Added separated service for simulation no_gui

.github/workflows/run_tests.yml

@@ -13,15 +13,6 @@ jobs:
       - name: Checkout repository
         uses: actions/checkout@v3
 
-      - name: Run tests with Docker Compose
+      - name: Run tests
         working-directory: docker
-        run: |
-          echo "Building and running services for testing..."
-          COMPOSE_PROFILES=backend,test docker compose build
-          COMPOSE_PROFILES=test docker compose up
-
-      - name: Clean up docker
-        working-directory: docker
-        run: |
-          echo "Cleaning up..."
-          docker compose down --volumes --remove-orphans
+        run: bash run_tests.sh

.gitignore

@@ -46,6 +46,7 @@ coverage.xml
 *.cover
 .hypothesis/
 .pytest_cache/
+pytest
 
 # Translations
 *.mo

README.md

@@ -39,9 +39,11 @@ bash run.sh
 How to test pyicub
 -------------
 
-To run the tests you can run this command from your host machine, levearing docker containers.
+To run the tests, use the dedicated script from your host machine. It will build the image, start a headless simulation container, wait for it to be healthy, run the test container, and tear everything down on completion.
 
-    ```
-    cd pyicub/docker
-    COMPOSE_PROFILES=test ./run.sh
-    ```
+```
+cd pyicub/docker
+bash run_tests.sh
+```
+
+The test results (HTML report) are written to `docker/shared/pytest/pytest_report.html`.

docker/compose.yaml

@@ -5,46 +5,47 @@ x-pyicub-common: &pyicub-common
   network_mode: host
   privileged: true
 
-
+x-pyicub-build: &pyicub-build
+  context: ..
+  dockerfile: docker/Dockerfile.pyicub
+  args:
+    DOCKER_SRC: ${ROBOTOLOGY_IMAGE_NAME}
+    PYICUB_VERSION: ${PYICUB_VERSION:-master}
+    PYICUB_APPS_VERSION: ${PYICUB_APPS_VERSION:-master}
+    WORKDIR: ${WORKDIR:-/usr/local/src/robot}
+
+x-pyicub-headless: &pyicub-headless
+  <<: *pyicub-common
+  build: *pyicub-build
+  env_file:
+    - pyicub.env
+  environment:
+    - DISPLAY=:99
+
 services:
 
   pyicub-yarpserver:
     <<: *pyicub-common
     container_name: pyicub-yarpserver
-
     command: ["/bin/bash", "-c", "yarpserver --write"]
-
     restart: unless-stopped
-
     healthcheck:
       test: ["CMD", "/bin/bash", "-c", "yarp detect"]
       interval: 10s
       timeout: 5s
       retries: 6
       start_period: 1s
-
     profiles:
       - backend
       - frontend
 
   pyicub-backend:
     <<: *pyicub-common
-    container_name: pyicub-backend  
-
-    build:
-      context: ..
-      dockerfile: docker/Dockerfile.pyicub
-      args:
-        DOCKER_SRC: ${ROBOTOLOGY_IMAGE_NAME}
-        PYICUB_VERSION: ${PYICUB_VERSION:-master}
-        PYICUB_APPS_VERSION: ${PYICUB_APPS_VERSION:-master}
-        WORKDIR: ${WORKDIR:-/usr/local/src/robot}
-
+    container_name: pyicub-backend
+    build: *pyicub-build
     runtime: ${DOCKER_RUNTIME:-runc}
-
     env_file:
       - pyicub.env
-
     environment:
       - DISPLAY=${DISPLAY:-:0}
       - PULSE_SERVER=unix:${XDG_RUNTIME_DIR:?error}/pulse/native
@@ -56,23 +57,18 @@ services:
       - NVIDIA_VISIBLE_DEVICES=${GPU_DEVICES:-none}
       - NVIDIA_DRIVER_CAPABILITIES=all
       - SSH_AUTH_SOCK=/ssh-agent
-
     command: ["/bin/bash", "-c", "bash ${WORKDIR:?error}/pyicub/scripts/start.sh"]
-
     profiles:
       - backend
-
     healthcheck:
       test: ["CMD", "/bin/bash", "-c", "yarp ping /${PYICUB_NODE:?error}"]
       interval: 1m30s
       timeout: 30s
       retries: 5
       start_period: 30s
-
     depends_on:
       pyicub-yarpserver:
         condition: service_healthy
-
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix
       - ${HOME}/.config/pulse/cookie:/run/pulse/cookie
@@ -84,48 +80,50 @@ services:
   pyicub.frontend:
     image: ${PYICUB_FRONTEND_IMAGE_NAME:?error}
     container_name: pyicub-frontend
-
     build:
       context: .
       dockerfile: Dockerfile.pyicub-frontend
       args:
         - PYICUB_FRONTEND_VERSION=${PYICUB_FRONTEND_VERSION:?error}
-
     environment:
       - SSH_AUTH_SOCK=/ssh-agent
-
     network_mode: host
-
     volumes:
       - pyicub-frontend-workspace:${WORKDIR:?error}/pyicub-frontend
       - ${HOME}/.gitconfig:/root/.gitconfig:ro
       - ${HOME}/.ssh:/root/.ssh:ro
       - ${SSH_AUTH_SOCK:-/dev/null}:/ssh-agent
-
     profiles:
       - frontend
-
     depends_on:
       pyicub-yarpserver:
         condition: service_healthy
       pyicub-backend:
         condition: service_healthy
 
+  pyicub.simulation-nogui:
+    <<: *pyicub-headless
+    container_name: pyicub-simulation-nogui
+    command: ["/bin/bash", "-c", "bash ${WORKDIR:?error}/pyicub/scripts/start.sh --simulation_nogui"]
+    healthcheck:
+      test: ["CMD", "/bin/bash", "-c", "yarp exists /icubSim/head/rpc:i"]
+      interval: 10s
+      timeout: 5s
+      retries: 12
+      start_period: 30s
+    profiles:
+      - simulation_nogui
+      - test
+
   pyicub.test:
-    <<: *pyicub-common
+    <<: *pyicub-headless
     container_name: pyicub-test
-
-    command: ["/bin/bash", "-c", "bash ${WORKDIR:?error}/pyicub/scripts/tests.sh"]
-
-    env_file:
-      - pyicub.env
-
-    environment:
-      - DISPLAY=:99
-
+    command: ["/bin/bash", "-c", "bash ${WORKDIR:?error}/pyicub/scripts/run_tests.sh"]
     volumes:
       - ./shared:/shared
-
+    depends_on:
+      pyicub.simulation-nogui:
+        condition: service_healthy
     profiles:
       - test
 

docker/run_tests.sh

@@ -0,0 +1,13 @@
+#!/bin/bash
+
+set -e
+
+source "$(dirname "$0")/setup.sh"
+
+docker compose --profile simulation_nogui up --build -d
+
+docker compose --profile test up --build pyicub.test
+
+docker container stop pyicub-simulation-nogui
+
+docker compose --profile test down --remove-orphans

scripts/common.sh

@@ -92,6 +92,26 @@ ensure_ssh_key_installed() {
   ssh-copy-id -o StrictHostKeyChecking=no icub@"$ICUB_HOST"
 }
 
+start_simulation() {
+  export DISPLAY=:99
+  sudo Xvfb :99 -screen 0 1024x768x24 &
+  sleep 1
+
+  initialize_environment
+  start_yarpserver_detached >/dev/null 2>&1
+  start_local_yarprun >/dev/null 2>&1
+
+  echo "Starting Gazebo simulation..."
+  gzserver ${ICUB_APPS}/gazebo/icub-world.sdf >/dev/null 2>&1 &
+  sleep 5
+
+  echo "Starting robot interface..."
+  yarprobotinterface --context gazeboCartesianControl --config no_legs.xml --portprefix /icubSim >/dev/null 2>&1 &
+  sleep 5
+
+  exec "$@"
+}
+
 check_existing_yarpserver() {
   for i in {1..5}; do
     if yarp detect --write >/dev/null 2>&1; then

scripts/run_tests.sh

@@ -0,0 +1,9 @@
+#!/bin/bash
+
+source "$(dirname "$0")/common.sh"
+
+initialize_environment
+check_existing_yarpserver
+cd $ROBOT_CODE/pyicub
+
+exec pytest --html=$PYTEST_OUTPUT_DIR/pytest_report.html

scripts/start.sh

@@ -2,6 +2,13 @@
 
 source "$(dirname "$0")/common.sh"
 
+MODE="${1:-}"
+
+if [[ "$MODE" == "--simulation_nogui" ]]; then
+  start_simulation sleep infinity
+  exit 0
+fi
+
 initialize_environment
 source "$(dirname "$0")/setup.sh"