AP_ESC_Telem: support Extended DShot Telemetry v2 #2380
Workflow file for this run
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| name: colcon build/test | |
| on: | |
| push: | |
| paths-ignore: | |
| # remove not tests vehicles | |
| - 'AntennaTracker/**' | |
| - 'ArduSub/**' | |
| - 'Blimp/**' | |
| - 'Rover/**' | |
| # remove esp32 HAL | |
| - 'libraries/AP_HAL_ESP32/**' | |
| # remove non SITL directories | |
| - 'Tools/AP_Bootloader/**' | |
| - '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/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 autotests stuff | |
| - '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 not tests vehicles | |
| - 'AntennaTracker/**' | |
| - 'ArduSub/**' | |
| - 'Rover/**' | |
| - 'Blimp/**' | |
| # remove esp32 HAL | |
| - 'libraries/AP_HAL_ESP32/**' | |
| # remove non SITL directories | |
| - 'Tools/AP_Bootloader/**' | |
| - 'Tools/CHDK-Script/**' | |
| - 'Tools/CPUInfo/**' | |
| - 'Tools/CodeStyle/**' | |
| - 'Tools/FilterTestTool/**' | |
| - 'Tools/Frame_params/**' | |
| - 'Tools/GIT_Test/**' | |
| - 'Tools/Hello/**' | |
| - 'Tools/IO_Firmware/**' | |
| - 'Tools/LogAnalyzer/**' | |
| - 'Tools/Pozyx/**' | |
| - 'Tools/PrintVersion.py' | |
| - 'Tools/Replay/**' | |
| - 'Tools/UDP_Proxy/**' | |
| - 'Tools/Vicon/**' | |
| - 'Tools/bootloaders/**' | |
| - 'Tools/completion/**' | |
| - 'Tools/debug/**' | |
| - 'Tools/environment_install/**' | |
| - 'Tools/geotag/**' | |
| - 'Tools/gittools/**' | |
| - 'Tools/mavproxy_modules/**' | |
| - 'Tools/simulink/**' | |
| - 'Tools/vagrant/**' | |
| # 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 autotests stuff | |
| - '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-test: | |
| runs-on: ubuntu-22.04 | |
| container: | |
| image: ardupilot/ardupilot-dev-ros:latest | |
| strategy: | |
| fail-fast: false # don't cancel if a job from the matrix fails | |
| steps: | |
| # git checkout the PR | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: 'recursive' | |
| path: src/ardupilot | |
| # 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: ${{github.workflow}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}} | |
| restore-keys: ${{github.workflow}}-ccache- # restore ccache from either previous build on this branch or on master | |
| - name: setup ccache | |
| run: | | |
| . src/ardupilot/.github/workflows/ccache.env | |
| # https://ardupilot.org/dev/docs/ros2.html#installation-ubuntu | |
| - name: Pull in repos with vcs | |
| run: | | |
| cd src | |
| wget --progress=dot:giga https://raw.githubusercontent.com/ArduPilot/ardupilot/master/Tools/ros2/ros2.repos | |
| vcs import --recursive --debug --shallow --skip-existing < ros2.repos | |
| - name: Install rosdep dependencies | |
| shell: 'bash' | |
| run: | | |
| apt update | |
| rosdep update | |
| # Workaround for flake8 attribute error | |
| # https://github.com/ArduPilot/ardupilot/pull/24277#issuecomment-1632833433 | |
| python -m pip install flake8==3.7.9 | |
| source /opt/ros/humble/setup.bash | |
| rosdep install --from-paths src --ignore-src --default-yes | |
| - name: Install MAVProxy | |
| run: | | |
| # Install this specific version just to prevent rolling updates. | |
| # These are the latest available | |
| python3 -m pip install MAVProxy==1.8.67 | |
| - name: Install local pymavlink | |
| working-directory: ./src/ardupilot/modules/mavlink/pymavlink | |
| run: | | |
| pip install . -U --user | |
| - name: Build with colcon | |
| shell: 'bash' | |
| run: | | |
| source /opt/ros/humble/setup.bash | |
| colcon build --packages-up-to ardupilot_dds_tests --cmake-args -DBUILD_TESTING=ON | |
| - name: Test with colcon | |
| shell: 'bash' | |
| run: | | |
| source install/setup.bash | |
| colcon test --packages-select ardupilot_dds_tests --event-handlers=console_cohesion+ | |
| - name: Report colcon test results | |
| run: | | |
| colcon test-result --all --verbose | |