AIRO-405 Adding Yamato boilerplate to Robotics Hub (#144)
* Adding testing boilerplate * Adding tests to run after message generation * Tweaks to ensure run works in Bokken image * Enabling audio by default, but disabling it in yamato config
This commit is contained in:
Devin Miller (Unity)
Devin Miller
Родитель
e9f67e0783
Коммит
71af832ca0
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.DS_Store
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.swp
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.idea
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.vscode/
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tutorials/pick_and_place/PickAndPlaceProject/Packages/packages-lock.json
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name: Robotics Hub Tests
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agent:
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type: Unity::VM
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image: robotics/ci-ubuntu20:latest
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flavor: i1.large
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variables:
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PATH: /root/.local/bin:/home/bokken/bin:/home/bokken/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/sbin:/home/bokken/.npm-global/bin
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commands:
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- git submodule update --init --recursive
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# TODO: Fix this hack - our bokken image is missing a .NET dependency (System.CodeDom) without which causes compilation to fail
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- rm ./tutorials/pick_and_place/PickAndPlaceProject/Assets/DemoScripts/Demo.*
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# This is another hack to ensure audio is disabled. Unity built-in audio fails to initialize in our Bokken image.
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- "sed -i -e '/m_DisableAudio/ s/: .*/: 1/' ./tutorials/pick_and_place/PickAndPlaceProject/ProjectSettings/AudioManager.asset"
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- python3 -m pip install unity-downloader-cli --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple --upgrade
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- unity-downloader-cli -u 2020.2.0b9 -c editor -c StandaloneSupport-IL2CPP -c Linux --wait --published
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- git clone git@github.cds.internal.unity3d.com:unity/utr.git utr
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- utr/utr --testproject=./tutorials/pick_and_place/PickAndPlaceProject --editor-location=.Editor --reruncount=0 --artifacts_path=test-results --suite=playmode --suite=editor --platform=Editor --editorTestsCategories MessageGeneration
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- mkdir -p ./tutorials/pick_and_place/PickAndPlaceProject/Assets/Scripts && cp ./tutorials/pick_and_place/Scripts/*.cs ./tutorials/pick_and_place/PickAndPlaceProject/Assets
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- utr/utr --testproject=./tutorials/pick_and_place/PickAndPlaceProject --editor-location=.Editor --reruncount=0 --artifacts_path=test-results --suite=playmode --suite=editor --platform=Editor --editorTestsCategories BuildTests
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triggers:
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cancel_old_ci: true
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expression: |
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(pull_request.target eq "main" AND
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NOT pull_request.push.changes.all match ["**/*.md","**/*.jpg","**/*.jpeg","**/*.gif","**/*.pdf"]) OR
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(push.branch eq "dev" AND
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NOT push.changes.all match ["**/*.md","**/*.jpg","**/*.jpeg","**/*.gif","**/*.pdf"])
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artifacts:
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logs:
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paths:
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- "test-results/**/*"
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/[Bb]uilds/
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/[Ll]ogs/
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/[Uu]ser[Ss]ettings/
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/[Aa]ssets/[Rr]os[Mm]essages/
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/[Aa]ssets/[Rr]os[Mm]essages.meta
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# MemoryCaptures can get excessive in size.
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# They also could contain extremely sensitive data
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#if UNITY_EDITOR
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using Microsoft.CSharp;
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using RosSharp;
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using RosSharp.Control;
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using RosSharp.Urdf.Editor;
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using System;
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using System.CodeDom.Compiler;
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using System.Collections.Generic;
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using System.IO;
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using System.Reflection;
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using System.Text;
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using RosSharp;
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using RosSharp.Control;
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using RosSharp.Urdf.Editor;
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using UnityEditor;
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using UnityEngine;
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using Unity.Robotics.ROSTCPConnector;
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{
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"name": "DemoScripts",
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"rootNamespace": "",
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"references": [
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"GUID:625bfc588fb96c74696858f2c467e978",
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"GUID:b1ef917f7a8a86a4eb639ec2352edbf8",
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"GUID:465c1207fffb96245a352265e7622205"
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],
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"includePlatforms": [
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"Editor"
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],
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"excludePlatforms": [],
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"allowUnsafeCode": false,
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"overrideReferences": false,
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"precompiledReferences": [],
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"autoReferenced": true,
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"defineConstraints": [],
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"versionDefines": [],
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"noEngineReferences": false
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}
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fileFormatVersion: 2
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guid: 80312ba658e2b5f41bf853abe51fbe2f
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AssemblyDefinitionImporter:
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externalObjects: {}
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userData:
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assetBundleName:
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assetBundleVariant:
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fileFormatVersion: 2
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guid: 8ab3f0793a13742c58ee40e7c1bf73e4
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folderAsset: yes
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DefaultImporter:
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externalObjects: {}
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userData:
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assetBundleName:
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assetBundleVariant:
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fileFormatVersion: 2
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folderAsset: yes
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assetBundleName:
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assetBundleVariant:
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{
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"name": "EditMode",
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"rootNamespace": "",
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"references": [
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"UnityEngine.TestRunner",
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"UnityEditor.TestRunner",
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"Unity.Robotics.ROSTCPConnector.Editor",
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"Unity.Robotics.ROSTCPConnector"
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],
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"includePlatforms": [
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"Editor"
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],
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"excludePlatforms": [],
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"allowUnsafeCode": false,
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"overrideReferences": true,
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"precompiledReferences": [
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"nunit.framework.dll"
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],
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"autoReferenced": false,
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"defineConstraints": [
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"UNITY_INCLUDE_TESTS"
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],
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"versionDefines": [],
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"noEngineReferences": false
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}
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@ -0,0 +1,7 @@
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fileFormatVersion: 2
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guid: a430adad278b44ebb8b3bc6d4181a527
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AssemblyDefinitionImporter:
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using System.Collections.Generic;
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using System.IO;
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using NUnit.Framework;
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using Unity.Robotics.ROSTCPConnector.MessageGeneration;
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using Unity.Robotics.ROSTCPConnector.Editor.MessageGeneration;
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using UnityEditor;
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[TestFixture]
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[Category("MessageGeneration")]
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public class PickAndPlaceMessageGenerationTests
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{
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// Relative path to the directory containing the catkin packages
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static readonly string k_ROSDirectory = Path.GetFullPath(Path.Combine("..", "ROS", "src"));
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static string m_MessageGenOutputPath => MessageGenBrowserSettings.Get().outputPath;
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// Define more individual messages to run generation on within this test case enumerable
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static IEnumerable<TestCaseData> IndividualMessages()
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{
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yield return new TestCaseData(Path.Combine(k_ROSDirectory, "moveit_msgs", "msg", "RobotTrajectory.msg"));
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}
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// Define directories of message files to be generated here
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static IEnumerable<TestCaseData> MessageDirectories()
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{
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yield return new TestCaseData(Path.Combine(k_ROSDirectory, "niryo_moveit", "msg"));
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}
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// Define directories of service files to be generated here
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static IEnumerable<TestCaseData> ServiceDirectories()
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{
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yield return new TestCaseData(Path.Combine(k_ROSDirectory, "niryo_moveit", "srv"));
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}
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[Test]
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[TestCaseSource(nameof(IndividualMessages))]
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public void TestMessageBuildSingle_ThrowsNoExceptions(string messageToBuild)
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{
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MessageAutoGen.GenerateSingleMessage(messageToBuild, m_MessageGenOutputPath);
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AssetDatabase.Refresh();
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}
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[Test]
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[TestCaseSource(nameof(MessageDirectories))]
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public void TestMessageBuildDirectory_ThrowsNoExceptions(string directoryToBuild)
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{
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MessageAutoGen.GenerateDirectoryMessages(directoryToBuild, m_MessageGenOutputPath);
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AssetDatabase.Refresh();
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}
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[Test]
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[TestCaseSource(nameof(ServiceDirectories))]
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public void TestServiceBuildDirectory_ThrowsNoExceptions(string directoryToBuild)
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{
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ServiceAutoGen.GenerateDirectoryServices(directoryToBuild, m_MessageGenOutputPath);
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AssetDatabase.Refresh();
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}
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}
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@ -0,0 +1,11 @@
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fileFormatVersion: 2
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userData:
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assetBundleName:
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assetBundleVariant:
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using System;
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using System.Collections.Generic;
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using NUnit.Framework;
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using UnityEditor;
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using UnityEditor.Build.Reporting;
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using UnityEditor.TestTools;
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using UnityEngine;
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using UnityEngine.TestTools;
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namespace BuildTests
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{
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[TestFixture]
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[Category("BuildTests")]
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public class PlayerBuilder
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{
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List<EditorBuildSettingsScene> m_EditorBuildSettingsScenes = new List<EditorBuildSettingsScene>();
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BuildSummary m_Summary;
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string m_BuildPath = "Build";
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[UnityPlatform(RuntimePlatform.WindowsEditor)]
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[RequirePlatformSupport(BuildTarget.StandaloneWindows64)]
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[Test]
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public void BuildPlayerStandaloneWindows64()
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{
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BuildPlayer(BuildTargetGroup.Standalone, BuildTarget.StandaloneWindows64, m_BuildPath, BuildOptions.None, out _, out m_Summary);
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Assert.AreEqual(BuildResult.Succeeded, m_Summary.result, " BuildTarget.StandaloneWindows64 failed to build");
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}
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[RequirePlatformSupport(BuildTarget.StandaloneLinux64)]
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[Test]
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public void BuildPlayerLinux()
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{
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BuildPlayer(BuildTargetGroup.Standalone, BuildTarget.StandaloneLinux64, m_BuildPath, BuildOptions.None, out _, out m_Summary);
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Assert.AreEqual(BuildResult.Succeeded, m_Summary.result, "BuildTarget.StandaloneLinux64 failed to build");
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}
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[UnityPlatform(RuntimePlatform.OSXEditor)]
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[RequirePlatformSupport(BuildTarget.StandaloneOSX)]
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[Test]
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public void BuildPlayerOSX()
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{
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BuildPlayer(BuildTargetGroup.Standalone, BuildTarget.StandaloneOSX, m_BuildPath, BuildOptions.None, out _, out m_Summary);
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Assert.AreEqual(BuildResult.Succeeded, m_Summary.result, "BuildTarget.StandaloneLinux64 failed to build");
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}
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void BuildPlayer(BuildTargetGroup buildTargetGroup, BuildTarget buildTarget, string buildOutputPath, BuildOptions buildOptions,
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out BuildReport buildReport, out BuildSummary buildSummary)
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{
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BuildPlayerOptions buildPlayerOptions = new BuildPlayerOptions();
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buildPlayerOptions.locationPathName = buildOutputPath;
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buildPlayerOptions.target = buildTarget;
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buildPlayerOptions.options = buildOptions;
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buildPlayerOptions.targetGroup = buildTargetGroup;
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buildReport = BuildPipeline.BuildPlayer(buildPlayerOptions);
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buildSummary = buildReport.summary;
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}
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}
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}
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@ -0,0 +1,11 @@
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folderAsset: yes
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DefaultImporter:
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userData:
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assetBundleName:
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assetBundleVariant:
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@ -0,0 +1,25 @@
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using System.Collections;
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using System.Collections.Generic;
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using NUnit.Framework;
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using UnityEngine;
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using UnityEngine.TestTools;
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public class ExamplePlayModeTests
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{
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// A Test behaves as an ordinary method
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[Test]
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public void ExamplePlayModeTestsSimplePasses()
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{
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// Use the Assert class to test conditions
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}
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// A UnityTest behaves like a coroutine in Play Mode. In Edit Mode you can use
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// `yield return null;` to skip a frame.
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[UnityTest]
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public IEnumerator ExamplePlayModeTestsWithEnumeratorPasses()
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{
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// Use the Assert class to test conditions.
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// Use yield to skip a frame.
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yield return null;
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}
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}
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@ -0,0 +1,6 @@
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{
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"name": "PlayMode",
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"optionalUnityReferences": [
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"TestAssemblies"
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]
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}
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