Test Python #7
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| name: Test Python | |
| on: | |
| workflow_dispatch: | |
| env: | |
| COLCON_DEFAULTS_FILE: src/navground/colcon/defaults.yaml | |
| jobs: | |
| test_python: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| python-version: | |
| - "3.10" | |
| - "3.11" | |
| - "3.12" | |
| - "3.13" | |
| os: | |
| - ubuntu-latest | |
| name: Build and Test Navground | |
| runs-on: ${{ matrix.os }} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| path: src/navground | |
| - uses: actions/setup-python@v5 | |
| with: | |
| python-version: ${{ matrix.python-version }} | |
| cache: 'pip' | |
| - name: install colcon | |
| run: pip install colcon-common-extensions | |
| - name: load deps | |
| uses: actions/cache/restore@v4 | |
| id: cache | |
| with: | |
| path: install | |
| key: ${{ matrix.os }}-${{ hashFiles('src/navground/installation/deps.repos', 'src/navground/installation/ament.repos') }} | |
| - name: download deps | |
| if: steps.cache.outputs.cache-hit != 'true' | |
| run: | | |
| pip install vcstool | |
| vcs import --shallow --input src/navground/installation/deps.repos | |
| vcs import --shallow --input src/navground/installation/ament.repos | |
| - name: build deps | |
| if: ${{steps.cache.outputs.cache-hit != 'true' }} | |
| run: colcon build --metas src/navground/colcon/navground.meta --packages-up-to argparse Eigen3 YAML_CPP GEOS HighFive HDF5 pybind11 ament_cmake ament_package ament_index_cpp | |
| - name: save deps | |
| uses: actions/cache/save@v4 | |
| if: steps.cache.outputs.cache-hit != 'true' | |
| with: | |
| path: install | |
| key: ${{ matrix.os }}-${{ hashFiles('src/navground/installation/deps.repos', 'src/navground/installation/ament.repos') }} | |
| - name: build navground | |
| run: | | |
| source install/setup.bash | |
| colcon build --metas src/navground/colcon/navground.meta --packages-up-to navground_examples_py navground_examples_yaml | |
| - name: install python runtime deps | |
| run: pip install numpy PyYaml tqdm cairosvg moviepy Jinja2 websockets jsonschema | |
| - name: test load | |
| run: | | |
| source install/setup.bash | |
| python -c "from navground import core, sim" | |
| - name: test info | |
| run: | | |
| source install/setup.bash | |
| navground info --build --properties | |
| navground_py info --build --properties | |
| - name: test plugins | |
| run: | | |
| source install/setup.bash | |
| navground plugins --dependencies | |
| navground_py plugins --dependencies | |
| - name: test schema | |
| run: | | |
| source install/setup.bash | |
| navground schema sim | |
| navground_py schema sim | |
| - name: test validate | |
| run: | | |
| source install/setup.bash | |
| navground_py validate experiment install/share/navground_examples_yaml/experiment/cross.yaml | |
| - name: test echo | |
| run: | | |
| source install/setup.bash | |
| navground echo behavior "{type: Dummy}" | |
| navground_py echo behavior "{type: Dummy}" | |
| navground_py echo behavior "{type: PyDummy}" | |
| - name: test sample | |
| run: | | |
| source install/setup.bash | |
| navground sample "{type: Cross, groups: [{number: 10, behavior: {type: Dummy}}]}" | |
| navground_py sample "{type: Cross, groups: [{number: 10, behavior: {type: PyDummy}}]}" | |
| - name: test run | |
| run: | | |
| source install/setup.bash | |
| navground_py run install/share/navground_examples_yaml/experiment/cross.yaml --run_index 1001 | |
| navground run install/share/navground_examples_yaml/experiment/cross_torus.yaml --run_index 2002 | |
| navground_py run install/share/navground_examples_yaml/experiment/corridor.yaml --processes 2 --runs 10 --tqdm | |
| navground run install/share/navground_examples_yaml/experiment/antipodal.yaml --threads 2 --runs 10 --tqdm | |
| - name: test video | |
| run: | | |
| source install/setup.bash | |
| navground_py record_video install/share/navground_examples_yaml/experiment/cross.yaml /tmp/video.mp4 --factor 100 |