From 086e3fe5aba2b5ea287ee72d17c114a10cf65850 Mon Sep 17 00:00:00 2001
From: JulienThevenoz <julien@thevenoz.ch>
Date: Wed, 10 Jan 2024 10:53:32 +0100
Subject: [PATCH] modified workflow for sim. Not sure if it works

---
 .github/workflows/systemtests.yml | 68 +++++++++++++++++++++++++------
 1 file changed, 55 insertions(+), 13 deletions(-)

diff --git a/.github/workflows/systemtests.yml b/.github/workflows/systemtests.yml
index 045b64049..03a1e35b6 100644
--- a/.github/workflows/systemtests.yml
+++ b/.github/workflows/systemtests.yml
@@ -1,8 +1,62 @@
 name: System Tests
 
+
+#run the simulation tests for every push to main
 on:
   push:
-    branches: [ "feature-systemtests-better" ]
+    branches: [ "main" ]
+  # manual trigger
+  workflow_dispatch:
+
+jobs:
+  build:
+    runs-on: self-hosted
+    steps:
+      - name: Create workspace
+        id: step1
+        run: |
+          cd ros2_ws/src || mkdir -p ros2_ws/src
+      - name: Checkout motion capture package
+        id: step2
+        run: |
+          cd ros2_ws/src
+          ls motion_capture_tracking || git clone --branch ros2 --recursive https://github.com/IMRCLab/motion_capture_tracking.git
+      - name: Checkout Crazyswarm2
+        id: step3
+        uses: actions/checkout@v4
+        with:
+          path: ros2_ws/src/crazyswarm2
+          submodules: 'recursive'
+      - name: Build workspace
+        id: step4
+        run: |
+          source /opt/ros/humble/setup.bash
+          cd ros2_ws
+          colcon build --symlink-install
+
+      - name: Flight test
+        id: step5
+        run: |
+          cd ros2_ws
+          source /opt/ros/humble/setup.bash
+          . install/local_setup.bash
+          export ROS_LOCALHOST_ONLY=1
+          python3 src/crazyswarm2/systemtests/test_flights_sim.py
+
+      - name: Upload files
+        id: step6
+        if: '!cancelled()'
+        uses: actions/upload-artifact@v3
+        with:
+          name: pdf_rosbags_and_logs
+          path: |
+            ros2_ws/results
+
+
+#run the physical tests only manually or on push from feature-systemtests-downloadUSD
+on:
+  push:
+    branches: [ "feature-systemtests-downloadUSD" ]
   # manual trigger
   workflow_dispatch:
 
@@ -54,15 +108,3 @@ jobs:
 
 
       
-
-      # - name: build and test ROS 2
-      #   uses: ros-tooling/action-ros-ci@v0.3
-      #   with:
-      #     package-name: |
-      #       crazyflie
-      #       crazyflie_examples
-      #       crazyflie_interfaces
-      #       crazyflie_py
-      #       crazyflie_sim
-      #     target-ros2-distro: humble
-      #     vcs-repo-file-url: rosinstall
\ No newline at end of file