feat: add PD and PID controller implementations #1289
Workflow file for this run
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| name: Rapier CI bench | |
| on: | |
| push: | |
| branches: [ master ] | |
| pull_request_target: | |
| branches: [ master ] | |
| workflow_dispatch: | |
| jobs: | |
| send-bench-message: | |
| env: | |
| BENCHBOT_AMQP_USER: ${{ secrets.BENCHBOT_AMQP_USER }} | |
| BENCHBOT_AMQP_PASS: ${{ secrets.BENCHBOT_AMQP_PASS }} | |
| BENCHBOT_AMQP_VHOST: ${{ secrets.BENCHBOT_AMQP_VHOST }} | |
| BENCHBOT_AMQP_HOST: ${{ secrets.BENCHBOT_AMQP_HOST }} | |
| BENCHBOT_TARGET_REPO: ${{ github.event.pull_request.head.repo.clone_url }} | |
| BENCHBOT_TARGET_COMMIT: ${{ github.event.pull_request.head.sha }} | |
| BENCHBOT_SHA: ${{ github.sha }} | |
| BENCHBOT_HEAD_REF: ${{ github.head_ref }} | |
| BENCHBOT_OTHER_BACKENDS: false | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: Set env on master | |
| if: github.head_ref == '' | |
| run: | | |
| echo "BENCHBOT_TARGET_COMMIT=$BENCHBOT_SHA" >> $GITHUB_ENV | |
| echo "BENCHBOT_TARGET_REPO=https://github.com/dimforge/rapier" >> $GITHUB_ENV | |
| echo "BENCHBOT_HEAD_REF=master" >> $GITHUB_ENV | |
| echo "BENCHBOT_OTHER_BACKENDS=true" >> $GITHUB_ENV | |
| - name: Send 3D bench message | |
| shell: bash | |
| run: curl -u $BENCHBOT_AMQP_USER:$BENCHBOT_AMQP_PASS | |
| -i -H "content-type:application/json" -X POST | |
| https://$BENCHBOT_AMQP_HOST/api/exchanges/$BENCHBOT_AMQP_VHOST//publish | |
| -d'{"properties":{},"routing_key":"benchmark","payload":"{ \"repository\":\"'$BENCHBOT_TARGET_REPO'\", \"branch\":\"'$BENCHBOT_HEAD_REF'\", \"commit\":\"'$BENCHBOT_TARGET_COMMIT'\", \"other_backends\":'$BENCHBOT_OTHER_BACKENDS' }","payload_encoding":"string"}' |