build-arm64v8.yml

name: PiCar-X Main Build

on: [pull_request]

jobs:
  build:
    runs-on: [self-hosted, Linux, ARM64]

    steps:
      - uses: actions/checkout@v4
      - name: build core container
        working-directory: ./PiCar-X
        run: |
          TAG=latest-arm64v8 ARCH=arm64v8 docker compose -f docker-compose-core.yml build --no-cache

      - name: build dtp containers without gazebo
        working-directory: ./PiCar-X
        run: |
          TAG=latest-arm64v8 ARCH=arm64v8 docker compose -f docker-compose-dtp-no-gazebo.yml build --no-cache

  unit-tests:
    runs-on: [self-hosted, Linux, ARM64]
    needs: [build]
    steps:
      - uses: actions/checkout@v4
      - name: Run pytest in Docker container
        working-directory: ./PiCar-X
        run: |
          docker run --rm --name picarx-unittest abarbie/picarx:latest-arm64v8 pytest ./src/core/picarx/tests

  integration-tests:
    runs-on: [self-hosted, Linux, ARM64]
    needs: [unit-tests]
    steps:
      - uses: actions/checkout@v4
      - name: Integration Test dcmotor
        working-directory: ./PiCar-X
        run: |
          docker run --rm --name dcmotor-integration-test -v /sys/class/gpio:/sys/class/gpio -v /dev/i2c-11:/dev/i2c-11 --privileged  abarbie/picarx-dcmotor-driver:latest-arm64v8 rostest picarx_dcmotor_driver integration_tests.test i2c_port:=/dev/i2c-11

  release:
    runs-on: [self-hosted, Linux, ARM64]
    needs: [integration-tests]
    steps:
      - uses: actions/checkout@v4
      - name: Push to Docker Hub
        working-directory: ./PiCar-X
        run: |
          TAG=latest-arm64v8 docker compose -f docker-compose-dtp-no-gazebo.yml push