[tests] Setting up non-regression tests on GitHub actions (#87)

* [scene] Adjusted NeedleInsertion scene parameters to reduce number of time steps for regression

* [scene] Modified NeedleInsertionCycles scenes

* [scene] Removed the InsertionHaptics_Box.py

* [scene] Renamed InsertionHaptics_Liver scene to NeedleInsertionHaptics

* [tests] Added a .regression-tests file

* [tests] Added regression files for NeedleInsertion scene

* [tests] Added regression files for NeedleInsertionCycles scene

* [tests] Added regression files for NeedleInsertionHaptics scene

* [ci] Setting up non-regression workflow steps: Checkout and build ConstraintGeometry

* [ci] Removed debug step

* [ci] Added fetching and installing regression test plugin

* [ci] Correct path to regression scenes

* [ci] Change regression references directory to mimic BeamAdapter

* [ci] Switch to installing ConstraintGeometry and export library paths for macos and ubuntu

* [ci] Add paths to SOFA_PLUGIN

* [scenes] Make RequiredPlugin loading for Geomagic conditional to avoid troubles with CI

Author: th-skam

.github/workflows/ci.yml

@@ -21,12 +21,13 @@ jobs:
           sofa_root: ${{ github.workspace }}/sofa
           sofa_version: ${{ matrix.sofa_branch }}
           sofa_scope: 'standard'
-      - name: Checkout source code
+
+      - name: Checkout CollisionAlgorithm
         uses: actions/checkout@v2
         with:
           path: ${{ env.WORKSPACE_SRC_PATH }}        
 
-      - name: Build and install
+      - name: Build and install CollisionAlgorithm
         id: build-install
         shell: bash
         run: |
@@ -55,6 +56,37 @@ jobs:
             echo ${CCACHE_BASEDIR}
             ccache -s
           fi
+
+      - name: Checkout ConstraintGeometry
+        uses: actions/checkout@v2
+        with:
+          repository: InfinyTech3D/ConstraintGeometry
+          path: downstream/ConstraintGeometry
+
+      - name: Build ConstraintGeometry
+        shell: bash
+        run: |
+          mkdir -p downstream/ConstraintGeometry/build
+          if [[ "$RUNNER_OS" == "Windows" ]]; then
+            cmd //c "${{ steps.sofa.outputs.vs_vsdevcmd }} \
+              && cd /d %GITHUB_WORKSPACE%/downstream/ConstraintGeometry/build \
+              && cmake \
+                  -GNinja \
+                  -DCMAKE_PREFIX_PATH=$SOFA_ROOT/lib/cmake;%WORKSPACE_INSTALL_PATH%/lib/cmake \
+                  -DCMAKE_BUILD_TYPE=Release \
+                  -DCMAKE_INSTALL_PREFIX=%GITHUB_WORKSPACE%/downstream/ConstraintGeometry/install \
+                  .. \
+              && ninja install"
+          else
+            cd downstream/ConstraintGeometry/build
+            cmake \
+              -GNinja \
+              -DCMAKE_PREFIX_PATH="$SOFA_ROOT/lib/cmake;$WORKSPACE_INSTALL_PATH/lib/cmake" \
+              -DCMAKE_BUILD_TYPE=Release \
+              -DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/downstream/ConstraintGeometry/install \
+              ..
+            ninja install
+          fi
           
       - name: Sanitize artifact name
         id: sanitize
@@ -81,7 +113,7 @@ jobs:
         with:
           name: ${{ steps.sanitize.outputs.artifact_name }}
           path: ${{ env.WORKSPACE_ARTIFACT_PATH }}
-      
+
       - name: Set env vars for tests
         shell: bash
         run: |
@@ -90,17 +122,54 @@ jobs:
             echo "$WORKSPACE_ARTIFACT_PATH/lib" >> $GITHUB_PATH
             echo "$WORKSPACE_ARTIFACT_PATH/bin" >> $GITHUB_PATH
             echo "$SOFA_ROOT/plugins/SofaPython3/bin" >> $GITHUB_PATH
-            echo "SOFA_PLUGIN_PATH=$WORKSPACE_ARTIFACT_PATH/bin" | tee -a $GITHUB_ENV
+            echo "SOFA_PLUGIN_PATH=$WORKSPACE_ARTIFACT_PATH/bin;$GITHUB_WORKSPACE/downstream/ConstraintGeometry/install/bin" | tee -a $GITHUB_ENV
           else
-            echo "SOFA_PLUGIN_PATH=$WORKSPACE_ARTIFACT_PATH/lib" | tee -a $GITHUB_ENV
+            echo "SOFA_PLUGIN_PATH=$WORKSPACE_ARTIFACT_PATH/lib:$GITHUB_WORKSPACE/downstream/ConstraintGeometry/install/lib" | tee -a $GITHUB_ENV
           fi
 
           if [[ "$RUNNER_OS" == "macOS" ]]; then
-            echo "DYLD_LIBRARY_PATH=$WORKSPACE_ARTIFACT_PATH/lib:$SOFA_ROOT/lib:$SOFA_ROOT/plugins/SofaPython3/lib:$DYLD_LIBRARY_PATH" | tee -a $GITHUB_ENV
+            echo "DYLD_LIBRARY_PATH=$WORKSPACE_ARTIFACT_PATH/lib:$SOFA_ROOT/lib:$GITHUB_WORKSPACE/downstream/ConstraintGeometry/install/lib:$SOFA_ROOT/plugins/SofaPython3/lib:$DYLD_LIBRARY_PATH" | tee -a $GITHUB_ENV
           fi
 
           if [[ "$RUNNER_OS" == "Linux" ]]; then
-            echo "LD_LIBRARY_PATH=$WORKSPACE_ARTIFACT_PATH/lib:$SOFA_ROOT/lib:$SOFA_ROOT/plugins/SofaPython3/lib:$LD_LIBRARY_PATH" | tee -a $GITHUB_ENV
+            echo "LD_LIBRARY_PATH=$WORKSPACE_ARTIFACT_PATH/lib:$SOFA_ROOT/lib:$GITHUB_WORKSPACE/downstream/ConstraintGeometry/install/lib:$SOFA_ROOT/plugins/SofaPython3/lib:$LD_LIBRARY_PATH" | tee -a $GITHUB_ENV
+          fi
+
+      # - name: Check environment for tests
+      #   shell: bash
+      #   run: |
+      #     echo '------ ls -la "$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 = $SOFA_ROOT"
+
+      - name: Fetch, install and run Regression_test
+        id: regression-test
+        if: always()
+        shell: bash
+        run: |
+          if [[ "$RUNNER_OS" != "macOS" ]]; then
+            # Get regression from github releases
+            mkdir -p "${{ runner.temp }}/regression_tmp/install"
+            curl --output "${{ runner.temp }}/regression_tmp/${RUNNER_OS}.zip" -L https://github.com/sofa-framework/regression/releases/download/release-master/Regression_test_master_for-SOFA-${{ steps.sofa.outputs.sofa_version }}_${RUNNER_OS}.zip
+            unzip -qq "${{ runner.temp }}/regression_tmp/${RUNNER_OS}.zip" -d "${{ runner.temp }}/regression_tmp/install"
+            # Install it in the SOFA bin directory
+            $SUDO mv "${{ runner.temp }}"/regression_tmp/install/Regression_*/bin/* "${SOFA_ROOT}/bin"
+            chmod +x ${SOFA_ROOT}/bin/Regression_test${{ steps.sofa.outputs.exe }}
+            # Setup mandatory env vars
+            export REGRESSION_SCENES_DIR="${WORKSPACE_SRC_PATH}/scenes"
+            export REGRESSION_REFERENCES_DIR="${WORKSPACE_SRC_PATH}/regression/references"
+            export PYTHONPATH=$SOFA_ROOT/plugins/SofaPython3/lib/python3/site-packages
+            # Run regression test bench
+            ${SOFA_ROOT}/bin/Regression_test${{ steps.sofa.outputs.exe }}
+          else
+            echo "Regression tests are not supported on the CI for macOS yet (TODO)"
           fi
 
   deploy: