Copter: run rate loop at full filter rate in its own thread #30531
Workflow file for this run
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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/LogAnalyzer/**' | |
| - '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@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" ] || | |
| [ "${{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 "[email protected]" | |
| 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 |