Run test suite on windows during CI (#6648)

* Add a test-suite job.

* Upload artifact after build if test suite requested.

* Setup msys2.

* Update test_suite_windows.yml

* Install deps.

* Install VS10 and OpenJdk so test-suite can run.

* Set WEBOTS_HOME.

* Add WEBOTS_HOME to PATH before running tests.

* Fix PATH.

* Print sysinfo output when error occurs.

* Print debug info when getting sysinfo.

* Install software renderer for headless CI.

* Launch tmate session for debugging.

* Setup tmate session if the test suite fails.

* Read MyBot.txt in text instead of binary mode to compensate for line ending differences.

* Treat hdr files as binary so they aren't corrupted by git when checking out on Windows.

* Use download artifact v4.

* Override GL version to be 3.3 and force software rendering.

* Skip a couple tests that don't work on windows CI.

* Make test_suite.py accept world files under windows.

---------

Co-authored-by: CoolSpy3 <55305038+CoolSpy3@users.noreply.github.com>
Co-authored-by: Olivier Michel <Olivier.Michel@cyberbotics.com>

.github/workflows/test_suite_windows.yml

@@ -88,13 +88,75 @@ jobs:
         python -m pip install requests PyGithub
         scripts/packaging/publish_release.py --key=${{ secrets.GITHUB_TOKEN }} --repo=${{ github.repository }} --branch=${{ github.ref }} --commit=$(git log -1 --format='%H') --tag=${{ github.ref }}
     - uses: actions/upload-artifact@v4
-      if: ${{ contains(github.event.pull_request.labels.*.name, 'test distribution') }}
+      if: ${{ contains(github.event.pull_request.labels.*.name, 'test suite') || contains(github.event.pull_request.labels.*.name, 'test distribution') }}
       with:
         name: build-${{ matrix.os }}
         path: |
           distribution/*.exe
+  test-suite:
+    needs: build
+    if: ${{ contains(github.event.pull_request.labels.*.name, 'test suite') }}
+    strategy:
+      matrix:
+        os: [windows-2019]
+    runs-on: ${{ matrix.os }}
+    steps:
+    - uses: actions/checkout@v3
+    - name: Download Artifacts
+      uses: actions/download-artifact@v4
+      with:
+        name: build-${{ matrix.os }}
+        path: artifact
+    - uses: msys2/setup-msys2@v2
+      with:
+        update: false
+    - name: Install Visual Studio 10 and OpenJDK 18
+      shell: powershell
+      run: |
+        choco install -y openjdk --version=18.0.2
+        choco install -y visualcpp-build-tools
+    - name: Install Webots Compilation Dependencies
+      run: |
+        export PYTHON_INSTALLATION_FOLDER=/C/hostedtoolcache/windows/Python
+        export PYTHON_HOME=$PYTHON_INSTALLATION_FOLDER/3.11.`ls $PYTHON_INSTALLATION_FOLDER | grep '^3\.11\.[0-9]\+$' | cut -c6- | sort -n | tail -n1`/x64
+        echo 'export JAVA_HOME=/C/Program\ Files/OpenJDK/`ls /C/Program\ Files/OpenJDK`' >> ~/.bash_profile
+        echo 'export PYTHON_HOME='$PYTHON_HOME >> ~/.bash_profile
+        echo 'export VISUAL_STUDIO_PATH="/C/Program Files (x86)/Microsoft Visual Studio/2017"' >> ~/.bash_profile
+        echo 'export INNO_SETUP_HOME="/C/Program Files (x86)/Inno Setup 6"' >> ~/.bash_profile
+        echo 'export PATH=$PYTHON_HOME:$PYTHON_HOME/Scripts:$GITHUB_WORKSPACE/msys64/mingw64/bin:$GITHUB_WORKSPACE/bin/node:/mingw64/bin:/usr/bin:$JAVA_HOME/bin:$PATH' >> ~/.bash_profile
+        export WEBOTS_HOME=$GITHUB_WORKSPACE
+        ./scripts/install/msys64_installer.sh --all
+    - name: Extract Webots
+      run: |
+        ./artifact/webots-*.exe //SUPPRESSMSGBOXES //VERYSILENT //NOCANCEL //NORESTART //ALLUSERS
+    - name: Set up Python 3.11
+      uses: actions/setup-python@v4
+      with:
+        python-version: 3.11
+    - name: Install Software Renderer
+      uses: ssciwr/setup-mesa-dist-win@v2
+      with:
+        version: '24.2.1'
+        build-type: 'release-mingw'
+    - name: Test
+      run: |
+        export WEBOTS_DISABLE_SAVE_SCREEN_PERSPECTIVE_ON_CLOSE=true
+        python scripts/packaging/update_urls.py $(git log -1 --format='%H')
+        export TESTS_HOME=$PWD # required by cache group in the test suite
+        export WEBOTS_HOME="/c/Program Files/Webots"
+        export PATH="${WEBOTS_HOME}/msys64/mingw64/bin:$PATH"
+        export WEBOTS_HOME_PATH=$PWD # required for tests to find Makefile.include
+        export BRANCH_HASH=$(git log -1 --format='%H')
+        export MESA_GL_VERSION_OVERRIDE=3.3
+        export LIBGL_ALWAYS_SOFTWARE=true
+        python tests/test_suite.py
+    - name: Setup tmate session
+      if: ${{ failure() }}
+      uses: mxschmitt/action-tmate@v3
+      with:
+        detached: true
   delete-artifacts:
-    needs: [build]
+    needs: [build, test-suite]
     if: ${{ always() && !contains(github.event.pull_request.labels.*.name, 'test distribution') && !contains(github.event.pull_request.labels.*.name, 'test webots build') }}
     strategy:
       matrix:

projects/.gitattributes

@@ -0,0 +1 @@
+*.hdr binary

src/webots/gui/WbSingleTaskApplication.cpp

@@ -231,10 +231,11 @@ void WbSingleTaskApplication::showSysInfo() const {
   // An OpenGL context is required there for the OpenGL calls like `glGetString`.
   // The format is QSurfaceFormat::defaultFormat() => OpenGL 3.3 defined in main.cpp.
   QOpenGLContext *context = new QOpenGLContext();
-  context->create();
+  if (!context->create())
+    assert(false);
   QOpenGLFunctions *gl = context->functions();  // QOpenGLFunctions_3_3_Core cannot be initialized here on some systems like
                                                 // macOS High Sierra and some Ubuntu environments.
-
+  assert(gl);
 #ifdef _WIN32
   const quint32 vendorId = WbSysInfo::gpuVendorId(gl);
   const quint32 rendererId = WbSysInfo::gpuDeviceId(gl);

tests/api/controllers/supervisor_import_robot_node/supervisor_import_robot_node.c

@@ -25,7 +25,7 @@ int main(int argc, char **argv) {
   wb_robot_step(2 * TIME_STEP);
 
   // import robot object
-  FILE *fd = fopen("MyBot.txt", "rb");
+  FILE *fd = fopen("MyBot.txt", "r");
   char contents[4096];
   const int n = fread(contents, 1, sizeof(contents), fd);
   fclose(fd);

tests/test_suite.py

@@ -116,7 +116,7 @@ def setupWebots():
     command = Command([webotsFullPath, '--sysinfo'])
     command.run()
     if command.returncode != 0:
-        raise RuntimeError('Error when getting the Webots information of the system')
+        raise RuntimeError('Error when getting the Webots information of the system: ' + command.output)
     webotsSysInfo = command.output.split('\n')
 
     return webotsFullPath, webotsVersion, webotsSysInfo, webotsEmptyWorldPath
@@ -181,7 +181,7 @@ def generateWorldsList(groupName):
     # generate the list from the arguments
     if filesArguments:
         for file in filesArguments:
-            if f'/tests/{groupName}/' in file:
+            if (os.sep + 'tests' + os.sep + groupName + os.sep) in file:
                 worldsList.append(file)
 
     # generate the list from 'ls worlds/*.wbt'
@@ -201,13 +201,16 @@ def generateWorldsList(groupName):
             # speaker test not working on github action because of missing sound drivers
             # robot window and movie recording test not working on BETA Ubuntu 22.04 GitHub Action environment
             # billboard test not working in macos GitHub Action environment
+            # billboard and robot window not working on windows GitHub Action environment.
             if (not filename.endswith('_temp.wbt') and
                     not ('GITHUB_ACTIONS' in os.environ and (
                         filename.endswith('speaker.wbt') or
                         filename.endswith('local_proto_with_texture.wbt') or
                         (filename.endswith('robot_window_html.wbt') and is_ubuntu_22_04) or
                         (filename.endswith('supervisor_start_stop_movie.wbt') and is_ubuntu_22_04) or
-                        (filename.endswith('billboard.wbt') and sys.platform == 'darwin')
+                        (filename.endswith('billboard.wbt') and sys.platform == 'darwin') or
+                        (filename.endswith('billboard.wbt') and sys.platform == 'win32') or
+                        (filename.endswith('robot_window_html.wbt') and sys.platform == 'win32')
                     ))):
                 worldsList.append(filename)