WIP

.github/workflows/integration_tests.yml

@@ -1,7 +1,16 @@
 name: Integration Tests
-on: [push, workflow_dispatch]
-
-# TODO - add option for stable/nightly channel
+on:
+  push:
+  workflow_dispatch:
+    inputs:
+      package_channel:
+        description: 'Modality package channel (stable/nightly)'
+        required: true
+        default: 'nightly'
+        type: choice
+        options:
+        - stable
+        - nightly
 
 env:
   MODALITY_URL: "http://localhost:14181/v1"
@@ -12,7 +21,7 @@ jobs:
   demo:
     name: Run, collect, and test
     timeout-minutes: 30
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-20.04
     steps:
       - name: Print Environment
         run: |
@@ -24,6 +33,7 @@ jobs:
           echo "GITHUB_ACTOR=$GITHUB_ACTOR"
           echo "GITHUB_REF=$GITHUB_REF"
           echo "GITHUB_SHA=$GITHUB_SHA"
+          echo "PACKAGE_CHANNEL=${{inputs.package_channel}}"
           docker --version
 
       - name: Checkout Sources
@@ -70,6 +80,10 @@ jobs:
 
       - name: Start Modality server
         run: |
+          image="ghcr.io/auxoncorp/modalityd-nightly:latest"
+          if [ "${{inputs.package_channel}}" == "stable" ]; then
+            image="ghcr.io/auxoncorp/modalityd:latest"
+          fi
           mkdir -p modalityd_data
           docker run \
             --name modalityd \
@@ -80,9 +94,9 @@ jobs:
             -e NO_TLS=Y \
             -d --rm \
             ghcr.io/auxoncorp/modalityd-nightly:latest
-          docker logs modalityd
 
           curl --retry-max-time 30 --retry 10 --retry-connrefused ${{env.MODALITY_URL}}/alive
+          docker logs modalityd
 
       - name: Setup initial Modality configuration
         run: |
@@ -115,17 +129,21 @@ jobs:
       - name: Start Modality Reflector
         working-directory: test_system
         run: |
+          image="ghcr.io/auxoncorp/modality-reflector-nightly:latest"
+          if [ "${{inputs.package_channel}}" == "stable" ]; then
+            image="ghcr.io/auxoncorp/modality-reflector:latest"
+          fi
           docker run \
             --name reflector \
             --network=host \
-            -e MODALITY_HOST=localhost \
+            -e INGEST_PROTOCOL_PARENT_URL="modality-ingest://127.0.0.1" \
+            -e MUTATION_PROTOCOL_PARENT_URL="modality-mutation://127.0.0.1" \
             -v "/usr/lib/modality-reflector-plugins:/usr/lib/modality-reflector-plugins" \
             -v "$(pwd)/reflector-config.toml:/reflector-config.toml" \
             -e MODALITY_AUTH_TOKEN="${{env.MODALITY_AUTH_TOKEN}}" \
-            -e REFLECTOR_OPTS='--config /reflector-config.toml --collector trace-recorder-tcp' \
+            -e REFLECTOR_OPTS="--config /reflector-config.toml --collector trace-recorder-tcp" \
             -d --rm \
-            ghcr.io/auxoncorp/modality-reflector-nightly:latest
-          docker logs reflector
+            ${image}
 
       - name: Run the system
         working-directory: test_system

test_system/scripts/run.sh

@@ -7,6 +7,8 @@ set -euo pipefail
     make emulate
 )
 
+sleep 1
+
 modality internal sync-indices
 
 exit 0

test_system/specs/device.speqtr

@@ -76,6 +76,16 @@ behavior "Control Cycle"
         adc @ Sensor
     end
 
+    recovery case "a higher priority context is activated"
+        adc
+            FOLLOWED BY
+        QUEUE_SEND @ Sensor (_.queue = "adc_queue")
+            FOLLOWED BY
+        TASK_READY @ Sensor (_.task != "Actuator") as other_task
+            FOLLOWED BY
+        TASK_ACTIVATE @ * (_.timeline.name = other_task.task AND _.priority > 2)
+    end
+
     nominal case "program execution follows the control cycle expectations"
         adc
             FOLLOWED BY