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ardupilot/.github/workflows/test_sitl_copter.yml

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name: test copter
on:
push:
paths-ignore:
# remove other vehicles
- 'AntennaTracker/**'
- 'ArduPlane/**'
- 'ArduSub/**'
- 'Blimp/**'
- 'Rover/**'
# remove non SITL HAL
- 'libraries/AP_HAL_ChibiOS/**'
- 'libraries/AP_HAL_ESP32/**'
# 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/Pozyx/**'
- 'Tools/PrintVersion.py'
- '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 other vehicles autotest
- 'Tools/autotest/antennatracker.py'
- 'Tools/autotest/arduplane.py'
- 'Tools/autotest/ardusub.py'
- 'Tools/autotest/balancebot.py'
- 'Tools/autotest/location.txt'
- 'Tools/autotest/quadplane.py'
- 'Tools/autotest/rover.py'
- 'Tools/autotest/sailboat.py'
- 'Tools/autotest/swarminit.txt'
# 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 other vehicles
- 'AntennaTracker/**'
- 'ArduPlane/**'
- 'ArduSub/**'
- 'Blimp/**'
- 'Rover/**'
# remove non SITL HAL
- 'libraries/AP_HAL_ChibiOS/**'
- 'libraries/AP_HAL_ESP32/**'
# 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/Pozyx/**'
- 'Tools/PrintVersion.py'
- '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 other vehicles autotest
- 'Tools/autotest/antennatracker.py'
- 'Tools/autotest/arduplane.py'
- 'Tools/autotest/ardusub.py'
- 'Tools/autotest/balancebot.py'
- 'Tools/autotest/location.txt'
- 'Tools/autotest/quadplane.py'
- 'Tools/autotest/rover.py'
- 'Tools/autotest/sailboat.py'
- 'Tools/autotest/swarminit.txt'
# 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
container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.3
strategy:
fail-fast: false # don't cancel if a job from the matrix fails
matrix:
toolchain: [
base, # GCC
clang,
]
steps:
# git checkout the PR
- uses: actions/checkout@v4
with:
submodules: 'recursive'
# Put ccache into github cache for faster build
- name: Prepare ccache timestamp
id: ccache_cache_timestamp
run: |
NOW=$(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 master
- name: setup ccache
run: |
. .github/workflows/ccache.env
- name: build copter ${{ matrix.toolchain }}
shell: bash
run: |
git config --global --add safe.directory ${GITHUB_WORKSPACE}
if [[ ${{ matrix.toolchain }} == "clang" ]]; then
export CC=clang
export CXX=clang++
fi
PATH="/github/home/.local/bin:$PATH"
./waf configure --board sitl --debug
./waf build --target bin/arducopter
ccache -s
ccache -z
autotest:
needs: build # don't try to launch the tests matrix if it doesn't build first, profit from caching for fast build
runs-on: ubuntu-22.04
container:
image: ardupilot/ardupilot-dev-base:v0.1.3
options: --privileged --cap-add=SYS_PTRACE --security-opt apparmor=unconfined --security-opt seccomp=unconfined
strategy:
fail-fast: false # don't cancel if a job from the matrix fails
matrix:
config: [
sitltest-copter-tests1a,
sitltest-copter-tests1b,
sitltest-copter-tests1c,
sitltest-copter-tests1d,
sitltest-copter-tests1e,
sitltest-copter-tests2a,
sitltest-copter-tests2b,
]
steps:
# git checkout the PR
- 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"
# 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/restore@v4
with:
path: ~/.ccache
key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}
restore-keys: ${{github.workflow}}-ccache-base- # restore ccache from either previous build on this branch or on master
- name: setup ccache
run: |
. .github/workflows/ccache.env
- name: test ${{matrix.config}}
env:
CI_BUILD_TARGET: ${{matrix.config}}
shell: bash
run: |
git config --global --add safe.directory ${GITHUB_WORKSPACE}
PATH="/github/home/.local/bin:$PATH"
Tools/scripts/build_ci.sh
- name: Archive buildlog artifacts
uses: actions/upload-artifact@v4
if: failure()
with:
name: fail-${{matrix.config}}
path: |
/tmp/buildlogs
/__w/ardupilot/ardupilot/logs
/__w/ardupilot/ardupilot/ap-*.core
/__w/ardupilot/ardupilot/core.*
/__w/ardupilot/ardupilot/dumpstack.sh_*
/__w/ardupilot/ardupilot/dumpcore.sh_*
retention-days: 14
- name: Archive .bin artifacts
uses: actions/upload-artifact@v4
with:
name: BIN-${{matrix.config}}
path: /__w/ardupilot/ardupilot/logs
retention-days: 7
build-gcc-heli:
runs-on: ubuntu-22.04
container:
image: ardupilot/ardupilot-dev-base:v0.1.3
options: --privileged --cap-add=SYS_PTRACE --security-opt apparmor=unconfined --security-opt seccomp=unconfined
steps:
# git checkout the PR
- uses: actions/checkout@v4
with:
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: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}
restore-keys: ${{github.workflow}}-ccache-base- # restore ccache from either previous build on this branch or on master
- name: setup ccache
run: |
. .github/workflows/ccache.env
- name: build heli
shell: bash
run: |
git config --global --add safe.directory ${GITHUB_WORKSPACE}
PATH="/github/home/.local/bin:$PATH"
./waf configure --board sitl
./waf build --target bin/arducopter-heli
ccache -s
ccache -z
autotest-heli:
needs: build-gcc-heli # don't try to launch the tests matrix if it doesn't build first, profit from caching for fast build
runs-on: ubuntu-22.04
container: ardupilot/ardupilot-dev-base:v0.1.3
strategy:
fail-fast: false # don't cancel if a job from the matrix fails
matrix:
config: [
sitltest-heli,
]
steps:
# git checkout the PR
- uses: actions/checkout@v4
with:
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/restore@v4
with:
path: ~/.ccache
key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}
restore-keys: ${{github.workflow}}-ccache-base- # restore ccache from either previous build on this branch or on master
- name: setup ccache
run: |
. .github/workflows/ccache.env
- name: test ${{matrix.config}}
env:
CI_BUILD_TARGET: ${{matrix.config}}
shell: bash
run: |
git config --global --add safe.directory ${GITHUB_WORKSPACE}
PATH="/github/home/.local/bin:$PATH"
Tools/scripts/build_ci.sh
- name: Archive buildlog artifacts
uses: actions/upload-artifact@v4
if: failure()
with:
name: fail-${{matrix.config}}
path: |
/tmp/buildlogs
/__w/ardupilot/ardupilot/logs
/__w/ardupilot/ardupilot/ap-*.core
/__w/ardupilot/ardupilot/core.*
/__w/ardupilot/ardupilot/dumpstack.sh_*
/__w/ardupilot/ardupilot/dumpcore.sh_*
retention-days: 14
- name: Archive .bin artifacts
uses: actions/upload-artifact@v4
with:
name: BIN-${{matrix.config}}
path: /__w/ardupilot/ardupilot/logs
retention-days: 7
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