From b582004d472f06da029ade5746295e2e4f9d543c Mon Sep 17 00:00:00 2001
From: David Leins <dleins@techfak.uni-bielefeld.de>
Date: Wed, 4 Dec 2024 15:57:30 +0100
Subject: [PATCH] gha: wip debug EGL local runner

---
 .github/workflows/ci.yaml | 35 +++++++++++++++++++++++++----------
 1 file changed, 25 insertions(+), 10 deletions(-)

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index 59658771..0ba4ea83 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -23,16 +23,31 @@ jobs:
         distro: [noetic, one]
         render_backend: [GLFW, OSMESA, EGL, DISABLE]
         mujoco: [3.2.0]
-        include:
+        # include:
+        #   - distro: noetic
+        #     mujoco: 3.2.0
+        #     env:
+        #       CATKIN_LINT: true
+        #       CCOV: true
+        #   - distro: one
+        #     mujoco: 3.2.0
+        #     env:
+        #       CLANG_TIDY: pedantic
+        exclude:
           - distro: noetic
-            mujoco: 3.2.0
-            env:
-              CATKIN_LINT: true
-              CCOV: true
+            render_backend: GLFW
+          - distro: noetic
+            render_backend: OSMESA
+          - distro: noetic
+            render_backend: EGL
+          - distro: noetic
+            render_backend: DISABLE
+          - distro: one
+            render_backend: GLFW
+          - distro: one
+            render_backend: OSMESA
           - distro: one
-            mujoco: 3.2.0
-            env:
-              CLANG_TIDY: pedantic
+            render_backend: DISABLE
 
     env:
       BUILDER: colcon
@@ -47,13 +62,13 @@ jobs:
       CLANG_TIDY_ARGS: --fix --fix-errors --format-style=file
       UPSTREAM_WORKSPACE: .github/workflows/upstream.rosinstall
       # Install and start xvfb for GLFW
-      AFTER_INIT: ${{ matrix.render_backend == 'GLFW' && 'apt-get install -qy xvfb; Xvfb :99 &' || '' }}
+      AFTER_INIT: ${{ matrix.render_backend == 'GLFW' && 'apt-get install -qy xvfb; Xvfb :99 &' || matrix.render_backend == 'EGL' && 'nvidia-smi'  || '' }}
       # Pull any updates to the upstream workspace
       AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src
       AFTER_SETUP_DOWNSTREAM_WORKSPACE: vcs pull $BASEDIR/downstream_ws/src
       # Clear ccache stats before and log the stats after the build
       AFTER_SETUP_CCACHE: ccache --zero-stats --max-size=10.0G
-      AFTER_BUILD_TARGET_WORKSPACE: ccache --show-stats
+      AFTER_BUILD_TARGET_WORKSPACE: ccache --show-stats; nvidia-smi; ldd $BASEDIR/target_ws/install/mujoco_ros/lib/libmujoco_ros.so; echo $PATH; export LIBRARY_PATH=/lib; export EGL_DEVICE_ID=0;
       AFTER_BUILD_DOWNSTREAM_WORKSPACE: ccache --show-stats
       # Compile CCOV with Debug. Enable -Werror.
       TARGET_CMAKE_ARGS: >