test: correct joystick Y-axis sign oracle and check motion reversal #2
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| name: Additional simulated joystick validation (no publication) | |
| on: | |
| push: | |
| branches: [test/posim-world-runtime-20261001] | |
| paths: | |
| - .github/workflows/extended-joystick-validation.yml | |
| - tools/joystick-validation/** | |
| workflow_dispatch: | |
| permissions: | |
| contents: read | |
| jobs: | |
| joystick-sitl: | |
| runs-on: [self-hosted, ARM64] | |
| timeout-minutes: 20 | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Exercise isolated browser-input protocol and vehicle response | |
| env: | |
| IMAGE: ioeslab/posim@sha256:72179187c96a801184a15ab9cdaf3ca9714d3717ce04e97cd2ec60f34d83edb8 | |
| run: | | |
| set -euo pipefail | |
| export DOCKER_HOST="$(docker context inspect "$(docker context show)" --format '{{.Endpoints.docker.Host}}')" | |
| export DOCKER_CONTEXT= DOCKER_CONFIG="$RUNNER_TEMP/posim-joy-docker-$GITHUB_RUN_ID" | |
| mkdir -p "$DOCKER_CONFIG" | |
| printf '{}\n' > "$DOCKER_CONFIG/config.json" | |
| docker image inspect "$IMAGE" >/dev/null 2>&1 || docker pull "$IMAGE" | |
| out="$RUNNER_TEMP/posim-joystick-$GITHUB_RUN_ID" | |
| mkdir -p "$out" | |
| docker image inspect "$IMAGE" > "$out/image-inspect.json" | |
| cp tools/joystick-validation/probe.py "$out/" | |
| name="posim-joystick-$GITHUB_RUN_ID" | |
| trap 'docker rm -f "$name" >/dev/null 2>&1 || true' EXIT | |
| docker run --rm --init --name "$name" --platform linux/arm64 --shm-size=1g \ | |
| --entrypoint bash -e ROS_DOMAIN_ID=136 -e GZ_IP=127.0.0.1 \ | |
| -e "GZ_PARTITION=$name" -e LIBGL_ALWAYS_SOFTWARE=1 -e QT_QPA_PLATFORM=offscreen \ | |
| -v "$out:/results" "$IMAGE" -lc ' | |
| source /opt/ros/lyrical/setup.bash | |
| source /home/docker/dave_ws/install/setup.bash | |
| cd /tmp | |
| python3 /results/probe.py | |
| ' | |
| - name: Upload all evidence including failures | |
| if: always() | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: posim-joystick-arm64-${{ github.run_id }} | |
| path: ${{ runner.temp }}/posim-joystick-${{ github.run_id }} | |
| retention-days: 14 |