name: ESP32 Build
on:
push:
paths-ignore:
# remove non copter and plane vehicles
- 'AntennaTracker/**'
- 'ArduSub/**'
- 'Blimp/**'
- 'Rover/**'
# remove non esp32 HAL
- 'libraries/AP_HAL_ChibiOS/**'
- 'libraries/AP_HAL_SITL/**'
# remove non SITL directories
- 'Tools/AP_Bootloader/**'
- 'Tools/AP_Periph/**'
- 'Tools/bootloaders/**'
- 'Tools/CHDK-Script/**'
- 'Tools/CodeStyle/**'
- 'Tools/completion/**'
- 'Tools/CPUInfo/**'
- 'Tools/debug/**'
- 'Tools/environment_install/**'
- 'Tools/FilterTestTool/**'
- 'Tools/Frame_params/**'
- 'Tools/geotag/**'
- 'Tools/GIT_Test/**'
- 'Tools/gittools/**'
- 'Tools/Hello/**'
- 'Tools/IO_Firmware/**'
- 'Tools/Linux_HAL_Essentials/**'
- 'Tools/mavproxy_modules/**'
- 'Tools/Pozyx/**'
- 'Tools/PrintVersion.py'
- 'Tools/Replay/**'
- 'Tools/simulink/**'
- 'Tools/UDP_Proxy/**'
- 'Tools/vagrant/**'
- 'Tools/Vicon/**'
# Discard python file from Tools/scripts as not used
- 'Tools/scripts/**.py'
- 'Tools/scripts/build_sizes/**'
- 'Tools/scripts/build_tests/**'
- 'Tools/scripts/CAN/**'
- 'Tools/scripts/signing/**'
# Remove autotest
- 'Tools/autotest/**'
# Remove markdown files as irrelevant
- '**.md'
# Remove dotfile at root directory
- './.dir-locals.el'
- './.dockerignore'
- './.editorconfig'
- './.flake8'
- './.gitattributes'
- './.github'
- './.gitignore'
- './.pre-commit-config.yaml'
- './.pydevproject'
- './.valgrind-suppressions'
- './.valgrindrc'
- 'Dockerfile'
- 'Vagrantfile'
- 'Makefile'
# Remove some directories check
- '.vscode/**'
- '.github/ISSUE_TEMPLATE/**'
# Remove change on other workflows
- '.github/workflows/test_environment.yml'
pull_request:
paths-ignore:
# remove non copter and plane vehicles
- 'AntennaTracker/**'
- 'ArduSub/**'
- 'Blimp/**'
- 'Rover/**'
# remove non esp32 HAL
- 'libraries/AP_HAL_ChibiOS/**'
- 'libraries/AP_HAL_SITL/**'
# remove non SITL directories
- 'Tools/AP_Bootloader/**'
- 'Tools/AP_Periph/**'
- 'Tools/bootloaders/**'
- 'Tools/CHDK-Script/**'
- 'Tools/CodeStyle/**'
- 'Tools/completion/**'
- 'Tools/CPUInfo/**'
- 'Tools/debug/**'
- 'Tools/environment_install/**'
- 'Tools/FilterTestTool/**'
- 'Tools/Frame_params/**'
- 'Tools/geotag/**'
- 'Tools/GIT_Test/**'
- 'Tools/gittools/**'
- 'Tools/Hello/**'
- 'Tools/IO_Firmware/**'
- 'Tools/Linux_HAL_Essentials/**'
- 'Tools/LogAnalyzer/**'
- 'Tools/mavproxy_modules/**'
- 'Tools/Pozyx/**'
- 'Tools/PrintVersion.py'
- 'Tools/Replay/**'
- 'Tools/simulink/**'
- 'Tools/UDP_Proxy/**'
- 'Tools/vagrant/**'
- 'Tools/Vicon/**'
# Discard python file from Tools/scripts as not used
- 'Tools/scripts/**.py'
- 'Tools/scripts/build_sizes/**'
- 'Tools/scripts/build_tests/**'
- 'Tools/scripts/CAN/**'
- 'Tools/scripts/signing/**'
# Remove autotest
- 'Tools/autotest/**'
# Remove markdown files as irrelevant
- '**.md'
# Remove dotfile at root directory
- './.dir-locals.el'
- './.dockerignore'
- './.editorconfig'
- './.flake8'
- './.gitattributes'
- './.github'
- './.gitignore'
- './.pre-commit-config.yaml'
- './.pydevproject'
- './.valgrind-suppressions'
- './.valgrindrc'
- 'Dockerfile'
- 'Vagrantfile'
- 'Makefile'
# Remove some directories check
- '.vscode/**'
- '.github/ISSUE_TEMPLATE/**'
# Remove change on other workflows
- '.github/workflows/test_environment.yml'
workflow_dispatch:
concurrency:
group: ci-${{github.workflow}}-${{ github.ref }}
cancel-in-progress: true
jobs:
build:
runs-on: ubuntu-22.04
strategy:
fail-fast: false # don't cancel if a job from the matrix fails
matrix:
config: [
esp32buzz,
esp32s3empty,
]
gcc: [10]
steps:
- uses: actions/checkout@v4
with:
submodules: 'recursive'
- name: Register gcc problem matcher
run: echo "::add-matcher::.github/problem-matchers/gcc.json"
- name: Register python problem matcher
run: echo "::add-matcher::.github/problem-matchers/python.json"
- name: Register autotest warn matcher
run: echo "::add-matcher::.github/problem-matchers/autotestwarn.json"
- name: Register autotest fail matcher
run: echo "::add-matcher::.github/problem-matchers/autotestfail.json"
- name: Install Prerequisites
shell: bash
run: |
sudo apt-get update
sudo apt-get install git wget libncurses-dev flex bison gperf python3 python3-pip python3-venv python3-setuptools python3-serial python3-gevent python3-cryptography python3-future python3-pyparsing python3-pyelftools cmake ninja-build ccache libffi-dev libssl-dev dfu-util libusb-1.0-0 cmake
python3 --version
pip3 install gevent
# we actualy want 3.11 .. but the above only gave us 3.10, not ok with esp32 builds.
sudo add-apt-repository ppa:deadsnakes/ppa
sudo apt-get update
sudo apt-get install python3.11 python3.11-venv python3.11-distutils -y
sudo apt-get install python3 python3-pip python3-venv python3-setuptools python3-serial python3-cryptography python3-future python3-pyparsing python3-pyelftools
pip3 install gevent
python3 --version
python3.11 --version
which python3.11
git submodule update --init --recursive --depth=1
./Tools/scripts/esp32_get_idf.sh
sudo ln -s /usr/bin/ninja /usr/bin/ninja-build
cd modules/esp_idf
echo "Installing ESP-IDF tools...."
./install.sh esp32,esp32s3
cd ../..
- name: build ${{matrix.config}}
env:
CI_BUILD_TARGET: ${{matrix.config}}
shell: bash
run: |
source ~/.bash_profile
PATH="/github/home/.local/bin:$PATH"
echo $PATH
echo "### Configure ${{matrix.config}} :rocket:" >> $GITHUB_STEP_SUMMARY
cd modules/esp_idf
./install.sh
source ./export.sh
cd ../..
python3 -m pip install --progress-bar off future lxml pymavlink MAVProxy pexpect flake8 geocoder empy==3.3.4 dronecan
which cmake
./waf configure --board ${{matrix.config}}
echo './waf configure --board ${{matrix.config}}' >> $GITHUB_STEP_SUMMARY
echo "### Build Plane ${{matrix.config}} :rocket:" >> $GITHUB_STEP_SUMMARY
echo './waf plane' >> $GITHUB_STEP_SUMMARY
./waf plane | tee >( grep -vE 'Compiling|Generat|includes.list|Parsing|Validation|Building|Linking|Detecting|linker|\*\*\*\*\*\*\*|Partition|SubType|Checking|esp-idf' --color=never --line-buffered > summary.log)
cat summary.log >> $GITHUB_STEP_SUMMARY
cp build/${{matrix.config}}/esp-idf_build/ardupilot.bin ./ArduPlane.${{matrix.config}}.bin
cp build/${{matrix.config}}/esp-idf_build/ardupilot.elf ./ArduPlane.${{matrix.config}}.elf
echo "### Build Copter ${{matrix.config}} :rocket:" >> $GITHUB_STEP_SUMMARY
echo './waf copter' >> $GITHUB_STEP_SUMMARY
./waf copter | tee >( grep -vE 'Compiling|Generat|includes.list|Parsing|Validation|Building|Linking|Detecting|linker|\*\*\*\*\*\*\*|Partition|SubType|Checking|esp-idf' --color=never --line-buffered > summary2.log)
cat summary2.log >> $GITHUB_STEP_SUMMARY
cp build/${{matrix.config}}/esp-idf_build/ardupilot.bin ./ArduCopter.${{matrix.config}}.bin
cp build/${{matrix.config}}/esp-idf_build/ardupilot.elf ./ArduCopter.${{matrix.config}}.elf
cp build/${{matrix.config}}/esp-idf_build/bootloader/bootloader.bin ./bootloader.${{matrix.config}}.bin
cp build/${{matrix.config}}/esp-idf_build/partition_table/partition-table.bin ./partition-table.${{matrix.config}}.bin
echo "### Assets avail in artifact:" >> $GITHUB_STEP_SUMMARY
ls bootloader* partition* Ardu*.elf Ardu*.bin >> $GITHUB_STEP_SUMMARY
- name: Archive artifacts
uses: actions/upload-artifact@v4
with:
name: esp32-binaries -${{matrix.config}}
path: |
/home/runner/work/ardupilot/ardupilot/ArduPlane.${{matrix.config}}.bin
/home/runner/work/ardupilot/ardupilot/ArduPlane.${{matrix.config}}.elf
/home/runner/work/ardupilot/ardupilot/ArduCopter.${{matrix.config}}.bin
/home/runner/work/ardupilot/ardupilot/ArduCopter.${{matrix.config}}.elf
/home/runner/work/ardupilot/ardupilot/bootloader.${{matrix.config}}.bin
/home/runner/work/ardupilot/ardupilot/partition-table.${{matrix.config}}.bin
retention-days: 14