Refined running tests

.github/workflows/run_tests.yml

@@ -15,4 +15,4 @@ jobs:
 
       - name: Run tests
         working-directory: docker
-        run: bash run_tests.sh
+        run: bash build.sh && bash run_tests.sh

docker/.env

@@ -1,4 +1,4 @@
-PYICUB_VERSION=8.3.7
+PYICUB_VERSION=8.3.8
 PYICUB_APPS_VERSION=master
 PYICUB_FRONTEND_VERSION=v8.8-ng
 

docker/build.sh

@@ -1,3 +1,8 @@
 #!/bin/bash
 
+set -e
+
+SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
+cd "$SCRIPT_DIR"
+
 docker compose build

docker/compose.yaml

@@ -5,128 +5,148 @@ 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: *pyicub-build
+    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}
+
     runtime: ${DOCKER_RUNTIME:-runc}
+
     env_file:
       - pyicub.env
+
     environment:
       - DISPLAY=${DISPLAY:-:0}
       - PULSE_SERVER=unix:${XDG_RUNTIME_DIR:?error}/pulse/native
       - PULSE_COOKIE=/run/pulse/cookie
-      - XDG_RUNTIME_DIR=/tmp/runtime-root
+      - XDG_RUNTIME_DIR=${XDG_RUNTIME_DIR:?error}
       - XDG_DATA_DIRS=${XDG_DATA_DIRS:-/usr/local/share/:/usr/share/}
       - QT_X11_NO_MITSHM=1
       - NO_AT_BRIDGE=1
       - NVIDIA_VISIBLE_DEVICES=${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
       - ${XDG_RUNTIME_DIR:?error}/pulse:${XDG_RUNTIME_DIR:?error}/pulse
-      - ${HOME}/.gitconfig:/root/.gitconfig:ro
-      - ${SSH_AUTH_SOCK:-/dev/null}:/ssh-agent
-      - ${HOME}/.ssh:/root/.ssh:ro
 
   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
+    <<: *pyicub-common
     container_name: pyicub-simulation-nogui
-    command: ["/bin/bash", "-c", "bash ${WORKDIR:?error}/pyicub/scripts/start.sh --simulation_nogui"]
+    command: ["/bin/bash", "-c", "bash ${WORKDIR:?error}/pyicub/scripts/nogui.sh"]
+    depends_on:
+      pyicub-yarpserver:
+        condition: service_healthy
+
+    env_file:
+      - pyicub.env
+
+    environment:
+      - ICUB_APP_XML=${ICUB_APP_XML:-}
+
     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-headless
+    <<: *pyicub-common
     container_name: pyicub-test
+
     command: ["/bin/bash", "-c", "bash ${WORKDIR:?error}/pyicub/scripts/run_tests.sh"]
+
+    env_file:
+      - pyicub.env
+
+    environment:
+      - DISPLAY=:99
+
     volumes:
       - ./shared:/shared
+
     depends_on:
       pyicub.simulation-nogui:
         condition: service_healthy
+
     profiles:
       - test
 
 volumes:
   pyicub-frontend-workspace:
-    name: pyicub-frontend-workspace
+    name: pyicub-frontend-workspace

docker/run_tests.sh

@@ -4,10 +4,6 @@ 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
+docker compose --profile test down --remove-orphans

pyicub/__init__.py

@@ -31,5 +31,5 @@
 __authors__ = 'Davide De Tommaso, Adam Lukomski, Nicola Russi, Enrico Piacenti, Gioele Migno, Mohammad Gharb'
 __emails__ = 'davide.detommaso@iit.it, adam.lukomski@iit.it, nicola.russi@iit.it, enrico.piacenti@iit.it, gioele.migno@iit.it, mohammad.gharb@iit.it'
 __license__ = 'BSD-2'
-__version__ = '8.3.7'
+__version__ = '8.3.8'
 __description__ = 'Developing iCub applications using Python'

scripts/common.sh

@@ -92,26 +92,6 @@ 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/nogui.sh

@@ -0,0 +1,14 @@
+#!/bin/bash
+
+source "$(dirname "$0")/common.sh"
+export ICUB_NAME=icubSim
+export DISPLAY=:99
+sudo Xvfb :99 -screen 0 1024x768x24 &
+sleep 1  # Give it time to start
+
+initialize_environment
+start_yarpserver_detached >/dev/null 2>&1
+start_local_yarprun >/dev/null 2>&1
+
+SIM_APP_XML="${ICUB_APP_XML:-${ICUB_APPS}/applications/icubSim/icub-gazebo.xml}"
+yarpmanager-console --application "$SIM_APP_XML" --run --connect

scripts/setup.sh

@@ -26,7 +26,12 @@ else
 fi
 
 # Check PulseAudio socket
-if [[ ! -S ${XDG_RUNTIME_DIR}/pulse/native ]]; then
+PULSE_SOCKET_PATH="${XDG_RUNTIME_DIR}/pulse/native"
+if [[ -n "${PULSE_SERVER:-}" && "${PULSE_SERVER}" == unix:* ]]; then
+    PULSE_SOCKET_PATH="${PULSE_SERVER#unix:}"
+fi
+
+if [[ ! -S "${PULSE_SOCKET_PATH}" ]]; then
     echo "🟡 PulseAudio socket missing. Audio via Pulse may fail."
 else
     echo "🟢 PulseAudio socket is ready."

scripts/start.sh

@@ -2,13 +2,6 @@
 
 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"