forked from Archive/PX4-Autopilot
move Jenkins MAVROS SITL tests entirely to Github Actions
This commit is contained in:
Daniel Agar
parent
c7e8957f2e
commit
b8d43b5a88
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@ -35,60 +35,6 @@ pipeline {
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steps {
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steps {
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script {
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script {
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def missions = [
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def missions = [
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[
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name: "FW",
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test: "mavros_posix_test_mission.test",
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mission: "FW_mission_1",
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vehicle: "plane"
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],
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[
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name: "MC_box",
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test: "mavros_posix_test_mission.test",
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mission: "MC_mission_box",
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vehicle: "iris"
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],
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// [
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// name: "MC_offboard_att",
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// test: "mavros_posix_tests_offboard_attctl.test",
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// mission: "",
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// vehicle: "iris"
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// ],
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[
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name: "MC_offboard_pos",
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test: "mavros_posix_tests_offboard_posctl.test",
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mission: "",
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vehicle: "iris"
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],
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// [
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// name: "MC_offboard_rpyrt",
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// test: "mavros_posix_tests_offboard_rpyrt_ctl.test",
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// mission: "",
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// vehicle: "iris"
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// ],
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[
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name: "Rover 1",
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test: "mavros_posix_test_mission.test",
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mission: "rover_mission_1",
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vehicle: "rover"
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],
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[
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name: "VTOL_standard",
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test: "mavros_posix_test_mission.test",
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mission: "VTOL_mission_1",
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vehicle: "standard_vtol"
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],
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[
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name: "VTOL_tailsitter",
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test: "mavros_posix_test_mission.test",
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mission: "VTOL_mission_1",
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vehicle: "tailsitter"
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],
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[
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name: "VTOL_tiltrotor",
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test: "mavros_posix_test_mission.test",
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mission: "VTOL_mission_1",
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vehicle: "tiltrotor"
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],
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[
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[
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name: "MC_avoidance",
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name: "MC_avoidance",
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test: "mavros_posix_test_avoidance.test",
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test: "mavros_posix_test_avoidance.test",
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@ -0,0 +1,129 @@
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name: MAVROS Avoidance Tests
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on:
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push:
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branches:
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- 'master'
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pull_request:
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branches:
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- '*'
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jobs:
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build:
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runs-on: ubuntu-latest
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strategy:
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fail-fast: false
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matrix:
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config:
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- {test_file: "mavros_posix_test_avoidance.test", vehicle: "iris_obs_avoid", mission: "avoidance", build_type: "RelWithDebInfo"}
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- {test_file: "mavros_posix_test_safe_landing.test", vehicle: "iris_obs_avoid", mission: "MC_safe_landing", build_type: "RelWithDebInfo"}
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container:
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image: px4io/px4-dev-ros-melodic:2020-04-01
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options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
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steps:
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- uses: actions/checkout@v1
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with:
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token: ${{ secrets.ACCESS_TOKEN }}
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- name: Prepare ccache timestamp
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id: ccache_cache_timestamp
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shell: cmake -P {0}
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run: |
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string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
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message("::set-output name=timestamp::${current_date}")
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- name: ccache cache files
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uses: actions/cache@v2
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with:
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path: ~/.ccache
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key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
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restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
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- name: setup ccache
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run: |
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mkdir -p ~/.ccache
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echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
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echo "compression = true" >> ~/.ccache/ccache.conf
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echo "compression_level = 6" >> ~/.ccache/ccache.conf
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echo "max_size = 400M" >> ~/.ccache/ccache.conf
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ccache -s
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ccache -z
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- name: check environment
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run: export
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- name: Build PX4 and sitl_gazebo
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env:
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PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
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run: |
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ccache -z
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make px4_sitl_default
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make px4_sitl_default sitl_gazebo
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ccache -s
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- name: Core dump settings
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run: |
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ulimit -c unlimited
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echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
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- name: Run SITL tests
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env:
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PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
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run: |
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export
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./test/rostest_avoidance_run.sh ${{matrix.config.test_file}} mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}} || true
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- name: Look at core files
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if: failure()
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run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
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- name: Upload px4 coredump
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if: failure()
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uses: actions/upload-artifact@v2-preview
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with:
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name: coredump
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path: px4.core
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# - name: ecl EKF analysis
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# if: always()
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# run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg
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- name: Upload logs to flight review
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if: always()
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run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
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- name: Upload px4 binary
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if: failure()
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uses: actions/upload-artifact@v2
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with:
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name: binary
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path: build/px4_sitl_default/bin/px4
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- name: Store PX4 log
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if: failure()
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uses: actions/upload-artifact@v2
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with:
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name: px4_log
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path: ~/.ros/log/*/*.ulg
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- name: Store ROS log
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if: failure()
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uses: actions/upload-artifact@v2
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with:
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name: ros_log
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path: ~/.ros/**/rostest-*.log
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# Report test coverage
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- name: Upload coverage
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if: contains(matrix.config.build_type, 'Coverage')
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run: |
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git config --global credential.helper "" # disable the keychain credential helper
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git config --global --add credential.helper store # enable the local store credential helper
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echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
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git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
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mkdir -p coverage
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lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
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- name: Upload coverage information to Codecov
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if: contains(matrix.config.build_type, 'Coverage')
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uses: codecov/codecov-action@v1
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with:
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token: ${{ secrets.CODECOV_TOKEN }}
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flags: mavros_avoidance
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file: coverage/lcov.info
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@ -1,4 +1,4 @@
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name: MAVROS SITL Tests
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name: MAVROS Mission Tests
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on:
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on:
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push:
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push:
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@ -73,10 +73,9 @@ jobs:
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- name: Run SITL tests
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- name: Run SITL tests
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env:
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env:
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PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
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PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
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TEST_FILE: "mavros_posix_test_mission.test"
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run: |
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TEST_MISSION: ${{matrix.config.mission}}
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export
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TEST_VEHICLE: ${{matrix.config.vehicle}}
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./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
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run: make rostest_run
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- name: Look at core files
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- name: Look at core files
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if: failure()
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if: failure()
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@ -88,18 +87,35 @@ jobs:
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name: coredump
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name: coredump
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path: px4.core
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path: px4.core
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- name: ecl EKF analysis
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if: always()
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run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg
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- name: Upload logs to flight review
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- name: Upload logs to flight review
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run: |
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if: always()
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find ~ -name *.ulg
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run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
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./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
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- name: Upload px4 binary
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- name: Upload px4 binary
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if: failure()
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if: failure()
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uses: actions/upload-artifact@v2-preview
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uses: actions/upload-artifact@v2
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with:
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with:
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name: binary
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name: binary
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path: build/px4_sitl_default/bin/px4
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path: build/px4_sitl_default/bin/px4
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- name: Store PX4 log
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if: failure()
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uses: actions/upload-artifact@v2
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with:
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name: px4_log
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path: ~/.ros/log/*/*.ulg
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- name: Store ROS log
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if: failure()
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uses: actions/upload-artifact@v2
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with:
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name: ros_log
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path: ~/.ros/**/rostest-*.log
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# Report test coverage
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# Report test coverage
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||||||
- name: Upload coverage
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- name: Upload coverage
|
||||||
if: contains(matrix.config.build_type, 'Coverage')
|
if: contains(matrix.config.build_type, 'Coverage')
|
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@ -115,5 +131,5 @@ jobs:
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uses: codecov/codecov-action@v1
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uses: codecov/codecov-action@v1
|
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with:
|
with:
|
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token: ${{ secrets.CODECOV_TOKEN }}
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token: ${{ secrets.CODECOV_TOKEN }}
|
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flags: mavsdk
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flags: mavros_mission
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file: coverage/lcov.info
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file: coverage/lcov.info
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@ -0,0 +1,130 @@
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name: MAVROS Offboard Tests
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on:
|
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push:
|
||||||
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branches:
|
||||||
|
- 'master'
|
||||||
|
pull_request:
|
||||||
|
branches:
|
||||||
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- '*'
|
||||||
|
|
||||||
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jobs:
|
||||||
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build:
|
||||||
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runs-on: ubuntu-latest
|
||||||
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strategy:
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fail-fast: false
|
||||||
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matrix:
|
||||||
|
config:
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||||||
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- {test_file: "mavros_posix_tests_offboard_posctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
|
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#- {test_file: "mavros_posix_tests_offboard_attctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
|
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#- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
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||||||
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|
||||||
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container:
|
||||||
|
image: px4io/px4-dev-ros-melodic:2020-04-01
|
||||||
|
options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
|
||||||
|
steps:
|
||||||
|
- uses: actions/checkout@v1
|
||||||
|
with:
|
||||||
|
token: ${{ secrets.ACCESS_TOKEN }}
|
||||||
|
|
||||||
|
- name: Prepare ccache timestamp
|
||||||
|
id: ccache_cache_timestamp
|
||||||
|
shell: cmake -P {0}
|
||||||
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run: |
|
||||||
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string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
|
||||||
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message("::set-output name=timestamp::${current_date}")
|
||||||
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- name: ccache cache files
|
||||||
|
uses: actions/cache@v2
|
||||||
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with:
|
||||||
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path: ~/.ccache
|
||||||
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key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
|
||||||
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restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
|
||||||
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- name: setup ccache
|
||||||
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run: |
|
||||||
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mkdir -p ~/.ccache
|
||||||
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echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
|
||||||
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echo "compression = true" >> ~/.ccache/ccache.conf
|
||||||
|
echo "compression_level = 6" >> ~/.ccache/ccache.conf
|
||||||
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echo "max_size = 400M" >> ~/.ccache/ccache.conf
|
||||||
|
ccache -s
|
||||||
|
ccache -z
|
||||||
|
|
||||||
|
- name: check environment
|
||||||
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run: export
|
||||||
|
- name: Build PX4 and sitl_gazebo
|
||||||
|
env:
|
||||||
|
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||||
|
run: |
|
||||||
|
ccache -z
|
||||||
|
make px4_sitl_default
|
||||||
|
make px4_sitl_default sitl_gazebo
|
||||||
|
ccache -s
|
||||||
|
|
||||||
|
- name: Core dump settings
|
||||||
|
run: |
|
||||||
|
ulimit -c unlimited
|
||||||
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echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
|
||||||
|
|
||||||
|
- name: Run SITL tests
|
||||||
|
env:
|
||||||
|
PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
|
||||||
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run: |
|
||||||
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export
|
||||||
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./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}
|
||||||
|
|
||||||
|
- name: Look at core files
|
||||||
|
if: failure()
|
||||||
|
run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
|
||||||
|
- name: Upload px4 coredump
|
||||||
|
if: failure()
|
||||||
|
uses: actions/upload-artifact@v2-preview
|
||||||
|
with:
|
||||||
|
name: coredump
|
||||||
|
path: px4.core
|
||||||
|
|
||||||
|
- name: ecl EKF analysis
|
||||||
|
if: always()
|
||||||
|
run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg
|
||||||
|
|
||||||
|
- name: Upload logs to flight review
|
||||||
|
if: always()
|
||||||
|
run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
|
||||||
|
|
||||||
|
- name: Upload px4 binary
|
||||||
|
if: failure()
|
||||||
|
uses: actions/upload-artifact@v2
|
||||||
|
with:
|
||||||
|
name: binary
|
||||||
|
path: build/px4_sitl_default/bin/px4
|
||||||
|
|
||||||
|
- name: Store PX4 log
|
||||||
|
if: failure()
|
||||||
|
uses: actions/upload-artifact@v2
|
||||||
|
with:
|
||||||
|
name: px4_log
|
||||||
|
path: ~/.ros/log/*/*.ulg
|
||||||
|
|
||||||
|
- name: Store ROS log
|
||||||
|
if: failure()
|
||||||
|
uses: actions/upload-artifact@v2
|
||||||
|
with:
|
||||||
|
name: ros_log
|
||||||
|
path: ~/.ros/**/rostest-*.log
|
||||||
|
|
||||||
|
# Report test coverage
|
||||||
|
- name: Upload coverage
|
||||||
|
if: contains(matrix.config.build_type, 'Coverage')
|
||||||
|
run: |
|
||||||
|
git config --global credential.helper "" # disable the keychain credential helper
|
||||||
|
git config --global --add credential.helper store # enable the local store credential helper
|
||||||
|
echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
|
||||||
|
git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
|
||||||
|
mkdir -p coverage
|
||||||
|
lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
|
||||||
|
- name: Upload coverage information to Codecov
|
||||||
|
if: contains(matrix.config.build_type, 'Coverage')
|
||||||
|
uses: codecov/codecov-action@v1
|
||||||
|
with:
|
||||||
|
token: ${{ secrets.CODECOV_TOKEN }}
|
||||||
|
flags: mavros_offboard
|
||||||
|
file: coverage/lcov.info
|
||||||
Loading…
Reference in New Issue