
        echo "Restore cache failed, running regular installation and testing..."
        export ROS_DISTRO=noetic
        export OPENDR_HOME=$PWD
        
        echo "Running full OpenDR installation"
        ./bin/install.sh
        source bin/activate.sh
        python3 -m pip install -r tests/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

          echo "Running unittest discover for ${{ matrix.package }}"
          python3 -m unittest discover -s tests/sources/tools/${{ matrix.package }}
        fi

    - name: Run toolkit tests with cache
      if: steps.cache-python-deps.outputs.cache-hit == 'true'
      run: |
        export ROS_DISTRO=noetic
        export OPENDR_HOME=$PWD
        export OPENDR_DEVICE=cpu

        # Reinstall some system dependencies
        echo "Installing system dependencies"
        sudo apt-get update
        sudo apt-get install --yes unzip libfreetype6-dev lsb-release git python3-pip curl wget python3.8-venv ffmpeg
        sudo apt-get install --yes libopenblas-dev libsndfile1 libboost-dev
        
        source bin/activate.sh

        echo "OpenDR env activated, running retinaface make"
        # This should probably run conditionally for tools that need it
        cd $OPENDR_HOME/src/opendr/perception/object_detection_2d/retinaface
        make
        cd $OPENDR_HOME
        
        if [ ${{ matrix.package }} = "ctests" ]; then
          make ctests
        else
          if [[ ${{ matrix.package }} == "control/mobile_manipulation" || ${{ matrix.package }} == "planning/end_to_end_planning"  || ${{ matrix.package }} == "control/multi_object_search" ]]; then
            echo "ROS $ROS_DISTRO Installation"

            echo "Adding ROS repositories keys"
            sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' \
              && curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
            
            sudo apt update
            
            # ROS package dependencies
            if [[ ${ROS_DISTRO} == "noetic" || ${ROS_DISTRO} == "melodic" ]]; then
              echo "Installing ROS dependencies"
              sudo apt-get -y install ros-$ROS_DISTRO-vision-msgs ros-$ROS_DISTRO-geometry-msgs ros-$ROS_DISTRO-sensor-msgs ros-$ROS_DISTRO-audio-common-msgs ros-$ROS_DISTRO-hri-msgs ros-$ROS_DISTRO-usb-cam ros-$ROS_DISTRO-webots-ros
            fi
            
            # ROS2 package dependencies
            if [[ ${ROS_DISTRO} == "foxy" || ${ROS_DISTRO} == "humble" ]]; then
              echo "Installing ROS2 dependencies"
              sudo apt-get -y install python3-lark ros-$ROS_DISTRO-usb-cam ros-$ROS_DISTRO-webots-ros2 python3-colcon-common-extensions ros-$ROS_DISTRO-vision-msgs ros-$ROS_DISTRO-sensor-msgs-py
              LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/$ROS_DISTRO/lib/controller
              cd $OPENDR_HOME/projects/opendr_ws_2/
              git clone --depth 1 --branch ros2 https://github.com/ros-drivers/audio_common src/audio_common
              rosdep install -i --from-path src/audio_common --rosdistro $ROS_DISTRO -y
              cd $OPENDR_HOME
            fi

            # Install libegl required by multi-object search
            if [ ${{ matrix.package}} == "control/multi_object_search" ]; then
              echo "Installing libegl1 for multi-object search"
              sudo apt install libegl1-mesa-dev
            fi

            # Make and run mobile manipulation test
            # End-to-end planning requires mobile manipulation to run
            if [[ ${{ matrix.package }} == "control/mobile_manipulation" || ${{ matrix.package }} == "planning/end_to_end_planning" ]]; then
              # echo "Installing mobile manipulation"
              # cd src/opendr/control/mobile_manipulation/
              # make
              # cd ../../../..

              #echo "Running mobile manipulation test"
              #source tests/sources/tools/control/mobile_manipulation/run_ros.sh
            fi
          fi

          echo "Running unittest discover for ${{ matrix.package }}"
          python3 -m unittest discover -s tests/sources/tools/${{ 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
    - name: Set up Python 3.8
      uses: actions/setup-python@v4
      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: ${{ contains(github.event.pull_request.labels.*.name, 'test release') }}
    runs-on: ubuntu-20.04
    steps:
    - name: Free Disk Space
      uses: jlumbroso/free-disk-space@v1.3.1
    - uses: actions/checkout@v3
      with:
        submodules: true
    - name: Get branch name
      id: branch-name
      uses: tj-actions/branch-names@v7
    - name: Build image
      run: |
        docker build --no-cache --tag opendr/opendr-toolkit:cpu_test --build-arg branch=${{ 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/gesture_recognition
          - 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/speech_transcription/vosk
          - perception/speech_transcription/whisper
          # - 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
    - 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-get update
        sudo apt -y install python3.8-venv libfreetype6-dev git build-essential cmake python3-dev wget libopenblas-dev libsndfile1 libboost-dev python3-dev python3-six ffmpeg
        
        python3 -m venv venv
        source venv/bin/activate
        python3 -m pip install --upgrade pip
        python3 -m pip install wheel==0.38.4 six

        # 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') }}
    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/gesture_recognition
          - 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/speech_transcription/vosk
          - perception/speech_transcription/whisper
          # - 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
    - 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 ROS_DISTRO=noetic

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

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

        # 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/gesture_recognition" ]; then
            python3 -m pip install --find-links ./artifact/wheel-artifact/ ./artifact/wheel-artifact/opendr-toolkit-object-detection-2d-*.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') }}
    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/gesture_recognition
          - 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/speech_transcription/vosk
          - perception/speech_transcription/whisper
          # - 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@v1.3.1
    - 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" || ${{ matrix.package }} == "planning/end_to_end_planning" ]]; then
          # && source tests/sources/tools/control/mobile_manipulation/run_ros.sh 
          # docker exec -i toolkit bash -c "source bin/activate.sh && python3 -m unittest discover -s tests/sources/tools/${{ 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