added CLI --sim option to test_flights_sim and made two different sys…

…temtests workflows as suggested by Wolfram

.github/workflows/systemtests_real.yml

@@ -0,0 +1,58 @@
+name: System Tests Real
+
+
+#run the physical tests only manually or on push from feature-systemtests-downloadUSD
+on:
+ push:
+ branches: [ "feature-systemtests-downloadUSD" ]
+ # 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.py
+
+ - name: Upload files
+ id: step6
+ if: '!cancelled()'
+ uses: actions/upload-artifact@v3
+ with:
+ name: pdf_rosbags_and_logs
+ path: |
+ ros2_ws/results
+ 
+
+
+
+ 

systemtests/test_flights_sim.py

@@ -48,7 +48,7 @@ def clean_process(process:Popen) -> int :
 
 
 class TestFlights(unittest.TestCase):
- SIM = True
+ SIM = False
 
  def __init__(self, methodName: str = "runTest") -> None:
  super().__init__(methodName)
@@ -171,4 +171,12 @@ def test_multi_trajectory(self):
 
 
 if __name__ == '__main__':
- unittest.main()
+ from argparse import ArgumentParser, Namespace
+ import sys
+ parser = ArgumentParser(description="Runs (real or simulated) flight tests with pytest framework")
+ parser.add_argument("--sim", action="store_true", help="Runs the test from the simulation backend")
+ args, other_args = parser.parse_known_args()
+ if args.sim :
+ TestFlights.SIM = True
+
+ unittest.main(argv=[sys.argv[0]] + other_args)