From e51f398c19c2d3309f50c140a35a3b5e70d07d45 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Mon, 9 Mar 2026 17:53:34 +0100 Subject: [PATCH 1/5] Add sofa-test-action --- .github/workflows/ci.yml | 51 +++++++++++----------------------------- 1 file changed, 14 insertions(+), 37 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index a0931d10..3af1d02e 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -96,45 +96,22 @@ jobs: name: ${{ steps.sanitize.outputs.artifact_name }} path: ${{ env.WORKSPACE_ARTIFACT_PATH }} - - name: Set env vars for tests + - name: Pepare python environement for tests shell: bash run: | - # Set env vars for tests - if [[ "$RUNNER_OS" == "Windows" ]]; then - echo "$(cd $WORKSPACE_ARTIFACT_PATH/lib && pwd -W)" >> $GITHUB_PATH - echo "$(cd $WORKSPACE_ARTIFACT_PATH/bin && pwd -W)" >> $GITHUB_PATH - elif [[ "$RUNNER_OS" == "macOS" ]]; then - echo "DYLD_LIBRARY_PATH=$WORKSPACE_ARTIFACT_PATH/lib:$SOFA_ROOT/lib:$DYLD_LIBRARY_PATH" | tee -a $GITHUB_ENV - fi - echo "LD_LIBRARY_PATH=$WORKSPACE_ARTIFACT_PATH/lib:$SOFA_ROOT/lib:$LD_LIBRARY_PATH" | tee -a $GITHUB_ENV - echo "SOFA_PLUGIN_PATH=$WORKSPACE_ARTIFACT_PATH/lib" | tee -a $GITHUB_ENV - - # Add execution right on the tests - chmod +x $WORKSPACE_BUILD_PATH/bin/*_test${{ steps.sofa.outputs.exe }} + ${{ steps.sofa.outputs.python_exe }} -m pip install matplotlib - - name: Check environment for tests - shell: bash - run: | - echo '------ ls -la "$WORKSPACE_SRC_PATH" ------' - ls -la "$WORKSPACE_SRC_PATH" - echo '------ ls -la "$WORKSPACE_BUILD_PATH" ------' - ls -la "$WORKSPACE_BUILD_PATH" - echo '------ ls -la "$WORKSPACE_INSTALL_PATH" ------' - ls -la "$WORKSPACE_INSTALL_PATH" - echo '------ ls -la "$WORKSPACE_ARTIFACT_PATH" ------' - ls -la "$WORKSPACE_ARTIFACT_PATH" - echo '----------------------' - echo "SOFA_ROOT = $SOFA_ROOT"= - echo '----------------------' - python -c "import sys; print('sys.version = ' + str(sys.version)); print('sys.path = ' + str(sys.path))" - - - name: Run tests - id: unit-tests - if: always() - shell: bash - run: | - cd $WORKSPACE_BUILD_PATH - ./bin/SoftRobots_test${{ steps.sofa.outputs.exe }} + - name: Launch test + id: tests + uses: sofa-framework/sofa-test-action@v1.0 + with: + sofa_root: ${{ github.workspace }}/sofa + sofa_version: ${{ steps.sofa.outputs.sofa_version }} + src_dir: ${{ env.WORKSPACE_SRC_PATH }} + build_dir: ${{ env.WORKSPACE_BUILD_PATH }} + python_exe: ${{ steps.sofa.outputs.python_exe }} + output_dir: ${{ github.workspace }}/tests-results_dir + nb_parallel_threads: '4' - name: Notify dashboard if: always() && startsWith(github.repository, 'SofaDefrost') && startsWith(github.ref, 'refs/heads/master') # we are not on a fork and on master @@ -144,7 +121,7 @@ jobs: run: | os=$(echo "${{ matrix.os }}" | awk -F- '{ print $1 }') - test_status=$([ '${{ steps.unit-tests.outcome }}' == 'success' ] && \ + test_status=$([ '${{ steps.tests.outcome }}' == 'success' ] && \ echo 'true' || echo 'false') build_status=$([ '${{ steps.build-and-install.outcome }}' == 'success' ] && \ From 1567f8fa78be5169801f62993f509ed9d3e3298d Mon Sep 17 00:00:00 2001 From: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Tue, 10 Mar 2026 09:40:42 +0100 Subject: [PATCH 2/5] Download STLIB --- .github/workflows/ci.yml | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 3af1d02e..796f86b5 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -96,10 +96,20 @@ jobs: name: ${{ steps.sanitize.outputs.artifact_name }} path: ${{ env.WORKSPACE_ARTIFACT_PATH }} + + - name: Checkout STLIB + uses: actions/checkout@v4 + with: + repository: SofaDefrost/STLIB + ref: ${{ steps.sofa.outputs.sofa_version }} + path: STLIB # Replace with your desired target directory + + - name: Pepare python environement for tests shell: bash run: | ${{ steps.sofa.outputs.python_exe }} -m pip install matplotlib + echo "PYTHONPATH=${{ github.workspace }}/python3/src" | tee -a $GITHUB_ENV - name: Launch test id: tests From 6daa31ccdc9990377a44d3f3a2d867a5d22970ee Mon Sep 17 00:00:00 2001 From: Paul Baksic <30337881+bakpaul@users.noreply.github.com> Date: Tue, 10 Mar 2026 09:51:18 +0100 Subject: [PATCH 3/5] Use proper PYTHONPATH --- .github/workflows/ci.yml | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 796f86b5..fb48ac42 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -109,7 +109,13 @@ jobs: shell: bash run: | ${{ steps.sofa.outputs.python_exe }} -m pip install matplotlib - echo "PYTHONPATH=${{ github.workspace }}/python3/src" | tee -a $GITHUB_ENV + + if [[ "$RUNNER_OS" == "Windows" ]]; then + echo "PYTHONPATH=${{ github.workspace }}/STLIB/python3/src;${{ env.WORKSPACE_BUILD_PATH }}/lib/python3/site-packages" | tee -a $GITHUB_ENV + else + echo "PYTHONPATH=${{ github.workspace }}/STLIB/python3/src:${{ env.WORKSPACE_BUILD_PATH }}/lib/python3/site-packages" | tee -a $GITHUB_ENV + fi + - name: Launch test id: tests From 874f0169e0312fc89a4837f07f4ae7f5793626f7 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Tue, 10 Mar 2026 10:39:42 +0100 Subject: [PATCH 4/5] FIX scene tests failing because of the use of prefabs --- .github/workflows/ci.yml | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index fb48ac42..cec2b42d 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -115,6 +115,19 @@ jobs: else echo "PYTHONPATH=${{ github.workspace }}/STLIB/python3/src:${{ env.WORKSPACE_BUILD_PATH }}/lib/python3/site-packages" | tee -a $GITHUB_ENV fi + + ### Deactivate some tests because the use of prefabs doesn't allow the scene test script to identify missing plugins before hands + + # Missing ArticulatedSystemPlugin + echo "ignore \"tutorials/SoftFingerDesign/.*\"" >> ${{ env.WORKSPACE_SRC_PATH }}/examples/.scene-tests + echo "ignore \"tutorials/Tripod/.*\"" >> ${{ env.WORKSPACE_SRC_PATH }}/examples/.scene-tests + echo "ignore \"examples/component/constraint/JointConstraint/JointConstraint.py\"" >> ${{ env.WORKSPACE_SRC_PATH }}/examples/.scene-tests + + # Missing BeamAdapter + echo "ignore \"examples/thematicalDocs/T1-Elements_TetraHexaBeam/Beam/Beam.py\"" >> ${{ env.WORKSPACE_SRC_PATH }}/examples/.scene-tests + echo "ignore \"examples/tutorials/SoftArmGripper/scene.py\"" >> ${{ env.WORKSPACE_SRC_PATH }}/examples/.scene-tests + + - name: Launch test From 266e44ff7d65ca95ebbb0b771f5a5387cbd37c48 Mon Sep 17 00:00:00 2001 From: Paul Baksic Date: Tue, 10 Mar 2026 10:52:20 +0100 Subject: [PATCH 5/5] Fix scene paths --- .github/workflows/ci.yml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index cec2b42d..b73e1d55 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -121,11 +121,11 @@ jobs: # Missing ArticulatedSystemPlugin echo "ignore \"tutorials/SoftFingerDesign/.*\"" >> ${{ env.WORKSPACE_SRC_PATH }}/examples/.scene-tests echo "ignore \"tutorials/Tripod/.*\"" >> ${{ env.WORKSPACE_SRC_PATH }}/examples/.scene-tests - echo "ignore \"examples/component/constraint/JointConstraint/JointConstraint.py\"" >> ${{ env.WORKSPACE_SRC_PATH }}/examples/.scene-tests + echo "ignore \"component/constraint/JointConstraint/JointConstraint.py\"" >> ${{ env.WORKSPACE_SRC_PATH }}/examples/.scene-tests # Missing BeamAdapter - echo "ignore \"examples/thematicalDocs/T1-Elements_TetraHexaBeam/Beam/Beam.py\"" >> ${{ env.WORKSPACE_SRC_PATH }}/examples/.scene-tests - echo "ignore \"examples/tutorials/SoftArmGripper/scene.py\"" >> ${{ env.WORKSPACE_SRC_PATH }}/examples/.scene-tests + echo "ignore \"thematicalDocs/T1-Elements_TetraHexaBeam/Beam/Beam.py\"" >> ${{ env.WORKSPACE_SRC_PATH }}/examples/.scene-tests + echo "ignore \"tutorials/SoftArmGripper/scene.py\"" >> ${{ env.WORKSPACE_SRC_PATH }}/examples/.scene-tests