Bug/272 reaction wheel no max torque ends sim no error #2008
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| name: "Pull Request" | |
| on: | |
| pull_request: | |
| workflow_dispatch: | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.ref }} | |
| cancel-in-progress: true | |
| jobs: | |
| pre-commit: | |
| runs-on: ubuntu-22.04 | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - uses: actions/setup-python@v5 | |
| with: | |
| python-version: 3.11 | |
| - id: file_changes | |
| uses: tj-actions/changed-files@v44 | |
| - uses: pre-commit/action@v3.0.1 | |
| with: | |
| extra_args: --files ${{ steps.file_changes.outputs.all_changed_files}} | |
| build-linux-3-10: | |
| name: Linux 22.04 | |
| runs-on: ubuntu-22.04 | |
| timeout-minutes: 75 | |
| strategy: | |
| matrix: | |
| python-version: ["3.8", "3.9", "3.10"] | |
| steps: | |
| - name: Checkout code | |
| uses: actions/checkout@v4 | |
| - name: Set up Python ${{ matrix.python-version }} | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: ${{ matrix.python-version }} | |
| - name: "Install swig and cmake" | |
| run: sudo apt-get update && sudo apt-get install build-essential swig cmake -y | |
| - name: "Install python packages" | |
| run: sudo apt-get install python3-setuptools python3-tk python3.10-venv | |
| - name: "Create virtual Environment" | |
| run: python3 -m venv .venv | |
| - name: "Install requirements_dev.txt" | |
| run: source .venv/bin/activate && pip3 install -r requirements_dev.txt | |
| - name: "Build basilisk" | |
| run: source .venv/bin/activate && python3 conanfile.py | |
| - name: "Run Python Tests" | |
| run: | | |
| source .venv/bin/activate | |
| cd src && pytest -n auto -m "not ciSkip" -rs | |
| - name: "Run C/C++ Tests" | |
| working-directory: ./dist3 | |
| run: ctest | |
| if: ${{ always() }} | |
| build-linux-3-11: | |
| name: Linux 22.04 All Tests | |
| runs-on: ubuntu-22.04 | |
| timeout-minutes: 75 | |
| strategy: | |
| matrix: | |
| python-version: ["3.11"] | |
| steps: | |
| - name: Checkout code | |
| uses: actions/checkout@v4 | |
| - name: Set up Python ${{ matrix.python-version }} | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: ${{ matrix.python-version }} | |
| - name: "Install cmake" | |
| run: sudo apt-get update && sudo apt-get install build-essential libgtk2.0 cmake -y | |
| - name: Install SWIG 4.2.1 | |
| uses: mmomtchev/setup-swig@v3 | |
| with: | |
| version: v4.2.1 | |
| - name: "Install python packages" | |
| run: sudo apt-get install python3-setuptools python3-tk python3.11-venv | |
| - name: "Create virtual Environment" | |
| run: python3 -m venv .venv | |
| - name: "Install requirements_dev.txt" | |
| run: source .venv/bin/activate && pip3 install -r requirements_dev.txt pytest-error-for-skips | |
| - name: "Build basilisk" | |
| run: source .venv/bin/activate && python3 conanfile.py --opNav True --mujoco True --mujocoReplay True | |
| - name: "Run Python Tests" | |
| run: | | |
| source .venv/bin/activate | |
| cd src && pytest -n auto -m "not ciSkip" -rs --error-for-skips | |
| - name: "Run C/C++ Tests" | |
| working-directory: ./dist3 | |
| run: ctest | |
| if: ${{ always() }} | |
| build-linux-3-11-pip: | |
| name: Linux 22.04 pip | |
| runs-on: ubuntu-22.04 | |
| timeout-minutes: 75 | |
| strategy: | |
| matrix: | |
| python-version: ["3.11"] | |
| steps: | |
| - name: Checkout code | |
| uses: actions/checkout@v4 | |
| - name: Set up Python ${{ matrix.python-version }} | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: ${{ matrix.python-version }} | |
| - name: "Install swig and cmake" | |
| run: sudo apt-get update && sudo apt-get install build-essential swig cmake -y | |
| - name: "Install python packages" | |
| run: sudo apt-get install python3-setuptools python3-tk python3.11-venv | |
| - name: "Create virtual Environment" | |
| run: python3 -m venv .venv | |
| - name: "Build basilisk" | |
| run: | | |
| source .venv/bin/activate | |
| pip install . -v | |
| bskLargeData | |
| - name: "Run Python Tests" | |
| run: | | |
| source .venv/bin/activate | |
| pip install pytest pytest-xdist | |
| cd src && pytest -n auto -m "not ciSkip" -rs | |
| build-windows: | |
| name: Windows All Tests | |
| runs-on: windows-2019 | |
| timeout-minutes: 75 | |
| strategy: | |
| matrix: | |
| python-version: ["3.11"] | |
| env: | |
| MPLBACKEND: agg | |
| steps: | |
| - name: Checkout code | |
| uses: actions/checkout@v4 | |
| - name: Set up Python ${{ matrix.python-version }} | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: ${{ matrix.python-version }} | |
| # - name: Choco help | |
| # uses: crazy-max/ghaction-chocolatey@v3 | |
| # with: | |
| # args: -h | |
| # - name: "Install swig and cmake" | |
| # shell: pwsh | |
| # run: choco install swig cmake -y | |
| - name: "Install SWIG 4.2.1" | |
| shell: pwsh | |
| run: | | |
| $swigDir = "C:\Program Files\SWIG" | |
| if (!(Test-Path $swigDir)) {New-Item -ItemType Directory -Path $swigDir | Out-Null} | |
| $swigZip = "$swigDir\swigwin-4.2.1.zip" | |
| $swigUrl = "https://sourceforge.net/projects/swig/files/swigwin/swigwin-4.2.1/swigwin-4.2.1.zip/download" | |
| Start-Process -NoNewWindow -Wait -FilePath "curl.exe" -ArgumentList "-L -o `"$swigZip`" `"$swigUrl`"" | |
| if (!(Test-Path $swigZip) -or ((Get-Item $swigZip).Length -lt 500KB)) { Write-Host "Download failed or file is corrupted." } | |
| Expand-Archive -Path $swigZip -DestinationPath $swigDir -Force | |
| - name: "Create python virtual env" | |
| shell: pwsh | |
| run: python -m venv venv | |
| - name: "Install requirements_dev.txt" | |
| shell: pwsh | |
| run: | | |
| venv\Scripts\activate | |
| pip install -r requirements_dev.txt pytest-error-for-skips | |
| - name: "Add basilisk, swig, and cmake path to env path" | |
| shell: pwsh | |
| run: | | |
| $oldpath = (Get-ItemProperty -Path 'Registry::HKEY_LOCAL_MACHINE\System\CurrentControlSet\Control\Session Manager\Environment' -Name PATH).path | |
| $newPath = “C:\Program Files\SWIG\swigwin-4.2.1;$oldpath;${{ env.GITHUB_WORKSPACE }}\dist3\Basilisk;C:\Program Files\CMake\bin” | |
| echo "PATH=$newPath" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append | |
| - name: "Build basilisk" | |
| shell: pwsh | |
| run: | | |
| venv\Scripts\activate | |
| python conanfile.py --opNav True --mujoco True --mujocoReplay True | |
| - name: "Run Python Tests" | |
| shell: pwsh | |
| run: | | |
| Set-ItemProperty -Path 'Registry::HKEY_LOCAL_MACHINE\System\CurrentControlSet\Control\Session Manager\Environment' -Name MPLBACKEND -Value ${MPLBACKEND} | |
| venv\Scripts\activate | |
| cd src | |
| pytest -n auto -m "not ciSkip" -rs --error-for-skips | |
| if(($LastExitCode -ne 0) -and ($LastExitCode -ne 5)) {exit 1} | |
| - name: "C/C++ Tests" | |
| if: ${{ always() }} | |
| shell: pwsh | |
| run: | | |
| cd dist3 | |
| ctest | |
| if(($LastExitCode -ne 0) -and ($LastExitCode -ne 5)) {exit 1} | |
| build-macOS: | |
| name: macOS All Tests Docs | |
| runs-on: macos-latest | |
| timeout-minutes: 75 | |
| strategy: | |
| matrix: | |
| python-version: [ "3.11", "3.12" ] | |
| steps: | |
| - name: Checkout code | |
| uses: actions/checkout@v4 | |
| - name: Set up Python ${{ matrix.python-version }} | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: ${{ matrix.python-version }} | |
| - name: Install Homebrew | |
| run: | | |
| /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)" | |
| brew install swig doxygen | |
| - name: "Create virtual Environment" | |
| run: python3 -m venv .venv | |
| - name: "Install requirements_dev.txt" | |
| run: | | |
| source .venv/bin/activate | |
| pip3 install cmake -r requirements_dev.txt pytest-error-for-skips | |
| - name: "Build basilisk with OpNav" | |
| run: source .venv/bin/activate && python3 conanfile.py --opNav True --allOptPkg --mujoco True --mujocoReplay True | |
| - name: "Run Python Tests" | |
| run: | | |
| source .venv/bin/activate | |
| cd src | |
| pytest -n auto -m "not ciSkip" -rs --error-for-skips | |
| if: ${{ always() }} | |
| - name: "Run C/C++ Tests" | |
| working-directory: ./dist3 | |
| run: ctest -C Release | |
| if: ${{ always() }} | |
| - name: "Build Documentation" | |
| run: | | |
| source .venv/bin/activate | |
| cd docs | |
| make html SPHINXOPTS="-W" | |
| if: ${{ always() }} | |
| build-macOS-no-vizInterface: | |
| name: macOS no vizInterface | |
| runs-on: macos-latest | |
| timeout-minutes: 75 | |
| strategy: | |
| matrix: | |
| python-version: [ "3.11" ] | |
| steps: | |
| - name: Checkout code | |
| uses: actions/checkout@v4 | |
| - name: Set up Python ${{ matrix.python-version }} | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: ${{ matrix.python-version }} | |
| - name: Install Homebrew | |
| run: | | |
| /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)" | |
| brew install swig | |
| - name: "Create virtual Environment" | |
| run: python3 -m venv .venv | |
| - name: "Install requirements_dev.txt" | |
| run: | | |
| source .venv/bin/activate | |
| pip3 install cmake -r requirements_dev.txt | |
| - name: "Build basilisk without vizInterface" | |
| run: source .venv/bin/activate && python3 conanfile.py --vizInterface False | |
| - name: "Run Python Tests" | |
| run: | | |
| source .venv/bin/activate | |
| cd src | |
| pytest -n auto -m "not ciSkip" -rs | |
| if: ${{ always() }} |