mirror of https://github.com/ArduPilot/ardupilot
.github: Enable colcon tests in DDS CI
* Use checkout v4 to pull in ArduPilot into a subdir first * Enable console cohesion during test since JUnit reporting is out of scope * Install mavproxy separately as needed, alternative to --console * Hide wget progress * Install local pymavlink Co-authored-by: Pierre Kancir <khancyr@gmail.com> Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
This commit is contained in:
Ryan Friedman
Peter Barker
parent
07cfd14828
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bf6bd3a023
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name: colcon build/test
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on:
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push:
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paths-ignore:
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# remove not tests vehicles
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- 'AntennaTracker/**'
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- 'ArduSub/**'
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- 'Blimp/**'
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- 'Rover/**'
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# remove esp32 HAL
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- 'libraries/AP_HAL_ESP32/**'
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# remove non SITL directories
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- 'Tools/AP_Bootloader/**'
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- 'Tools/bootloaders/**'
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- 'Tools/CHDK-Script/**'
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- 'Tools/CodeStyle/**'
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- 'Tools/completion/**'
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- 'Tools/CPUInfo/**'
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- 'Tools/debug/**'
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- 'Tools/environment_install/**'
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- 'Tools/FilterTestTool/**'
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- 'Tools/Frame_params/**'
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- 'Tools/geotag/**'
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- 'Tools/GIT_Test/**'
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- 'Tools/gittools/**'
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- 'Tools/Hello/**'
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- 'Tools/IO_Firmware/**'
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- 'Tools/LogAnalyzer/**'
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- 'Tools/mavproxy_modules/**'
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- 'Tools/Pozyx/**'
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- 'Tools/PrintVersion.py'
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- 'Tools/Replay/**'
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- 'Tools/simulink/**'
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- 'Tools/UDP_Proxy/**'
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- 'Tools/vagrant/**'
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- 'Tools/Vicon/**'
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# Discard python file from Tools/scripts as not used
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- 'Tools/scripts/**.py'
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- 'Tools/scripts/build_sizes/**'
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- 'Tools/scripts/build_tests/**'
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- 'Tools/scripts/CAN/**'
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- 'Tools/scripts/signing/**'
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# Remove autotests stuff
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- 'Tools/autotest/**'
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# Remove markdown files as irrelevant
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- '**.md'
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# Remove dotfile at root directory
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- './.dir-locals.el'
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- './.dockerignore'
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- './.editorconfig'
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- './.flake8'
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- './.gitattributes'
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- './.github'
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- './.gitignore'
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- './.pre-commit-config.yaml'
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- './.pydevproject'
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- './.valgrind-suppressions'
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- './.valgrindrc'
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- 'Dockerfile'
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- 'Vagrantfile'
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- 'Makefile'
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# Remove some directories check
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- '.vscode/**'
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- '.github/ISSUE_TEMPLATE/**'
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# Remove change on other workflows
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- '.github/workflows/test_environment.yml'
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pull_request:
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paths-ignore:
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# remove not tests vehicles
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- 'AntennaTracker/**'
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- 'ArduSub/**'
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- 'Rover/**'
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- 'Blimp/**'
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# remove esp32 HAL
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- 'libraries/AP_HAL_ESP32/**'
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# remove non SITL directories
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- 'Tools/AP_Bootloader/**'
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- 'Tools/CHDK-Script/**'
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- 'Tools/CPUInfo/**'
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- 'Tools/CodeStyle/**'
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- 'Tools/FilterTestTool/**'
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- 'Tools/Frame_params/**'
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- 'Tools/GIT_Test/**'
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- 'Tools/Hello/**'
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- 'Tools/IO_Firmware/**'
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- 'Tools/LogAnalyzer/**'
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- 'Tools/Pozyx/**'
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- 'Tools/PrintVersion.py'
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- 'Tools/Replay/**'
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- 'Tools/UDP_Proxy/**'
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- 'Tools/Vicon/**'
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- 'Tools/bootloaders/**'
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- 'Tools/completion/**'
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- 'Tools/debug/**'
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- 'Tools/environment_install/**'
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- 'Tools/geotag/**'
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- 'Tools/gittools/**'
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- 'Tools/mavproxy_modules/**'
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- 'Tools/simulink/**'
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- 'Tools/vagrant/**'
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# Discard python file from Tools/scripts as not used
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- 'Tools/scripts/**.py'
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- 'Tools/scripts/build_sizes/**'
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- 'Tools/scripts/build_tests/**'
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- 'Tools/scripts/CAN/**'
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- 'Tools/scripts/signing/**'
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# Remove autotests stuff
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- 'Tools/autotest/**'
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# Remove markdown files as irrelevant
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- '**.md'
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# Remove dotfile at root directory
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- './.dir-locals.el'
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- './.dockerignore'
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- './.editorconfig'
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- './.flake8'
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- './.gitattributes'
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- './.github'
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- './.gitignore'
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- './.pre-commit-config.yaml'
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- './.pydevproject'
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- './.valgrind-suppressions'
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- './.valgrindrc'
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- 'Dockerfile'
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- 'Vagrantfile'
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- 'Makefile'
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# Remove some directories check
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- '.vscode/**'
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- '.github/ISSUE_TEMPLATE/**'
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# Remove change on other workflows
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- '.github/workflows/test_environment.yml'
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workflow_dispatch:
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concurrency:
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group: ci-${{github.workflow}}-${{ github.ref }}
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cancel-in-progress: true
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jobs:
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build-test:
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runs-on: ubuntu-22.04
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container:
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image: ardupilot/ardupilot-dev-ros:latest
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strategy:
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fail-fast: false # don't cancel if a job from the matrix fails
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steps:
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# git checkout the PR
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- uses: actions/checkout@v4
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with:
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submodules: 'recursive'
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path: src/ardupilot
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# Put ccache into github cache for faster build
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- name: Prepare ccache timestamp
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id: ccache_cache_timestamp
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run: |
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NOW=$(date -u +"%F-%T")
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echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
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- name: ccache cache files
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uses: actions/cache@v3
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with:
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path: ~/.ccache
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key: ${{github.workflow}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
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restore-keys: ${{github.workflow}}-ccache- # restore ccache from either previous build on this branch or on master
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- name: setup ccache
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run: |
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. src/ardupilot/.github/workflows/ccache.env
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# https://ardupilot.org/dev/docs/ros2.html#installation-ubuntu
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- name: Pull in repos with vcs
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run: |
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cd src
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wget --progress=dot:giga https://raw.githubusercontent.com/ArduPilot/ardupilot/master/Tools/ros2/ros2.repos
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vcs import --recursive --debug --shallow --skip-existing < ros2.repos
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- name: Install rosdep dependencies
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shell: 'bash'
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run: |
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apt update
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rosdep update
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# Workaround for flake8 attribute error
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# https://github.com/ArduPilot/ardupilot/pull/24277#issuecomment-1632833433
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python -m pip install flake8==3.7.9
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source /opt/ros/humble/setup.bash
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rosdep install --from-paths src --ignore-src --default-yes
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- name: Install MAVProxy
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run: |
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# Install this specific version just to prevent rolling updates.
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# These are the latest available
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python3 -m pip install MAVProxy==1.8.67
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- name: Install local pymavlink
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working-directory: ./src/ardupilot/modules/mavlink/pymavlink
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run: |
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pip install . -U --user
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- name: Build with colcon
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shell: 'bash'
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run: |
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source /opt/ros/humble/setup.bash
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colcon build --packages-up-to ardupilot_dds_tests --cmake-args -DBUILD_TESTING=ON
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- name: Test with colcon
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shell: 'bash'
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run: |
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source install/setup.bash
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colcon test --packages-select ardupilot_dds_tests --event-handlers=console_cohesion+
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- name: Report colcon test results
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run: |
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colcon test-result --all --verbose
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