[Draft] Add GitHub Actions workflow and CloudFormation templates

.github/workflows/ci.yml

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+# Copyright 2025 NVIDIA Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+name: CI
+
+on:
+  push:
+    branches: [main, develop]
+  pull_request:
+    branches: [main, develop]
+
+env:
+  PYTHONPATH: ${{ github.workspace }}
+
+jobs:
+  pre-commit:
+    name: Pre-commit Checks
+    runs-on: self-hosted
+    container:
+      image: python:3.12-slim-bullseye
+    steps:
+      - name: Install Git
+        run: |
+          apt-get update -y
+          DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends git
+          git config --global --add safe.directory /__w/SWAGGER/SWAGGER
+          # Disable Git hooks completely
+          git config --global core.hooksPath /dev/null
+
+      - name: Checkout code
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: Cache Python packages
+        uses: actions/cache@v4
+        with:
+          path: ~/.cache/pip
+          key: precommit-${{ hashFiles('.pre-commit-config.yaml') }}
+          restore-keys: precommit
+
+      - name: Install dependencies
+        run: |
+          python3 -m pip install --upgrade pip pre-commit
+          pre-commit --version
+
+      - name: Run pre-commit
+        run: |
+          pre-commit run --all-files
+    timeout-minutes: 60
+
+  package-check:
+    name: Package Check
+    needs: pre-commit
+    runs-on: self-hosted
+    container:
+      image: python:3.12-slim-bullseye
+    steps:
+      - name: Install Git
+        run: |
+          apt-get update -y
+          DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends git
+          git config --global --add safe.directory /__w/SWAGGER/SWAGGER
+          # Disable Git hooks completely
+          git config --global core.hooksPath /dev/null
+
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Clear Poetry cache
+        run: |
+          rm -rf ~/.cache/pypoetry
+          rm -rf ~/.cache/pip
+
+      - name: Install dependencies
+        run: |
+          python3 -m pip install --upgrade pip poetry
+          poetry env use python3.12
+          poetry install --no-cache
+
+      - name: Run Poetry check
+        run: poetry check
+    timeout-minutes: 15
+
+  unit-tests:
+    name: Unit Tests
+    needs: package-check
+    runs-on: self-hosted
+    env:
+      CUDA_VISIBLE_DEVICES: all
+      NVIDIA_VISIBLE_DEVICES: all
+      NVIDIA_DRIVER_CAPABILITIES: all
+      CUDA_HOME: /usr/local/cuda
+      LD_LIBRARY_PATH: /usr/local/cuda/lib64:/usr/local/cuda/extras/CUPTI/lib64
+    container:
+      image: nvidia/cuda:12.6.0-devel-ubuntu22.04
+      options: --privileged --gpus all --group-add 998 --ipc=host --ulimit memlock=-1 --ulimit stack=67108864
+    steps:
+      - name: Install Git
+        run: |
+          apt-get update -y
+          DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends git
+          git config --global --add safe.directory /__w/SWAGGER/SWAGGER
+          # Disable Git hooks completely
+          git config --global core.hooksPath /dev/null
+
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Verify CUDA setup
+        run: |
+          # Verify NVIDIA drivers and CUDA
+          nvcc --version
+          nvidia-smi --query-gpu=gpu_name,driver_version,memory.total --format=csv,noheader
+
+      - name: Setup Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.12'
+
+      - name: Cache Python packages
+        uses: actions/cache@v4
+        with:
+          path: |
+            ~/.cache/pip
+            venv/
+          key: unit-tests-cuda-${{ hashFiles('**/requirements.txt') }}
+          restore-keys: unit-tests-cuda-
+
+      - name: Install dependencies
+        run: |
+          apt-get update
+          DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends \
+            python3-pip python3-venv \
+            libgl1-mesa-glx libglib2.0-0 \
+            libcudnn8 libcudnn8-dev \
+            nvidia-cuda-toolkit
+          python3 -m pip install --upgrade pip poetry
+          poetry env use python3.12
+          poetry install
+
+      - name: Run unit tests
+        run: |
+          mkdir -p test-results
+          poetry run python -m unittest discover -p "test_*.py" -v > test-results/unit-tests.txt
+          poetry run python -c 'import xml.etree.ElementTree as ET, re; root = ET.Element("testsuites"); suite = ET.SubElement(root, "testsuite", name="unit-tests"); [suite.append(ET.SubElement(suite, "testcase", classname=m.group(2), name=m.group(1))) if m.group(3) == "ok" else suite.append(ET.SubElement(suite, "testcase", classname=m.group(2), name=m.group(1)).append(ET.SubElement(suite, "failure", message=f"Test {m.group(1)} in {m.group(2)} {m.group(3).lower()}ed"))) for m in re.finditer(r"test_(\w+) \((.*?)\) \.\.\. (ok|FAIL|ERROR)", open("test-results/unit-tests.txt").read())]; ET.ElementTree(root).write("test-results/unit-tests.xml", encoding="utf-8", xml_declaration=True)'
+
+      - name: Upload test results
+        if: always()
+        uses: actions/upload-artifact@v4
+        with:
+          name: unit-test-results
+          path: test-results/
+          retention-days: 7
+
+  e2e-tests:
+    name: End-to-End Tests
+    needs: unit-tests
+    runs-on: self-hosted
+    env:
+      CUDA_VISIBLE_DEVICES: all
+      NVIDIA_VISIBLE_DEVICES: all
+      NVIDIA_DRIVER_CAPABILITIES: all
+      CUDA_HOME: /usr/local/cuda
+      LD_LIBRARY_PATH: /usr/local/cuda/lib64:/usr/local/cuda/extras/CUPTI/lib64
+    container:
+      image: nvidia/cuda:12.6.0-devel-ubuntu22.04
+      options: --privileged --gpus all --group-add 998 --ipc=host --ulimit memlock=-1 --ulimit stack=67108864
+    steps:
+      - name: Install Git and LFS
+        run: |
+          apt-get update -y
+          DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends git git-lfs
+          git config --global --add safe.directory /__w/SWAGGER/SWAGGER
+          # Remove any existing hooks
+          rm -f .git/hooks/*
+          # Configure Git LFS
+          git lfs install --system
+          git lfs update --force
+          # Verify Git LFS installation
+          git lfs version
+
+      - name: Checkout code
+        uses: actions/checkout@v4
+        with:
+          lfs: true
+
+      - name: Pull LFS files
+        run: |
+          git lfs pull
+          git lfs ls-files
+
+      - name: Setup Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.12'
+
+      - name: Install dependencies
+        run: |
+          apt-get update
+          DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends \
+            python3-pip python3-venv \
+            libgl1-mesa-glx libglib2.0-0 \
+            libcudnn8 libcudnn8-dev \
+            nvidia-cuda-toolkit
+          python3 -m pip install --upgrade pip poetry
+          poetry env use python3.12
+          poetry install
+
+      - name: Run E2E tests
+        run: |
+          # Set CUDA device order
+          export CUDA_DEVICE_ORDER=PCI_BUS_ID
+          poetry run python scripts/generate_graph.py \
+            --map-path maps/carter_warehouse_navigation.png \
+            --graph-eval.active \
+            --perf-eval.active
+          poetry run python scripts/evaluate_graph.py \
+            --graph-path graphs/graph.gml \
+            --map-path maps/carter_warehouse_navigation.png \
+            --output-dir results \
+            --resolution 0.05 \
+            --safety-distance 0.3 \
+            --occupancy-threshold 127
+
+      - name: Cleanup
+        if: always()
+        run: rm -rf results graphs
+
+  docker-build:
+    name: Docker Build and Test
+    needs: e2e-tests
+    runs-on: self-hosted
+    env:
+      CUDA_VISIBLE_DEVICES: all
+      NVIDIA_VISIBLE_DEVICES: all
+      NVIDIA_DRIVER_CAPABILITIES: all
+      CUDA_HOME: /usr/local/cuda
+      LD_LIBRARY_PATH: /usr/local/cuda/lib64:/usr/local/cuda/extras/CUPTI/lib64
+      DOCKER_HOST: unix:///var/run/docker.sock
+      DOCKER_TLS_CERTDIR: ""
+    container:
+      image: nvidia/cuda:12.6.0-devel-ubuntu22.04
+      options: --privileged --gpus all --group-add 998 --ipc=host --ulimit memlock=-1 --ulimit stack=67108864
+    steps:
+      - name: Install Git and LFS
+        run: |
+          apt-get update -y
+          DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends git git-lfs
+          git config --global --add safe.directory /__w/SWAGGER/SWAGGER
+          # Remove any existing hooks
+          rm -f .git/hooks/*
+          # Configure Git LFS
+          git lfs install --system
+          git lfs update --force
+          # Verify Git LFS installation
+          git lfs version
+
+      - name: Checkout code
+        uses: actions/checkout@v4
+        with:
+          lfs: true
+
+      - name: Pull LFS files
+        run: |
+          git lfs pull
+          git lfs ls-files
+
+      - name: Setup Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.12'
+
+      - name: Install dependencies
+        run: |
+          apt-get update
+          DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends \
+            python3-pip python3-venv \
+            libgl1-mesa-glx libglib2.0-0 \
+            libcudnn8 libcudnn8-dev \
+            nvidia-cuda-toolkit curl ca-certificates gnupg
+          # Add Docker's official GPG key
+          install -m 0755 -d /etc/apt/keyrings
+          curl -fsSL https://download.docker.com/linux/ubuntu/gpg | gpg --dearmor -o /etc/apt/keyrings/docker.gpg
+          chmod a+r /etc/apt/keyrings/docker.gpg
+          # Add Docker repository
+          echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu $(. /etc/os-release && echo "$VERSION_CODENAME") stable" | tee /etc/apt/sources.list.d/docker.list > /dev/null
+          # Install Docker and Docker Compose
+          apt-get update
+          DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends \
+            docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin
+          python3 -m pip install --upgrade pip poetry
+          poetry env use python3.12
+          poetry install
+
+      - name: Verify Docker and CUDA setup
+        run: |
+          # Verify Docker setup
+          docker info
+          docker compose version
+          # Verify CUDA setup
+          nvidia-smi
+          nvcc --version
+          # Verify NVIDIA runtime
+          ldconfig -p | grep nvidia
+          # Verify CUDA libraries
+          ldconfig -p | grep cuda
+          # Verify CUDA environment
+          echo "CUDA_HOME: $CUDA_HOME"
+          echo "LD_LIBRARY_PATH: $LD_LIBRARY_PATH"
+          ls -l $CUDA_HOME/lib64/libcuda*
+          # Verify CUDA device
+          python3 -c 'import os; print("CUDA_VISIBLE_DEVICES:", os.environ.get("CUDA_VISIBLE_DEVICES")); print("NVIDIA_VISIBLE_DEVICES:", os.environ.get("NVIDIA_VISIBLE_DEVICES")); print("NVIDIA_DRIVER_CAPABILITIES:", os.environ.get("NVIDIA_DRIVER_CAPABILITIES"))'
+
+      - name: Build and test
+        run: |
+          cd docker || { echo "Missing docker directory"; exit 1; }
+          # Build with GPU support
+          DOCKER_BUILDKIT=1 docker compose build --no-cache
+          # Run with GPU support and NVIDIA runtime
+          docker compose up -d rest-api
+          sleep 10
+          cd ../
+          # Verify CUDA is available in the container
+          docker exec docker-rest-api-1 nvidia-smi
+          # Run tests
+          poetry run python scripts/test_api_client.py \
+            --map_path maps/carter_warehouse_navigation.png \
+            --host localhost
+
+      - name: Cleanup
+        if: always()
+        run: cd docker && docker compose down -v