[RSDK-11241] - Add integration tests

.canon.yaml

@@ -14,3 +14,11 @@ csi-pi:
   user: testbot
   group: testbot
   persistent: true
+
+csi-test:
+    image_arm64: ghcr.io/viamrobotics/rdk-devenv:arm64-cache
+    minimum_date: 2023-10-26T20:00:00.0Z
+    update_interval: 168h0m0s
+    user: testbot
+    group: testbot
+    persistent: true

.github/workflows/build.yml

@@ -51,3 +51,10 @@ jobs:
 
       - name: Build viam-csi appimage
         run: make package
+
+      - name: Upload AppImage artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: viam-csi-${{ matrix.TARGET }}-appimage
+          path: etc/*.AppImage
+          retention-days: 1

.github/workflows/integration.yml

@@ -0,0 +1,66 @@
+name: Integration Tests
+
+on:
+  workflow_run:
+    workflows: ["Build Latest"]
+    types: [completed]
+  push:
+    branches: 
+      - '*'
+    paths-ignore:
+      - 'README.md'
+      - 'docs/**'
+  pull_request:
+    branches:
+      - '*'
+    paths-ignore:
+      - 'README.md'
+      - 'docs/**'
+
+permissions:
+  contents: read
+  actions: read
+
+jobs:
+  integration-test:
+    name: Integration Tests
+    runs-on: buildjet-2vcpu-ubuntu-2204-arm
+    if: ${{ github.event.workflow_run.conclusion == 'success' }}
+    strategy:
+      matrix:
+        include:
+          - container: ghcr.io/viamrobotics/rdk-devenv:arm64-cache
+            TARGET: pi
+    container:
+      image: ${{ matrix.container }}
+      options: --platform linux/arm64
+
+    steps:
+      - name: Check out code
+        uses: actions/checkout@v3
+
+      - name: Download AppImage artifact
+        uses: dawidd6/action-download-artifact@v6
+        with:
+          workflow: build.yml
+          branch: ${{ github.head_ref || github.ref_name }}
+          workflow_conclusion: success
+          allow_forks: true
+          name: viam-csi-${{ matrix.TARGET }}-appimage
+          path: ./etc
+
+      - name: Make AppImage executable
+        run: chmod +x ./etc/*.AppImage
+
+      - name: Extract AppImage
+        run: |
+          cd ./etc
+          ./*.AppImage --appimage-extract
+          chmod +x squashfs-root/AppRun
+
+      - name: Run integration tests
+        run: |
+          cd tests/integration
+          export VIAM_CSI_DEVICE=${{ matrix.TARGET }}
+          export VIAM_CSI_TEST_MODE=1
+          go test -v -timeout 10m

constraints.h

@@ -35,3 +35,7 @@
 #define PI_INPUT_FORMAT "video/x-raw,format=NV12"
 #define PI_VIDEO_CONVERTER "videoconvert"
 #define PI_OUTPUT_ENCODER "jpegenc"
+
+// Integration Tests
+inline const std::string TEST_GST_PIPELINE =
+    "videotestsrc ! video/x-raw ! videoconvert ! jpegenc ! image/jpeg ! appsink name=appsink0 sync=false max-buffers=1 drop=true";

csi_camera.cpp

@@ -283,6 +283,12 @@ std::vector<unsigned char> CSICamera::get_csi_image() {
 }
 
 std::string CSICamera::create_pipeline() const {
+    const char* test_mode = std::getenv("VIAM_CSI_TEST_MODE");
+    if (test_mode != nullptr && std::string(test_mode) == "1") {
+        VIAM_SDK_LOG(warn) << "CI Test mode enabled";
+        return TEST_GST_PIPELINE;
+    }
+
     auto device_params = get_device_params(device);
     std::string input_sensor = (device.value == device_type::jetson) ? (" sensor-id=" + video_path) : "";
 

tests/integration/go.mod

@@ -0,0 +1,191 @@
+module github.com/viam-modules/csi-camera/tests/integration
+
+go 1.23.8
+
+toolchain go1.23.10
+
+require go.viam.com/rdk v0.83.0
+
+require (
+	cloud.google.com/go v0.115.1 // indirect
+	cloud.google.com/go/auth v0.9.3 // indirect
+	cloud.google.com/go/auth/oauth2adapt v0.2.4 // indirect
+	cloud.google.com/go/compute/metadata v0.6.0 // indirect
+	cloud.google.com/go/iam v1.2.0 // indirect
+	cloud.google.com/go/storage v1.43.0 // indirect
+	git.sr.ht/~sbinet/gg v0.3.1 // indirect
+	github.com/Masterminds/semver/v3 v3.3.0 // indirect
+	github.com/a8m/envsubst v1.4.2 // indirect
+	github.com/ajstarks/svgo v0.0.0-20211024235047-1546f124cd8b // indirect
+	github.com/apache/arrow/go/arrow v0.0.0-20201229220542-30ce2eb5d4dc // indirect
+	github.com/aptible/supercronic v0.2.33 // indirect
+	github.com/aybabtme/uniplot v0.0.0-20151203143629-039c559e5e7e // indirect
+	github.com/benbjohnson/clock v1.3.5 // indirect
+	github.com/bep/debounce v1.2.1 // indirect
+	github.com/bluenviron/gortsplib/v4 v4.8.0 // indirect
+	github.com/bufbuild/protocompile v0.9.0 // indirect
+	github.com/bytedance/sonic/loader v0.2.4 // indirect
+	github.com/campoy/embedmd v1.0.0 // indirect
+	github.com/cenkalti/backoff v2.2.1+incompatible // indirect
+	github.com/cenkalti/backoff/v4 v4.3.0 // indirect
+	github.com/chenzhekl/goply v0.0.0-20190930133256-258c2381defd // indirect
+	github.com/chewxy/hm v1.0.0 // indirect
+	github.com/chewxy/math32 v1.0.8 // indirect
+	github.com/cloudwego/base64x v0.1.5 // indirect
+	github.com/davecgh/go-spew v1.1.1 // indirect
+	github.com/decred/dcrd/dcrec/secp256k1/v4 v4.2.0 // indirect
+	github.com/desertbit/timer v0.0.0-20180107155436-c41aec40b27f // indirect
+	github.com/dgottlieb/smarty-assertions v1.2.6 // indirect
+	github.com/disintegration/imaging v1.6.2 // indirect
+	github.com/docker/go-units v0.5.0 // indirect
+	github.com/edaniels/golog v0.0.0-20230215213219-28954395e8d0 // indirect
+	github.com/edaniels/lidario v0.0.0-20220607182921-5879aa7b96dd // indirect
+	github.com/erikstmartin/go-testdb v0.0.0-20160219214506-8d10e4a1bae5 // indirect
+	github.com/felixge/httpsnoop v1.0.4 // indirect
+	github.com/fogleman/gg v1.3.0 // indirect
+	github.com/fsnotify/fsnotify v1.9.0 // indirect
+	github.com/fullstorydev/grpcurl v1.8.6 // indirect
+	github.com/gen2brain/malgo v0.11.21 // indirect
+	github.com/go-audio/audio v1.0.0 // indirect
+	github.com/go-audio/riff v1.0.0 // indirect
+	github.com/go-audio/transforms v0.0.0-20180121090939-51830ccc35a5 // indirect
+	github.com/go-audio/wav v1.1.0 // indirect
+	github.com/go-fonts/liberation v0.3.0 // indirect
+	github.com/go-gl/mathgl v1.0.0 // indirect
+	github.com/go-jose/go-jose/v4 v4.0.5 // indirect
+	github.com/go-latex/latex v0.0.0-20230307184459-12ec69307ad9 // indirect
+	github.com/go-logr/logr v1.4.2 // indirect
+	github.com/go-logr/stdr v1.2.2 // indirect
+	github.com/go-nlopt/nlopt v0.0.0-20230219125344-443d3362dcb5 // indirect
+	github.com/go-pdf/fpdf v0.6.0 // indirect
+	github.com/go-viper/mapstructure/v2 v2.1.0 // indirect
+	github.com/goccy/go-graphviz v0.1.3 // indirect
+	github.com/goccy/go-json v0.10.2 // indirect
+	github.com/gogo/protobuf v1.3.2 // indirect
+	github.com/golang-jwt/jwt/v4 v4.5.1 // indirect
+	github.com/golang/freetype v0.0.0-20170609003504-e2365dfdc4a0 // indirect
+	github.com/golang/geo v0.0.0-20230421003525-6adc56603217 // indirect
+	github.com/golang/groupcache v0.0.0-20210331224755-41bb18bfe9da // indirect
+	github.com/golang/protobuf v1.5.4 // indirect
+	github.com/golang/snappy v0.0.4 // indirect
+	github.com/gonuts/binary v0.2.0 // indirect
+	github.com/google/flatbuffers v2.0.6+incompatible // indirect
+	github.com/google/go-cmp v0.7.0 // indirect
+	github.com/google/s2a-go v0.1.8 // indirect
+	github.com/google/uuid v1.6.0 // indirect
+	github.com/googleapis/enterprise-certificate-proxy v0.3.3 // indirect
+	github.com/googleapis/gax-go/v2 v2.13.0 // indirect
+	github.com/gorilla/securecookie v1.1.2 // indirect
+	github.com/grpc-ecosystem/go-grpc-middleware v1.4.0 // indirect
+	github.com/grpc-ecosystem/grpc-gateway/v2 v2.20.0 // indirect
+	github.com/improbable-eng/grpc-web v0.15.0 // indirect
+	github.com/jedib0t/go-pretty/v6 v6.4.6 // indirect
+	github.com/jhump/protoreflect v1.15.6 // indirect
+	github.com/kellydunn/golang-geo v0.7.0 // indirect
+	github.com/klauspost/compress v1.18.0 // indirect
+	github.com/klauspost/cpuid/v2 v2.2.11 // indirect
+	github.com/kylelemons/go-gypsy v1.0.0 // indirect
+	github.com/kylelemons/godebug v1.1.0 // indirect
+	github.com/lestrrat-go/backoff/v2 v2.0.8 // indirect
+	github.com/lestrrat-go/blackmagic v1.0.2 // indirect
+	github.com/lestrrat-go/httpcc v1.0.1 // indirect
+	github.com/lestrrat-go/iter v1.0.2 // indirect
+	github.com/lestrrat-go/jwx v1.2.29 // indirect
+	github.com/lestrrat-go/option v1.0.1 // indirect
+	github.com/lib/pq v1.10.9 // indirect
+	github.com/lmittmann/ppm v1.0.2 // indirect
+	github.com/lucasb-eyer/go-colorful v1.2.0 // indirect
+	github.com/mattn/go-runewidth v0.0.16 // indirect
+	github.com/matttproud/golang_protobuf_extensions v1.0.4 // indirect
+	github.com/miekg/dns v1.1.53 // indirect
+	github.com/montanaflynn/stats v0.7.1 // indirect
+	github.com/muesli/clusters v0.0.0-20200529215643-2700303c1762 // indirect
+	github.com/muesli/kmeans v0.3.1 // indirect
+	github.com/muhlemmer/gu v0.3.1 // indirect
+	github.com/pion/datachannel v1.5.8 // indirect
+	github.com/pion/dtls/v2 v2.2.12 // indirect
+	github.com/pion/ice/v2 v2.3.34 // indirect
+	github.com/pion/interceptor v0.1.29 // indirect
+	github.com/pion/logging v0.2.2 // indirect
+	github.com/pion/mdns v0.0.12 // indirect
+	github.com/pion/mediadevices v0.6.4 // indirect
+	github.com/pion/randutil v0.1.0 // indirect
+	github.com/pion/rtcp v1.2.14 // indirect
+	github.com/pion/rtp v1.8.7 // indirect
+	github.com/pion/sctp v1.8.33 // indirect
+	github.com/pion/sdp/v3 v3.0.9 // indirect
+	github.com/pion/srtp/v2 v2.0.20 // indirect
+	github.com/pion/stun v0.6.1 // indirect
+	github.com/pion/transport/v2 v2.2.10 // indirect
+	github.com/pion/turn/v2 v2.1.6 // indirect
+	github.com/pion/webrtc/v3 v3.2.36 // indirect
+	github.com/pkg/errors v0.9.1 // indirect
+	github.com/pmezard/go-difflib v1.0.0 // indirect
+	github.com/prometheus/procfs v0.15.1 // indirect
+	github.com/rivo/uniseg v0.4.7 // indirect
+	github.com/rs/cors v1.11.1 // indirect
+	github.com/samber/lo v1.51.0 // indirect
+	github.com/sergi/go-diff v1.3.1 // indirect
+	github.com/spf13/cast v1.5.0 // indirect
+	github.com/srikrsna/protoc-gen-gotag v0.6.2 // indirect
+	github.com/stretchr/testify v1.10.0 // indirect
+	github.com/twitchyliquid64/golang-asm v0.15.1 // indirect
+	github.com/viamrobotics/ice/v2 v2.3.39 // indirect
+	github.com/viamrobotics/webrtc/v3 v3.99.15 // indirect
+	github.com/viamrobotics/zeroconf v1.0.12 // indirect
+	github.com/wlynxg/anet v0.0.3 // indirect
+	github.com/xdg-go/pbkdf2 v1.0.0 // indirect
+	github.com/xdg-go/scram v1.1.2 // indirect
+	github.com/xdg-go/stringprep v1.0.4 // indirect
+	github.com/xfmoulet/qoi v0.2.0 // indirect
+	github.com/xtgo/set v1.0.0 // indirect
+	github.com/youmark/pkcs8 v0.0.0-20240726163527-a2c0da244d78 // indirect
+	github.com/zitadel/oidc/v3 v3.37.0 // indirect
+	github.com/zitadel/schema v1.3.1 // indirect
+	github.com/ziutek/mymysql v1.5.4 // indirect
+	go-hep.org/x/hep v0.32.1 // indirect
+	go.mongodb.org/mongo-driver v1.17.1 // indirect
+	go.opencensus.io v0.24.0 // indirect
+	go.opentelemetry.io/auto/sdk v1.1.0 // indirect
+	go.opentelemetry.io/contrib/instrumentation/google.golang.org/grpc/otelgrpc v0.54.0 // indirect
+	go.opentelemetry.io/contrib/instrumentation/net/http/otelhttp v0.54.0 // indirect
+	go.opentelemetry.io/otel v1.34.0 // indirect
+	go.opentelemetry.io/otel/metric v1.34.0 // indirect
+	go.opentelemetry.io/otel/trace v1.34.0 // indirect
+	go.uber.org/goleak v1.3.0 // indirect
+	go.uber.org/multierr v1.11.0 // indirect
+	go.uber.org/zap v1.27.0 // indirect
+	go.viam.com/api v0.1.452 // indirect
+	go.viam.com/test v1.2.4 // indirect
+	go.viam.com/utils v0.1.149 // indirect
+	go4.org/unsafe/assume-no-moving-gc v0.0.0-20230525183740-e7c30c78aeb2 // indirect
+	goji.io v2.0.2+incompatible // indirect
+	golang.org/x/arch v0.18.0 // indirect
+	golang.org/x/crypto v0.38.0 // indirect
+	golang.org/x/exp v0.0.0-20240904232852-e7e105dedf7e // indirect
+	golang.org/x/image v0.19.0 // indirect
+	golang.org/x/mod v0.24.0 // indirect
+	golang.org/x/net v0.40.0 // indirect
+	golang.org/x/oauth2 v0.30.0 // indirect
+	golang.org/x/sync v0.14.0 // indirect
+	golang.org/x/sys v0.33.0 // indirect
+	golang.org/x/text v0.25.0 // indirect
+	golang.org/x/time v0.6.0 // indirect
+	golang.org/x/tools v0.33.0 // indirect
+	golang.org/x/xerrors v0.0.0-20220907171357-04be3eba64a2 // indirect
+	gonum.org/v1/gonum v0.12.0 // indirect
+	gonum.org/v1/plot v0.12.0 // indirect
+	google.golang.org/api v0.196.0 // indirect
+	google.golang.org/genproto v0.0.0-20240903143218-8af14fe29dc1 // indirect
+	google.golang.org/genproto/googleapis/api v0.0.0-20250106144421-5f5ef82da422 // indirect
+	google.golang.org/genproto/googleapis/rpc v0.0.0-20250324211829-b45e905df463 // indirect
+	google.golang.org/grpc v1.71.0 // indirect
+	google.golang.org/protobuf v1.36.6 // indirect
+	gopkg.in/natefinch/lumberjack.v2 v2.2.1 // indirect
+	gopkg.in/src-d/go-billy.v4 v4.3.2 // indirect
+	gopkg.in/yaml.v3 v3.0.1 // indirect
+	gorgonia.org/tensor v0.9.24 // indirect
+	gorgonia.org/vecf32 v0.9.0 // indirect
+	gorgonia.org/vecf64 v0.9.0 // indirect
+	nhooyr.io/websocket v1.8.7 // indirect
+)