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ardupilot/.github/workflows/test_size.yml

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name: test size
on:
pull_request:
paths-ignore: # ignore autotest stuffs
- '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 generic tools
- 'Tools/CHDK-Script/**'
- 'Tools/CodeStyle/**'
- 'Tools/completion/**'
- 'Tools/CPUInfo/**'
- 'Tools/debug/**'
- 'Tools/environment_install/**'
- 'Tools/FilterTestTool/**'
- 'Tools/geotag/**'
- 'Tools/GIT_Test/**'
- 'Tools/gittools/**'
- 'Tools/Hello/**'
- 'Tools/Linux_HAL_Essentials/**'
- 'Tools/mavproxy_modules/**'
- 'Tools/Pozyx/**'
- 'Tools/PrintVersion.py'
- 'Tools/simulink/**'
- 'Tools/UDP_Proxy/**'
- 'Tools/vagrant/**'
- 'Tools/Vicon/**'
# remove non CHIBIOS HAL
- 'libraries/AP_HAL_SITL/**'
- 'libraries/AP_HAL_ESP32/**'
- 'libraries/AP_HAL_Linux/**'
# 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
container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.3
strategy:
fail-fast: false # don't cancel if a job from the matrix fails
matrix:
toolchain: [
chibios,
]
config: [
Durandal,
MatekF405,
KakuteF7,
MatekH743-bdshot,
Pixhawk1-1M,
MatekF405-CAN, # see special "build bootloader" code below
DrotekP3Pro, # 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@v4
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@v4
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" ] ||
[ "${{matrix.config}}" = "DrotekP3Pro" ]; 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@v4
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" ] ||
[ "${{matrix.config}}" = "DrotekP3Pro" ]; 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 [ "${{matrix.config}}" = "MatekF405-CAN" ] ||
[ "${{matrix.config}}" = "DrotekP3Pro" ]; 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
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