test autotest for forked PR #275
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| name: MetaSim Pre-Merge CI Checks | |
| on: | |
| workflow_dispatch: | |
| merge_group: | |
| types: [checks_requested] | |
| pull_request_target: | |
| types: | |
| - auto_merge_enabled | |
| branches: | |
| - main | |
| - develop | |
| push: | |
| branches: | |
| - ci/pr-** | |
| env: | |
| REGION: us-west-2 | |
| KEY_NAME: Github_CI_SSH_KEY_PAIR | |
| INSTANCE_TYPE: g5.2xlarge | |
| EC2_USER_NAME: ubuntu | |
| AZ: us-west-2a | |
| MAX_RETRIES: "5" | |
| RETRY_WAIT_TIME: "30" | |
| CACHE_BUCKET_PREFIX: "metasim-build-cache" | |
| ECR_REPOSITORY: "roboverse-dev" | |
| jobs: | |
| prepare-or-promote: | |
| name: prepare-or-promote | |
| runs-on: ubuntu-latest | |
| permissions: | |
| contents: write | |
| pull-requests: write | |
| issues: write | |
| env: | |
| PRIV_CI_PUSH_TOKEN: ${{ secrets.PRIV_CI_PUSH_TOKEN }} | |
| outputs: | |
| run_direct: ${{ steps.decide.outputs.run_direct }} | |
| pr_number: ${{ steps.decide.outputs.pr_number }} | |
| reason: ${{ steps.decide.outputs.reason }} | |
| steps: | |
| - name: Route CI flow | |
| id: decide | |
| env: | |
| GITHUB_EVENT_NAME: ${{ github.event_name }} | |
| GITHUB_REF: ${{ github.ref }} | |
| PR_NUMBER: ${{ github.event.pull_request.number || '' }} | |
| HEAD_REPO: ${{ github.event.pull_request.head.repo.full_name || '' }} | |
| BASE_REPO: ${{ github.repository }} | |
| GH_TOKEN: ${{ secrets.GITHUB_TOKEN }} | |
| GITHUB_EVENT_PATH: ${{ github.event_path }} | |
| run: | | |
| RUN_DIRECT="false" | |
| PR_NUM="${PR_NUMBER}" | |
| REASON="" | |
| case "$GITHUB_EVENT_NAME" in | |
| merge_group) | |
| BASE_REPO_NAME="${BASE_REPO}" | |
| HAS_FORK="false" | |
| PRS=$(jq -r '.merge_group.pull_requests[].number // empty' "$GITHUB_EVENT_PATH" 2>/dev/null || true) | |
| if [ -z "$PRS" ]; then | |
| echo "No pull requests listed in merge_group payload; defaulting to same-repo." | |
| fi | |
| for PR in $PRS; do | |
| HEAD_REPO_NAME=$(gh api "repos/${BASE_REPO_NAME}/pulls/${PR}" --jq '.head.repo.full_name' 2>/dev/null || echo "") | |
| BASE_REPO_FROM_PR=$(gh api "repos/${BASE_REPO_NAME}/pulls/${PR}" --jq '.base.repo.full_name' 2>/dev/null || echo "$BASE_REPO_NAME") | |
| if [ -z "$HEAD_REPO_NAME" ]; then | |
| echo "Warning: could not determine head repo for PR #$PR; assuming same-repo." | |
| continue | |
| fi | |
| if [ "$HEAD_REPO_NAME" != "$BASE_REPO_FROM_PR" ]; then | |
| HAS_FORK="true" | |
| echo "Detected fork PR #$PR (head repo: $HEAD_REPO_NAME, base repo: $BASE_REPO_FROM_PR)" | |
| else | |
| echo "PR #$PR is same-repo (head repo: $HEAD_REPO_NAME)" | |
| fi | |
| done | |
| if [ "$HAS_FORK" = "true" ]; then | |
| RUN_DIRECT="false" | |
| REASON="merge_group_contains_fork" | |
| else | |
| RUN_DIRECT="true" | |
| REASON="merge_group_same_repo_only" | |
| fi | |
| ;; | |
| push) | |
| if [[ "$GITHUB_REF" =~ ^refs/heads/ci/pr- ]]; then | |
| RUN_DIRECT="true" | |
| REASON="ci/pr-* push" | |
| PR_NUM="${GITHUB_REF#refs/heads/ci/pr-}" | |
| else | |
| REASON="unsupported push ref" | |
| fi | |
| ;; | |
| workflow_dispatch) | |
| RUN_DIRECT="true" | |
| REASON="manual dispatch" | |
| ;; | |
| pull_request_target) | |
| if [ "$HEAD_REPO" = "$BASE_REPO" ]; then | |
| REASON="same-repo PR, no promotion needed" | |
| else | |
| REASON="fork PR requires promotion" | |
| fi | |
| ;; | |
| *) | |
| REASON="unsupported event" | |
| ;; | |
| esac | |
| echo "run_direct=${RUN_DIRECT}" >> "$GITHUB_OUTPUT" | |
| echo "pr_number=${PR_NUM}" >> "$GITHUB_OUTPUT" | |
| echo "reason=${REASON}" >> "$GITHUB_OUTPUT" | |
| - name: Check actor permission | |
| id: perm | |
| if: > | |
| github.event_name == 'pull_request_target' && | |
| steps.decide.outputs.reason == 'fork PR requires promotion' && | |
| env.PRIV_CI_PUSH_TOKEN != '' && | |
| env.PRIV_CI_PUSH_TOKEN != null | |
| env: | |
| ACTOR: ${{ github.actor }} | |
| REPO: ${{ github.repository }} | |
| GH_TOKEN: ${{ secrets.GITHUB_TOKEN }} | |
| run: | | |
| perm=$(gh api "repos/$REPO/collaborators/$ACTOR/permission" --jq .permission 2>/dev/null || echo "none") | |
| echo "permission=$perm" >> "$GITHUB_OUTPUT" | |
| echo "Actor: $ACTOR, permission: $perm" | |
| - name: Checkout repository for promotion | |
| if: > | |
| github.event_name == 'pull_request_target' && | |
| steps.decide.outputs.reason == 'fork PR requires promotion' && | |
| (steps.perm.outputs.permission == 'write' || steps.perm.outputs.permission == 'maintain' || steps.perm.outputs.permission == 'admin') | |
| uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 0 | |
| token: ${{ secrets.PRIV_CI_PUSH_TOKEN }} | |
| - name: Promote fork PR to ci/pr-* branch | |
| if: > | |
| github.event_name == 'pull_request_target' && | |
| steps.decide.outputs.reason == 'fork PR requires promotion' && | |
| (steps.perm.outputs.permission == 'write' || steps.perm.outputs.permission == 'maintain' || steps.perm.outputs.permission == 'admin') | |
| env: | |
| PR_NUMBER: ${{ steps.decide.outputs.pr_number }} | |
| REPO: ${{ github.repository }} | |
| GH_TOKEN: ${{ secrets.PRIV_CI_PUSH_TOKEN }} | |
| run: | | |
| set -euo pipefail | |
| BRANCH="ci/pr-${PR_NUMBER}" | |
| git config --global user.name "github-actions[bot]" | |
| git config --global user.email "github-actions[bot]@users.noreply.github.com" | |
| gh pr checkout "$PR_NUMBER" | |
| git push origin HEAD:"$BRANCH" | |
| pre-merge-tests: | |
| needs: prepare-or-promote | |
| if: needs.prepare-or-promote.outputs.run_direct == 'true' | |
| permissions: | |
| contents: write # Need write access to delete ci/pr-* branches | |
| pull-requests: write | |
| issues: write # Post status comment back to PR | |
| runs-on: codebuild-EC2_Launcher2-${{ github.run_id }}-${{ github.run_attempt }} | |
| timeout-minutes: 720 | |
| steps: | |
| # change to the source code directory | |
| - name: Checkout code | |
| uses: actions/checkout@v4 | |
| with: | |
| token: ${{ secrets.PRIV_CI_PUSH_TOKEN }} | |
| - run: aws --version | |
| ############# Prebuild ############ | |
| - name: pre_build | |
| env: | |
| SSH_KEY: ${{ secrets.EC2_SSH_KEY }} | |
| run: | | |
| # Get AWS account ID | |
| AWS_ACCOUNT_ID=$(aws sts get-caller-identity --query Account --output text) | |
| echo "AWS_ACCOUNT_ID=$AWS_ACCOUNT_ID" >> $GITHUB_ENV | |
| if [ -z "$AWS_ACCOUNT_ID" ]; then | |
| echo "Error: Failed to get AWS account ID" | |
| exit 1 | |
| fi | |
| echo "Preparing S3 bucket..." | |
| CACHE_BUCKET="${CACHE_BUCKET_PREFIX}-${AWS_ACCOUNT_ID}" | |
| aws s3api head-bucket --bucket $CACHE_BUCKET || \ | |
| aws s3 mb s3://$CACHE_BUCKET --region $REGION | |
| # Configure S3 bucket lifecycle rule for cache expiration | |
| aws s3api put-bucket-lifecycle-configuration \ | |
| --bucket $CACHE_BUCKET \ | |
| --lifecycle-configuration '{ | |
| "Rules": [ | |
| { | |
| "ID": "ExpireBuildKitCache", | |
| "Status": "Enabled", | |
| "Filter": { | |
| "Prefix": "" | |
| }, | |
| "Expiration": { | |
| "Days": 14 | |
| } | |
| } | |
| ] | |
| }' | |
| echo "CACHE_BUCKET=$CACHE_BUCKET" >> $GITHUB_ENV | |
| echo "Launching EC2 instance to run tests..." | |
| INSTANCE_ID=$(aws ec2 run-instances \ | |
| --image-id ami-0b7f5f52689b2c0d0 \ | |
| --instance-type $INSTANCE_TYPE \ | |
| --region $REGION \ | |
| --key-name $KEY_NAME \ | |
| --security-group-ids sg-03f9110d8d39282ad \ | |
| --subnet-id subnet-0c56793ce29caa78b \ | |
| --iam-instance-profile Name="RoboverseCi" \ | |
| --block-device-mappings '[{"DeviceName":"/dev/sda1","Ebs":{"VolumeSize":500}}]' \ | |
| --output text \ | |
| --query 'Instances[0].InstanceId') | |
| echo "INSTANCE_ID=$INSTANCE_ID" >> $GITHUB_ENV | |
| # Create ECR repository if it doesn't exist | |
| aws ecr describe-repositories --repository-names $ECR_REPOSITORY || \ | |
| aws ecr create-repository --repository-name $ECR_REPOSITORY | |
| echo "Waiting for instance $INSTANCE_ID to be running..." | |
| aws ec2 wait instance-running \ | |
| --instance-ids $INSTANCE_ID \ | |
| --region $REGION | |
| echo "Getting instance IP address..." | |
| EC2_INSTANCE_IP=$(aws ec2 describe-instances \ | |
| --region $REGION \ | |
| --filters "Name=instance-state-name,Values=running" "Name=instance-id,Values=$INSTANCE_ID" \ | |
| --query 'Reservations[*].Instances[*].[PrivateIpAddress]' \ | |
| --output text) | |
| echo "EC2_INSTANCE_IP=$EC2_INSTANCE_IP" >> $GITHUB_ENV | |
| echo "Setting up SSH configuration..." | |
| mkdir -p ~/.ssh | |
| aws ec2 describe-key-pairs \ | |
| --include-public-key \ | |
| --key-name $KEY_NAME \ | |
| --query 'KeyPairs[0].PublicKey' \ | |
| --output text > ~/.ssh/id_rsa.pub | |
| echo "$SSH_KEY" > ~/.ssh/id_rsa | |
| chmod 400 ~/.ssh/id_* | |
| printf "Host %s\n\tStrictHostKeyChecking no\n\tUserKnownHostsFile=/dev/null\n" "$EC2_INSTANCE_IP" >> ~/.ssh/config | |
| echo "Sending SSH public key to instance..." | |
| aws ec2-instance-connect send-ssh-public-key \ | |
| --instance-id $INSTANCE_ID \ | |
| --availability-zone $AZ \ | |
| --ssh-public-key file://~/.ssh/id_rsa.pub \ | |
| --instance-os-user $EC2_USER_NAME | |
| ############# Build ############# | |
| - name: build | |
| run: | | |
| echo "====Copying source code...====" | |
| wait_time=$RETRY_WAIT_TIME | |
| SRC_DIR=$(basename $GITHUB_WORKSPACE) | |
| echo "====Check environment variables...====" | |
| echo "GITHUB_WORKSPACE=$GITHUB_WORKSPACE" | |
| echo "CODEBUILD_SRC_DIR=$CODEBUILD_SRC_DIR" | |
| echo "EC2_USER_NAME=$EC2_USER_NAME" | |
| echo "SRC_DIR=$SRC_DIR" | |
| echo "RETRY_WAIT_TIME=$RETRY_WAIT_TIME" | |
| echo "MAX_RETRIES=$MAX_RETRIES" | |
| echo "====Repo file check...====" | |
| ls ./ | |
| # ==== before buildx build ==== | |
| DOCKERFILE_HASH=$(sha256sum Dockerfile | cut -c1-16) | |
| IMAGE_URI="$AWS_ACCOUNT_ID.dkr.ecr.$REGION.amazonaws.com/$ECR_REPOSITORY:df-$DOCKERFILE_HASH" | |
| echo "IMAGE_URI=$IMAGE_URI" | |
| retry_count=0 | |
| # change to parent directory to copy files | |
| cd .. | |
| while [ $retry_count -lt $MAX_RETRIES ]; do | |
| if [ $retry_count -gt 0 ]; then | |
| wait_time=$((wait_time * 2)) | |
| echo "Retry attempt $((retry_count + 1))/$MAX_RETRIES. Waiting $wait_time seconds..." | |
| sleep $wait_time | |
| fi | |
| if scp -o ConnectTimeout=10 -o StrictHostKeyChecking=no -r $SRC_DIR $EC2_USER_NAME@$EC2_INSTANCE_IP:~; then | |
| echo "SCP command succeeded" | |
| break | |
| fi | |
| retry_count=$((retry_count + 1)) | |
| done | |
| if [ $retry_count -eq $MAX_RETRIES ]; then | |
| echo "SCP command failed after $MAX_RETRIES attempts" | |
| exit 1 | |
| fi | |
| # login | |
| ECR_LOGIN_TOKEN=$(aws ecr get-login-password --region $REGION) | |
| echo "====Running tests on EC2 instance...====" | |
| ssh -o ConnectTimeout=10 -o StrictHostKeyChecking=no $EC2_USER_NAME@$EC2_INSTANCE_IP " | |
| set -euo pipefail | |
| # Login to ECR using token from CodeBuild | |
| echo \"$ECR_LOGIN_TOKEN\" | docker login --username AWS --password-stdin $AWS_ACCOUNT_ID.dkr.ecr.$REGION.amazonaws.com | |
| # Configure BuildKit environment | |
| export DOCKER_BUILDKIT=1 | |
| export BUILDKIT_INLINE_CACHE=1 | |
| docker buildx create --name metasim-builder --driver docker-container \ | |
| --driver-opt env.AWS_REGION=$REGION \ | |
| --driver-opt env.AWS_ACCESS_KEY_ID=$AWS_ACCESS_KEY_ID \ | |
| --driver-opt env.AWS_SECRET_ACCESS_KEY=$AWS_SECRET_ACCESS_KEY \ | |
| --bootstrap | |
| docker buildx use metasim-builder | |
| cd \"\$HOME/${SRC_DIR}\" | |
| # docker build | |
| if docker pull "$IMAGE_URI" 2>/dev/null ; then | |
| echo "Image $IMAGE_URI already exists. Skipping build." | |
| else | |
| echo "===Starting docker build.===" | |
| docker buildx build --progress=plain --platform linux/amd64 \ | |
| -t "$IMAGE_URI" \ | |
| --cache-from type=registry,ref=$AWS_ACCOUNT_ID.dkr.ecr.$REGION.amazonaws.com/$ECR_REPOSITORY:cache,mode=max \ | |
| --cache-to type=registry,ref=$AWS_ACCOUNT_ID.dkr.ecr.$REGION.amazonaws.com/$ECR_REPOSITORY:cache,mode=max \ | |
| --build-arg DOCKER_UID=1000 \ | |
| --build-arg DOCKER_GID=1000 \ | |
| --build-arg DOCKER_USER=$EC2_USER_NAME \ | |
| -f Dockerfile \ | |
| --load . | |
| docker push "$IMAGE_URI" | |
| fi | |
| # begin run test | |
| GENERAL_TEST_EXIT_CODE=0 | |
| MUJOCO_TEST_EXIT_CODE=0 | |
| SAPIEN3_TEST_EXIT_CODE=0 | |
| ISAACSIM_TEST_EXIT_CODE=0 | |
| ISAACGYM_TEST_EXIT_CODE=0 | |
| # run all test | |
| # Run general tests (no simulator required) | |
| docker run --rm --entrypoint bash --runtime=nvidia --network=host \ | |
| --name metasim-autotest \ | |
| --user 1000:1000 --privileged \ | |
| -e LD_LIBRARY_PATH=/usr/lib/x86_64-linux-gnu \ | |
| -e ACCEPT_EULA=Y -e PRIVACY_CONSENT=Y -e OMNI_KIT_ACCEPT_EULA=YES \ | |
| -v /usr/local/cuda:/usr/local/cuda \ | |
| -v "$(pwd)":/home/$EC2_USER_NAME/RoboVerse \ | |
| "$IMAGE_URI" \ | |
| -c "bash -lc 'set -o pipefail; \ | |
| /home/$EC2_USER_NAME/conda/envs/metasim/bin/python3 -m pytest -k general -vv \ | |
| | tee /home/$EC2_USER_NAME/${SRC_DIR}/pytest-general.log'" \ | |
| || GENERAL_TEST_EXIT_CODE=$? | |
| docker run --rm --entrypoint bash --runtime=nvidia --network=host \ | |
| --name metasim-autotest \ | |
| --user 1000:1000 --privileged \ | |
| -e LD_LIBRARY_PATH=/usr/lib/x86_64-linux-gnu \ | |
| -e ACCEPT_EULA=Y -e PRIVACY_CONSENT=Y -e OMNI_KIT_ACCEPT_EULA=YES \ | |
| -v /usr/local/cuda:/usr/local/cuda \ | |
| -v "$(pwd)":/home/$EC2_USER_NAME/RoboVerse \ | |
| "$IMAGE_URI" \ | |
| -c "bash -lc 'set -o pipefail; \ | |
| /home/$EC2_USER_NAME/conda/envs/metasim/bin/python3 -m pytest -k mujoco -vv \ | |
| | tee /home/$EC2_USER_NAME/${SRC_DIR}/pytest-mujoco.log'" \ | |
| || MUJOCO_TEST_EXIT_CODE=$? | |
| docker run --rm --entrypoint bash --runtime=nvidia --network=host \ | |
| --name metasim-autotest \ | |
| --user 1000:1000 --privileged \ | |
| -e LD_LIBRARY_PATH=/usr/lib/x86_64-linux-gnu \ | |
| -e ACCEPT_EULA=Y -e PRIVACY_CONSENT=Y -e OMNI_KIT_ACCEPT_EULA=YES \ | |
| -v /usr/local/cuda:/usr/local/cuda \ | |
| -v "$(pwd)":/home/$EC2_USER_NAME/RoboVerse \ | |
| "$IMAGE_URI" \ | |
| -c "bash -lc 'set -o pipefail; \ | |
| /home/$EC2_USER_NAME/conda/envs/metasim/bin/python3 -m pytest -k sapien3 -vv \ | |
| | tee /home/$EC2_USER_NAME/${SRC_DIR}/pytest-sapien3.log'" \ | |
| || SAPIEN3_TEST_EXIT_CODE=$? | |
| docker run --rm --entrypoint bash --runtime=nvidia --network=host \ | |
| --name metasim-autotest \ | |
| --user 1000:1000 --privileged \ | |
| -e LD_LIBRARY_PATH=/usr/lib/x86_64-linux-gnu \ | |
| -e ACCEPT_EULA=Y -e PRIVACY_CONSENT=Y -e OMNI_KIT_ACCEPT_EULA=YES \ | |
| -v /usr/local/cuda:/usr/local/cuda \ | |
| -v "$(pwd)":/home/$EC2_USER_NAME/RoboVerse \ | |
| "$IMAGE_URI" \ | |
| -c "bash -lc 'set -o pipefail; \ | |
| /home/$EC2_USER_NAME/conda/envs/metasim/bin/python3 -m pytest -k isaacsim -vv \ | |
| | tee /home/$EC2_USER_NAME/${SRC_DIR}/pytest-isaacsim.log'" \ | |
| || ISAACSIM_TEST_EXIT_CODE=$? | |
| docker run --rm --entrypoint bash --runtime=nvidia --network=host \ | |
| --name metasim-autotest \ | |
| --user 1000:1000 --privileged \ | |
| -e LD_LIBRARY_PATH=/usr/lib/x86_64-linux-gnu \ | |
| -e ACCEPT_EULA=Y -e PRIVACY_CONSENT=Y -e OMNI_KIT_ACCEPT_EULA=YES \ | |
| -v /usr/local/cuda:/usr/local/cuda \ | |
| -v "$(pwd)":/home/$EC2_USER_NAME/RoboVerse \ | |
| "$IMAGE_URI" \ | |
| -c "bash -lc 'set -o pipefail; \ | |
| /home/$EC2_USER_NAME/conda/envs/metasim_isaacgym/bin/python3 /home/$EC2_USER_NAME/RoboVerse/metasim/test/isaacgym_entry.py -k isaacgym -vv \ | |
| | tee /home/$EC2_USER_NAME/${SRC_DIR}/pytest-isaacgym.log'" \ | |
| || ISAACGYM_TEST_EXIT_CODE=$? | |
| # TODO check if test_exit_code necessary | |
| touch ~/$SRC_DIR/test_exit_codes.txt | |
| { | |
| echo \"GENERAL_TEST_EXIT_CODE=\$GENERAL_TEST_EXIT_CODE\" | |
| echo \"MUJOCO_TEST_EXIT_CODE=\$MUJOCO_TEST_EXIT_CODE\" | |
| echo \"SAPIEN3_TEST_EXIT_CODE=\$SAPIEN3_TEST_EXIT_CODE\" | |
| echo \"ISAACSIM_TEST_EXIT_CODE=\$ISAACSIM_TEST_EXIT_CODE\" | |
| echo \"ISAACGYM_TEST_EXIT_CODE=\$ISAACGYM_TEST_EXIT_CODE\" | |
| } > ~/${SRC_DIR}/test_exit_codes.txt | |
| " || { echo "Test execution failed"; exit 1; } | |
| echo "===Copying test reports...===" | |
| scp -o ConnectTimeout=10 -o StrictHostKeyChecking=no $EC2_USER_NAME@$EC2_INSTANCE_IP:~/$SRC_DIR/test_exit_codes.txt $CODEBUILD_SRC_DIR/ | |
| source $CODEBUILD_SRC_DIR/test_exit_codes.txt | |
| echo "General test exit code: ${GENERAL_TEST_EXIT_CODE}" | |
| echo "Mujoco test exit code: ${MUJOCO_TEST_EXIT_CODE}" | |
| echo "Sapien3 test exit code: ${SAPIEN3_TEST_EXIT_CODE}" | |
| echo "IsaacSim test exit code: ${ISAACSIM_TEST_EXIT_CODE}" | |
| echo "IsaacGym test exit code: ${ISAACGYM_TEST_EXIT_CODE}" | |
| EXIT_CODE=0 | |
| if [ "${GENERAL_TEST_EXIT_CODE:-0}" -ne 0 ]; then | |
| echo "=== General tests failed. Fetching logs... ===" | |
| scp -o ConnectTimeout=10 -o StrictHostKeyChecking=no \ | |
| $EC2_USER_NAME@$EC2_INSTANCE_IP:~/$SRC_DIR/pytest-general.log \ | |
| $CODEBUILD_SRC_DIR/ || true | |
| echo "===== General pytest log =====" | |
| cat $CODEBUILD_SRC_DIR/pytest-general.log || true | |
| EXIT_CODE=1 | |
| fi | |
| if [ "${MUJOCO_TEST_EXIT_CODE:-0}" -ne 0 ]; then | |
| echo "=== Mujoco tests failed. Fetching logs... ===" | |
| scp -o ConnectTimeout=10 -o StrictHostKeyChecking=no \ | |
| $EC2_USER_NAME@$EC2_INSTANCE_IP:~/$SRC_DIR/pytest-mujoco.log \ | |
| $CODEBUILD_SRC_DIR/ || true | |
| echo "===== Mujoco pytest log =====" | |
| cat $CODEBUILD_SRC_DIR/pytest-mujoco.log || true | |
| EXIT_CODE=1 | |
| fi | |
| if [ "${SAPIEN3_TEST_EXIT_CODE:-0}" -ne 0 ]; then | |
| echo "=== Sapien3 tests failed. Fetching logs... ===" | |
| scp -o ConnectTimeout=10 -o StrictHostKeyChecking=no \ | |
| $EC2_USER_NAME@$EC2_INSTANCE_IP:~/$SRC_DIR/pytest-sapien3.log \ | |
| $CODEBUILD_SRC_DIR/ || true | |
| echo "===== Sapien3 pytest log =====" | |
| cat $CODEBUILD_SRC_DIR/pytest-sapien3.log || true | |
| EXIT_CODE=1 | |
| fi | |
| if [ "${ISAACSIM_TEST_EXIT_CODE:-0}" -ne 0 ]; then | |
| echo "=== IsaacSim tests failed. Fetching logs... ===" | |
| scp -o ConnectTimeout=10 -o StrictHostKeyChecking=no \ | |
| $EC2_USER_NAME@$EC2_INSTANCE_IP:~/$SRC_DIR/pytest-isaacsim.log \ | |
| $CODEBUILD_SRC_DIR/ || true | |
| echo "===== IsaacSim pytest log =====" | |
| cat $CODEBUILD_SRC_DIR/pytest-isaacsim.log || true | |
| EXIT_CODE=1 | |
| fi | |
| if [ "${ISAACGYM_TEST_EXIT_CODE:-0}" -ne 0 ]; then | |
| echo "=== IsaacGym tests failed. Fetching logs... ===" | |
| scp -o ConnectTimeout=10 -o StrictHostKeyChecking=no \ | |
| $EC2_USER_NAME@$EC2_INSTANCE_IP:~/$SRC_DIR/pytest-isaacgym.log \ | |
| $CODEBUILD_SRC_DIR/ || true | |
| echo "===== IsaacGym pytest log =====" | |
| cat $CODEBUILD_SRC_DIR/pytest-isaacgym.log || true | |
| EXIT_CODE=1 | |
| fi | |
| if [ "$EXIT_CODE" -ne 0 ]; then | |
| echo "Tests failed with exit code $EXIT_CODE" | |
| exit 1 | |
| else | |
| echo "===All tests passed!===" | |
| fi | |
| ########### Postbuild ######### | |
| - name: post_build | |
| if: always() # always try to terminate the instance | |
| run: | | |
| echo "Cleaning up resources..." | |
| if [ -n "$INSTANCE_ID" ]; then | |
| echo "Terminating EC2 instance $INSTANCE_ID..." | |
| aws ec2 terminate-instances --instance-ids $INSTANCE_ID --region $REGION || true | |
| fi | |
| - name: Prepare test logs for upload | |
| if: always() | |
| run: | | |
| # Copy test logs from CODEBUILD_SRC_DIR to workspace root for artifact upload | |
| if [ -d "$CODEBUILD_SRC_DIR" ]; then | |
| cp -v $CODEBUILD_SRC_DIR/pytest-*.log . 2>/dev/null || echo "No pytest logs found" | |
| cp -v $CODEBUILD_SRC_DIR/test_exit_codes.txt . 2>/dev/null || echo "No exit codes file found" | |
| else | |
| echo "CODEBUILD_SRC_DIR not set, files should already be in workspace" | |
| fi | |
| - name: Upload test logs as artifacts | |
| if: always() | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: test-logs | |
| path: | | |
| pytest-*.log | |
| test_exit_codes.txt | |
| if-no-files-found: warn | |
| retention-days: 7 | |
| - name: Report commit status to PR | |
| if: always() | |
| uses: actions/github-script@v7 | |
| env: | |
| JOB_STATUS: ${{ job.status }} | |
| PRIV_CI_PUSH_TOKEN: ${{ secrets.PRIV_CI_PUSH_TOKEN }} | |
| with: | |
| github-token: ${{ secrets.PRIV_CI_PUSH_TOKEN }} | |
| script: | | |
| const status = process.env.JOB_STATUS; | |
| const ref = context.ref; | |
| // Only report status for ci/pr-* branches | |
| const match = ref.match(/^refs\/heads\/ci\/pr-(\d+)$/); | |
| if (!match) { | |
| core.info(`Ref ${ref} is not a ci/pr-* branch, skip status reporting.`); | |
| return; | |
| } | |
| const prNumber = Number(match[1]); | |
| // Get the PR's HEAD SHA | |
| const { data: pr } = await github.rest.pulls.get({ | |
| owner: context.repo.owner, | |
| repo: context.repo.repo, | |
| pull_number: prNumber | |
| }); | |
| const sha = pr.head.sha; | |
| core.info(`Reporting status to PR #${prNumber} commit ${sha}`); | |
| // Map job status to commit status state | |
| let state, description; | |
| if (status === 'success') { | |
| state = 'success'; | |
| description = 'Privileged CI tests passed'; | |
| } else if (status === 'cancelled') { | |
| state = 'error'; | |
| description = 'Privileged CI tests were cancelled'; | |
| } else { | |
| state = 'failure'; | |
| description = 'Privileged CI tests failed'; | |
| } | |
| const runUrl = `${context.serverUrl}/${context.repo.owner}/${context.repo.repo}/actions/runs/${context.runId}`; | |
| // Create commit status | |
| await github.rest.repos.createCommitStatus({ | |
| owner: context.repo.owner, | |
| repo: context.repo.repo, | |
| sha: sha, | |
| state: state, | |
| context: 'pre-merge-tests', | |
| description: description, | |
| target_url: runUrl | |
| }); | |
| core.info(`✅ Reported status '${state}' to commit ${sha}`); | |
| - name: Clean up ci/pr-* branch | |
| if: always() | |
| run: | | |
| REF="${GITHUB_REF}" | |
| # Only delete if we're running on a ci/pr-* branch | |
| if [[ "$REF" =~ ^refs/heads/ci/pr-[0-9]+$ ]]; then | |
| BRANCH="${REF#refs/heads/}" | |
| echo "Cleaning up temporary branch: $BRANCH" | |
| # Delete the branch from remote (ignore errors if already deleted) | |
| git push origin --delete "$BRANCH" 2>/dev/null || echo "Branch $BRANCH already deleted or not found" | |
| echo "✓ Cleanup complete" | |
| else | |
| echo "Not a ci/pr-* branch (ref: $REF), skipping cleanup" | |
| fi | |
| fork-merge-group-check: | |
| needs: prepare-or-promote | |
| if: needs.prepare-or-promote.outputs.reason == 'merge_group_contains_fork' | |
| runs-on: ubuntu-latest | |
| permissions: | |
| statuses: write | |
| steps: | |
| - name: Check pre-merge-tests status for fork PRs | |
| env: | |
| GH_TOKEN: ${{ secrets.GITHUB_TOKEN }} | |
| GITHUB_REPOSITORY: ${{ github.repository }} | |
| GITHUB_EVENT_PATH: ${{ github.event_path }} | |
| run: | | |
| set -euo pipefail | |
| echo "merge_group contains fork PR(s). Checking pre-merge-tests commit statuses..." | |
| # Extract PR numbers from merge_group payload | |
| PRS=$(jq -r '.merge_group.pull_requests[].number // empty' "$GITHUB_EVENT_PATH" 2>/dev/null || true) | |
| if [ -z "$PRS" ]; then | |
| echo "⚠️ Warning: No pull requests listed in merge_group payload." | |
| echo "This is unexpected. Proceeding with caution (passing)." | |
| exit 0 | |
| fi | |
| ALL_PASSED=true | |
| for PR in $PRS; do | |
| # Check if this is a fork PR | |
| PR_DATA=$(gh api "repos/${GITHUB_REPOSITORY}/pulls/${PR}" 2>/dev/null || echo "{}") | |
| HEAD_REPO=$(echo "$PR_DATA" | jq -r '.head.repo.full_name // ""') | |
| BASE_REPO=$(echo "$PR_DATA" | jq -r '.base.repo.full_name // ""') | |
| HEAD_SHA=$(echo "$PR_DATA" | jq -r '.head.sha // ""') | |
| if [ "$HEAD_REPO" = "$BASE_REPO" ]; then | |
| echo "PR #$PR is same-repo, skipping status check." | |
| continue | |
| fi | |
| if [ -z "$HEAD_SHA" ]; then | |
| echo "❌ Could not get HEAD SHA for PR #$PR." | |
| ALL_PASSED=false | |
| continue | |
| fi | |
| echo "PR #$PR is from fork ($HEAD_REPO). Checking commit status for $HEAD_SHA..." | |
| # Get the combined status for the commit | |
| STATUS_DATA=$(gh api "repos/${GITHUB_REPOSITORY}/commits/${HEAD_SHA}/status" 2>/dev/null || echo "{}") | |
| # Find the pre-merge-tests status | |
| PRIV_STATUS=$(echo "$STATUS_DATA" | jq -r '.statuses[] | select(.context == "pre-merge-tests") | .state' | head -1) | |
| echo " Commit: $HEAD_SHA" | |
| echo " pre-merge-tests status: ${PRIV_STATUS:-not found}" | |
| if [ -z "$PRIV_STATUS" ]; then | |
| echo "❌ No pre-merge-tests status found for PR #$PR. Please ensure the ci/pr-* run completed." | |
| ALL_PASSED=false | |
| elif [ "$PRIV_STATUS" = "pending" ]; then | |
| echo "⏳ pre-merge-tests is still pending for PR #$PR. Please wait for completion." | |
| ALL_PASSED=false | |
| elif [ "$PRIV_STATUS" != "success" ]; then | |
| echo "❌ pre-merge-tests status is '$PRIV_STATUS' for PR #$PR." | |
| ALL_PASSED=false | |
| else | |
| echo "✅ pre-merge-tests passed for PR #$PR." | |
| fi | |
| done | |
| if [ "$ALL_PASSED" = "true" ]; then | |
| echo "" | |
| echo "All fork PR privileged tests have passed. Merge queue check succeeded." | |
| exit 0 | |
| else | |
| echo "" | |
| echo "One or more fork PR privileged tests have not passed. Failing merge queue check." | |
| exit 1 | |
| fi | |
| - name: Report pre-merge-tests status to merge group commit | |
| if: always() | |
| env: | |
| GH_TOKEN: ${{ secrets.GITHUB_TOKEN }} | |
| MERGE_GROUP_SHA: ${{ github.event.merge_group.head_sha }} | |
| RUN_URL: ${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }} | |
| JOB_STATUS: ${{ job.status }} | |
| run: | | |
| if [ "$JOB_STATUS" = "success" ]; then | |
| STATE="success" | |
| DESCRIPTION="Fork PR privileged tests verified" | |
| else | |
| STATE="failure" | |
| DESCRIPTION="Fork PR privileged tests failed" | |
| fi | |
| echo "Reporting pre-merge-tests status ($STATE) to merge group commit ${MERGE_GROUP_SHA}..." | |
| gh api "repos/${{ github.repository }}/statuses/${MERGE_GROUP_SHA}" \ | |
| -X POST \ | |
| -f state=$STATE \ | |
| -f context=pre-merge-tests \ | |
| -f description="$DESCRIPTION" \ | |
| -f target_url="${RUN_URL}" | |
| echo "✅ Successfully reported pre-merge-tests status." |