ardupilot/.github/workflows/test_size.yml

name: test size

on: [pull_request]
# paths:
# - "*"
# - "!README.md" <-- don't rebuild on doc change
concurrency:
  group: ci-${{github.workflow}}-${{ github.ref }}
  cancel-in-progress: true

jobs:
  build:
    runs-on: ubuntu-20.04
    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:latest
    strategy:
      fail-fast: false  # don't cancel if a job from the matrix fails
      matrix:
        toolchain: [
            chibios,
        ]
        config: [
            Durandal,
            MatekF405,
            Pixhawk1-1M,
            MatekF405-CAN,  # see special "build bootloader" code below
            Hitec-Airspeed,  # see special code for Periph below (3 places!)
            f103-GPS  # see special code for Periph below (3 places!)
        ]
        include:
          - config: disco
            toolchain: armhf
        exclude:
          - config: disco
            toolchain: chibios
    steps:
      - uses: actions/checkout@v3
        with:
          ref: ${{ github.event.pull_request.base.ref }}
          path: base_branch
          submodules: 'recursive'
      # Put ccache into github cache for faster build
      - name: Prepare ccache timestamp
        id: ccache_cache_timestamp
        run: |
          NOW=$(date -u +"%F-%T")
          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT          
      - name: ccache cache files
        uses: actions/cache@v3
        with:
          path: ~/.ccache
          key: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}
          restore-keys: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-  # restore ccache from either previous build on this branch or on base branch
      - name: setup ccache
        run: |
          . base_branch/.github/workflows/ccache.env          
      - name: Build ${{ github.event.pull_request.base.ref }} ${{matrix.config}} ${{ matrix.toolchain }}
        env:
          CI_BUILD_TARGET: ${{matrix.config}}
        shell: bash
        run: |
          set -ex
          # set up some variables based on what sort of build we're doing:
          BOOTLOADER=0
          AP_PERIPH=0
          if [ "${{matrix.config}}" = "Hitec-Airspeed" ] ||
             [ "${{matrix.config}}" = "f103-GPS" ]; then
            AP_PERIPH=1
          elif [ "${{matrix.config}}" = "MatekF405-CAN" ]; then
            BOOTLOADER=1
          fi
          if [ $BOOTLOADER -eq 1 ]; then
             BIN_SRC="build/${{matrix.config}}/bootloader"
          else
             BIN_SRC="build/${{matrix.config}}/bin"
          fi

          git config --global --add safe.directory ${GITHUB_WORKSPACE}
          PATH="/github/home/.local/bin:$PATH"

          # build the base branch
          cd base_branch
          # configure:
          if [ $BOOTLOADER -eq 1 ]; then
            ./waf configure --board ${{matrix.config}} --bootloader
          else
            ./waf configure --board ${{matrix.config}}
          fi
          # build:
          if [ $AP_PERIPH -eq 1 ]; then
            ./waf AP_Periph
          elif [ $BOOTLOADER -eq 1 ]; then
            ./waf bootloader
          else
            ./waf
          fi
          mkdir -p $GITHUB_WORKSPACE/base_branch_bin

          cp -r $BIN_SRC/* $GITHUB_WORKSPACE/base_branch_bin/

          # build a set of binaries without symbols so we can check if
          #  the binaries have changed.
          echo [`date`] Building ${{ github.event.pull_request.base.ref }} with no versions

          NO_VERSIONS_DIR="$GITHUB_WORKSPACE/base_branch_bin_no_versions"
          mkdir "$NO_VERSIONS_DIR"

          # export some environment variables designed to get
          #            repeatable builds from the same source:
          export CHIBIOS_GIT_VERSION="12345678"
          export GIT_VERSION="abcdef"
          export GIT_VERSION_INT="15"

          if [ $AP_PERIPH -eq 1 ]; then
            ./waf AP_Periph
          elif [ $BOOTLOADER -eq 1 ]; then
            ./waf bootloader
          else
            ./waf
          fi
          cp -r $BIN_SRC/* "$NO_VERSIONS_DIR"

          echo [`date`] Built ${{ github.event.pull_request.base.ref }} with no versions          

      - uses: actions/checkout@v3
        with:
          fetch-depth: 0
          path: 'pr'

      - name: Build PR rebased ${{matrix.config}} ${{ matrix.toolchain }}
        env:
          CI_BUILD_TARGET: ${{matrix.config}}
        shell: bash
        run: |
          set -ex
          # set up some variables based on what sort of build we're doing:
          BOOTLOADER=0
          AP_PERIPH=0
          if [ "${{matrix.config}}" = "Hitec-Airspeed" ] ||
             [ "${{matrix.config}}" = "f103-GPS" ]; then
            AP_PERIPH=1
          elif [ "${{matrix.config}}" = "MatekF405-CAN" ]; then
            BOOTLOADER=1
          fi
          if [ $BOOTLOADER -eq 1 ]; then
             BIN_SRC="build/${{matrix.config}}/bootloader"
          else
             BIN_SRC="build/${{matrix.config}}/bin"
          fi
          git config --global --add safe.directory ${GITHUB_WORKSPACE}
          PATH="/github/home/.local/bin:$PATH"
          cd pr/
          git config user.email "ardupilot-ci@ardupilot.org"
          git config user.name "ArduPilot CI"
          git remote add target_repo https://github.com/${{github.event.pull_request.base.repo.full_name}}
          git fetch --no-tags --prune --progress target_repo ${{ github.event.pull_request.base.ref }}
          git rebase target_repo/${{ github.event.pull_request.base.ref }}
          git submodule update --init --recursive --depth=1
          # configure
          if [ $BOOTLOADER -eq 1 ]; then
            ./waf configure --board ${{matrix.config}} --bootloader
          else
            ./waf configure --board ${{matrix.config}}
          fi
          # build
          if [ $AP_PERIPH -eq 1 ]; then
            ./waf AP_Periph
          elif [ $BOOTLOADER -eq 1 ]; then
            ./waf bootloader
          else
            ./waf
          fi
          mkdir $GITHUB_WORKSPACE/pr_bin
          cp -r $BIN_SRC/* $GITHUB_WORKSPACE/pr_bin/

          # build a set of binaries without symbols so we can check if
          #  the binaries have changed.
          echo [`date`] Building PR with no versions

          NO_VERSIONS_DIR="$GITHUB_WORKSPACE/pr_bin_no_versions"
          mkdir "$NO_VERSIONS_DIR"

          # export some environment variables designed to get
          #            repeatable builds from the same source:
          export CHIBIOS_GIT_VERSION="12345678"
          export GIT_VERSION="abcdef"
          export GIT_VERSION_INT="15"

          if [ $AP_PERIPH -eq 1 ]; then
            ./waf AP_Periph
          elif [ $BOOTLOADER -eq 1 ]; then
            ./waf bootloader
          else
            ./waf
          fi
          cp -r $BIN_SRC/* "$NO_VERSIONS_DIR"

          echo [`date`] Built PR with no versions

          # build MatekF405 Plane without quadplane
          if [ "${{matrix.config}}" = "MatekF405" ]; then
            PLANE_BINARY="build/MatekF405/bin/arduplane.bin"
            echo "normal size"
            ls -l "$PLANE_BINARY"
            EXTRA_HWDEF="/tmp/extra-options.def"
            echo "define HAL_QUADPLANE_ENABLED 0" >"$EXTRA_HWDEF"
            ./waf configure --board ${{matrix.config}} --extra-hwdef="$EXTRA_HWDEF"
            ./waf plane
            rm "$EXTRA_HWDEF"
            echo "non-quadplane size:"
            ls -l "$PLANE_BINARY"
          fi          

      - name: Full size compare with base branch
        shell: bash
        run: |
          cd pr/
          Tools/scripts/pretty_diff_size.py -m $GITHUB_WORKSPACE/base_branch_bin -s $GITHUB_WORKSPACE/pr_bin          

      - name: Feature compare with  ${{ github.event.pull_request.base.ref }}
        shell: bash
        run: |
          set -ex
          cd pr/
          BIN_PREFIX="arm-none-eabi-"
          if [ "${{matrix.toolchain}}" = "armhf" ]; then
             BIN_PREFIX="arm-linux-gnueabihf-"
          fi
          BOOTLOADER=0
          AP_PERIPH=0
          if [ "${{matrix.config}}" = "Hitec-Airspeed" ] ||
             [ "${{matrix.config}}" = "f103-GPS" ]; then
            AP_PERIPH=1
          elif [ "${{matrix.config}}" = "MatekF405-CAN" ]; then
            BOOTLOADER=1
          fi
          if [ $AP_PERIPH -eq 1 ]; then
              EF_BINARY_NAME="AP_Periph"
          elif [ $BOOTLOADER -eq 1 ]; then
              EF_BINARY_NAME="AP_Bootloader"
          else
              EF_BINARY_NAME="arduplane"
          fi
          EF_BASE_BRANCH_BINARY="$GITHUB_WORKSPACE/base_branch_bin/$EF_BINARY_NAME"
          EF_PR_BRANCH_BINARY="$GITHUB_WORKSPACE/pr_bin/$EF_BINARY_NAME"

          Tools/scripts/extract_features.py "$EF_BASE_BRANCH_BINARY" -nm "${BIN_PREFIX}nm" >features-base_branch.txt
          Tools/scripts/extract_features.py "$EF_PR_BRANCH_BINARY" -nm "${BIN_PREFIX}nm" >features-pr.txt
          diff -u features-base_branch.txt features-pr.txt || true          

      - name: Checksum compare with ${{ github.event.pull_request.base.ref }}
        shell: bash
        run: |
          diff -r $GITHUB_WORKSPACE/base_branch_bin_no_versions $GITHUB_WORKSPACE/pr_bin_no_versions --exclude=*.elf --exclude=*.apj || true          

      - name: elf_diff compare with ${{ github.event.pull_request.base.ref }}
        shell: bash
        run: |
          # we don't use weasyprint so manually pull the elf_diff deps reduce install size and time
          python3 -m pip install -U --no-deps elf_diff GitPython Jinja2 MarkupSafe PyYAML anytree dict2xml gitdb progressbar2 python-utils setuptools-git smmap
          mkdir elf_diff
          BIN_PREFIX="arm-none-eabi-"
          if [ "${{ matrix.toolchain }}" = "armhf" ]; then
             BIN_PREFIX="arm-linux-gnueabihf-"
          fi
          BOOTLOADER=0
          AP_PERIPH=0
          if [ "${{matrix.config}}" = "Hitec-Airspeed" ] ||
             [ "${{matrix.config}}" = "f103-GPS" ]; then
            AP_PERIPH=1
          elif [ "${{matrix.config}}" = "MatekF405-CAN" ]; then
            BOOTLOADER=1
          fi

          if [ $AP_PERIPH -eq 1 ]; then
             TO_CHECK="AP_Periph"
          elif [ $BOOTLOADER -eq 1 ]; then
             TO_CHECK="AP_Bootloader"
          else
             TO_CHECK="arduplane arducopter"
          fi
          for CHECK in $TO_CHECK; do
             python3 -m elf_diff --bin_prefix="$BIN_PREFIX" --html_dir=elf_diff/AP_Periph $GITHUB_WORKSPACE/base_branch_bin/$CHECK $GITHUB_WORKSPACE/pr_bin/$CHECK
          done

          zip -r elf_diff.zip elf_diff          

      - name: Archive elf_diff output
        uses: actions/upload-artifact@v3
        with:
           name: ELF_DIFF_${{matrix.config}}
           path: elf_diff.zip
           retention-days: 14