Add CI

UW-ACL · Aug 7, 2023 · 31fdc07 · 31fdc07
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diff --git a/.github/workflows/CI.yml b/.github/workflows/CI.yml
@@ -0,0 +1,21 @@
+name: CI
+on: [push, pull_request]
+jobs:
+  test:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        julia-version: ['1.7']
+        julia-arch: [x64]
+        os: [ubuntu-latest] # [ubuntu-latest, windows-latest, macOS-latest]
+    steps:
+      - name: Get Dependancies
+        run: pip install matplotlib
+      - uses: actions/checkout@v3
+      - uses: julia-actions/setup-julia@latest
+        with:
+          version: ${{ matrix.julia-version }}
+      - uses: julia-actions/julia-buildpkg@latest
+      - uses: julia-actions/julia-runtest@latest
+      - uses: julia-actions/julia-processcoverage@v1
+      - uses: codecov/codecov-action@v3
diff --git a/README.md b/README.md
@@ -14,8 +14,10 @@
 
 <p align="center">
     <a href="http://www.gnu.org/licenses/gpl-3.0.txt"><img src="https://img.shields.io/badge/license-GPL_3-green.svg" alt="License GPL 3" /></a>
-    &ensp;&ensp;
     <a href="https://mybinder.org/v2/gh/UW-ACL/SCPToolbox_tutorial/master?labpath=tutorial%2Fsrc%2Fp1_clp.ipynb"><img src="https://mybinder.org/badge_logo.svg" alt="Launch Binder" /></a>
+    <a href="https://github.com//UW-ACL/SCPToolbox.jl/actions/workflows/CI.yml/badge.svg"><img src="https://github.com//UW-ACL/SCPToolbox.jl/actions/workflows/CI.yml/badge.svg"/></a>
+        <a href="https://codecov.io/gh/UW-ACL/SCPToolbox.jl" > 
+ <img src="https://codecov.io/gh/UW-ACL/SCPToolbox.jl/branch/master/graph/badge.svg?token=UI74DSQCLL"/> </a>
 </p>
 
 The <b>SCP Toolbox</b> provides the tools necessary to define and solve

diff --git a/test/examples/double_integrator/tests.jl b/test/examples/double_integrator/tests.jl
@@ -43,7 +43,11 @@ function lcvx()::Nothing
         @test true
 
         if !tests_failed
-            plot_trajectory(sol_lcvx, sol_mp, param_choice)
+            try
+                plot_trajectory(sol_lcvx, sol_mp, param_choice)  
+            catch
+                println("PyPlot Issues")
+            end
         end
     end
 

diff --git a/test/examples/freeflyer/tests.jl b/test/examples/freeflyer/tests.jl
@@ -192,11 +192,15 @@ function run_trials(
     history = history_list[end]
 
     # Make plots
-    plot_trajectory_history(mdl, history)
-    plot_final_trajectory(mdl, sol)
-    plot_timeseries(mdl, sol)
-    plot_obstacle_constraints(mdl, sol)
-    plot_convergence(history_list, "freeflyer")
+    try
+        plot_trajectory_history(mdl, history)
+        plot_final_trajectory(mdl, sol)
+        plot_timeseries(mdl, sol)
+        plot_obstacle_constraints(mdl, sol)
+        plot_convergence(history_list, "freeflyer")      
+    catch e
+        println("PyPlot Issues")
+    end
 
     return nothing
 end
diff --git a/test/examples/oscillator/tests.jl b/test/examples/oscillator/tests.jl
@@ -81,9 +81,13 @@ function ptr()::Nothing
     @test sol.status == @sprintf("%s", SCP_SOLVED)
 
     # Make plots
-    plot_timeseries(mdl, sol, history)
-    plot_deadband(mdl, sol)
-    plot_convergence(history, "oscillator")
+    try
+        plot_timeseries(mdl, sol, history)
+        plot_deadband(mdl, sol)
+        plot_convergence(history, "oscillator")    
+    catch e
+        println("PyPlot Issues")
+    end
 
     return nothing
 end
diff --git a/test/examples/quadrotor/tests.jl b/test/examples/quadrotor/tests.jl
@@ -188,11 +188,15 @@ function run_trials(
     history = history_list[end]
 
     # Make plots
-    plot_trajectory_history(mdl, history)
-    plot_final_trajectory(mdl, sol)
-    plot_input_norm(mdl, sol)
-    plot_tilt_angle(mdl, sol)
-    plot_convergence(history_list, "quadrotor")
+    try
+        plot_trajectory_history(mdl, history)
+        plot_final_trajectory(mdl, sol)
+        plot_input_norm(mdl, sol)
+        plot_tilt_angle(mdl, sol)
+        plot_convergence(history_list, "quadrotor")     
+    catch
+        println("PyPlot Issues")
+    end
 
     return nothing
 end
diff --git a/test/examples/rendezvous_3d/tests.jl b/test/examples/rendezvous_3d/tests.jl
@@ -95,12 +95,17 @@ function test_single(
     @test sol.status == @sprintf("%s", SCP_SOLVED)
 
     # Make plots
-    plot_trajectory_2d(mdl, sol)
-    plot_trajectory_2d(mdl, sol; attitude = true)
-    plot_state_timeseries(mdl, sol)
-    plot_inputs(mdl, sol, history)
-    plot_inputs(mdl, sol, history; quad = "D")
-    plot_cost_evolution(mdl, history)
+    try
+        plot_trajectory_2d(mdl, sol)
+        plot_trajectory_2d(mdl, sol; attitude = true)
+        plot_state_timeseries(mdl, sol)
+        plot_inputs(mdl, sol, history)
+        plot_inputs(mdl, sol, history; quad = "D")
+        plot_cost_evolution(mdl, history)
+    catch e
+        println("PyPlot Issues")
+    end
+
 
     return sol, history
 end
@@ -151,13 +156,17 @@ function test_runtime(
         @test sol.status == @sprintf("%s", SCP_SOLVED)
     end
 
-    plot_convergence(
-        history_list,
-        "rendezvous_3d",
-        options = fig_opts,
-        xlabel = "\$\\ell\$",
-        horizontal = true,
-    )
+    try
+        plot_convergence(
+            history_list,
+            "rendezvous_3d",
+            options = fig_opts,
+            xlabel = "\$\\ell\$",
+            horizontal = true,
+        )    
+    catch
+        println("PyPlot Issues")
+    end
 
     return history_list
 end
@@ -213,7 +222,11 @@ function test_homotopy_update(
         @test sol_list[i].status == @sprintf("%s", SCP_SOLVED)
     end
 
-    plot_homotopy_threshold_sweep(mdl, β_sweep, sol_list)
+    try
+        plot_homotopy_threshold_sweep(mdl, β_sweep, sol_list)
+    catch e
+        println("PyPlot Issues")
+    end
 
     return β_sweep, sol_list
 end

diff --git a/test/examples/rendezvous_planar/tests.jl b/test/examples/rendezvous_planar/tests.jl
@@ -82,10 +82,14 @@ function ptr()::Nothing
     @test sol.status == @sprintf("%s", SCP_SOLVED)
 
     # Make plots
-    plot_final_trajectory(mdl, sol)
-    plot_attitude(mdl, sol)
-    plot_thrusts(mdl, sol)
-    plot_convergence(history, "rendezvous_planar")
+    try
+        plot_final_trajectory(mdl, sol)
+        plot_attitude(mdl, sol)
+        plot_thrusts(mdl, sol)
+        plot_convergence(history, "rendezvous_planar")    
+    catch e
+        println("PyPlot Issues")
+    end
 
     return nothing
 end
diff --git a/test/examples/rocket_landing/tests.jl b/test/examples/rocket_landing/tests.jl
@@ -40,11 +40,15 @@ function lcvx()::Nothing
     sim = simulate(rocket, pdg)
 
     # Make plots
-    plot_thrust(rocket, pdg, sim)
-    plot_mass(rocket, pdg, sim)
-    plot_pointing_angle(rocket, pdg, sim)
-    plot_velocity(rocket, pdg, sim)
-    plot_position(rocket, pdg, sim)
+    try
+        plot_thrust(rocket, pdg, sim)
+        plot_mass(rocket, pdg, sim)
+        plot_pointing_angle(rocket, pdg, sim)
+        plot_velocity(rocket, pdg, sim)
+        plot_position(rocket, pdg, sim)    
+    catch e
+        println("PyPlot Issues")
+    end
 
     return nothing
 end
diff --git a/test/examples/starship_flip/tests.jl b/test/examples/starship_flip/tests.jl
@@ -151,11 +151,15 @@ function test_single(
     @test sol.status == @sprintf("%s", SCP_SOLVED)
 
     # Make plots
-    plot_trajectory_history(mdl, history)
-    plot_final_trajectory(mdl, sol)
-    plot_velocity(mdl, sol)
-    plot_thrust(mdl, sol)
-    plot_gimbal(mdl, sol)
+    try
+        plot_trajectory_history(mdl, history)
+        plot_final_trajectory(mdl, sol)
+        plot_velocity(mdl, sol)
+        plot_thrust(mdl, sol)
+        plot_gimbal(mdl, sol)      
+    catch e
+        println("PyPlot Issues")
+    end
 
     return nothing
 end