From bb92b9b0301f4229db3994d57fe664fec3c6eb0e Mon Sep 17 00:00:00 2001
From: JulienThevenoz <julien@thevenoz.ch>
Date: Wed, 10 Jan 2024 11:44:48 +0100
Subject: [PATCH] added CLI --sim option to test_flights_sim and made two
 different systemtests workflows as suggested by Wolfram

---
 .github/workflows/systemtests_real.yml | 58 ++++++++++++++++++++++++++
 .github/workflows/systemtests_sim.yml  |  0
 systemtests/test_flights_sim.py        | 12 +++++-
 3 files changed, 68 insertions(+), 2 deletions(-)
 create mode 100644 .github/workflows/systemtests_real.yml
 create mode 100644 .github/workflows/systemtests_sim.yml

diff --git a/.github/workflows/systemtests_real.yml b/.github/workflows/systemtests_real.yml
new file mode 100644
index 000000000..8a88f2db9
--- /dev/null
+++ b/.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
+          
+
+
+
+      
diff --git a/.github/workflows/systemtests_sim.yml b/.github/workflows/systemtests_sim.yml
new file mode 100644
index 000000000..e69de29bb
diff --git a/systemtests/test_flights_sim.py b/systemtests/test_flights_sim.py
index 64ff7851f..120d61099 100644
--- a/systemtests/test_flights_sim.py
+++ b/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)