Merge branch 'master' into pr_innav_velocity_fallback

ArduPilot · Dec 4, 2023 · 550ba8d · 550ba8d
2 parents ce779bf + 60ceaec
commit 550ba8d
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diff --git a/.dockerignore b/.dockerignore
@@ -28,3 +28,4 @@ mav.*
 !Tools/environment_install/install-prereqs-ubuntu.sh
 !Tools/environment_install/install-prereqs-arch.sh
 !Tools/completion
+autotest_result_*_junit.xml
diff --git a/.git-blame-ignore-revs b/.git-blame-ignore-revs
@@ -0,0 +1,6 @@
+# This file allows ignoring commits in git blame view on Github.
+# For more info, see here:
+# https://docs.github.com/en/repositories/working-with-files/using-files/viewing-a-file#ignore-commits-in-the-blame-view
+
+# Tools: ros2: Run ament_black on all files
+85172b56467668bee9fa0e68081027b13bc18c4a
diff --git a/.github/workflows/cache_cleanup.yml b/.github/workflows/cache_cleanup.yml
@@ -15,7 +15,7 @@ jobs:
       contents: read
     steps:
       - name: Check out code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Cleanup
         run: |

diff --git a/.github/workflows/colcon.yml b/.github/workflows/colcon.yml
@@ -0,0 +1,206 @@
+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
+
diff --git a/.github/workflows/cygwin_build.yml b/.github/workflows/cygwin_build.yml
@@ -144,7 +144,7 @@ jobs:
     runs-on: 'windows-latest'
 
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
       - name: Prepare ccache timestamp
@@ -189,7 +189,7 @@ jobs:
         shell: C:\cygwin\bin\bash.exe -eo pipefail '{0}'
         run: >-
           ln -sf /usr/bin/python3.7 /usr/bin/python && ln -sf /usr/bin/pip3.7 /usr/bin/pip &&
-          python -m pip install --progress-bar off empy pexpect &&
+          python -m pip install --progress-bar off empy==3.3.4 pexpect &&
           python -m pip install --progress-bar off dronecan --upgrade &&
           cp /usr/bin/ccache /usr/local/bin/ &&
           cd /usr/local/bin && ln -s ccache /usr/local/bin/gcc &&

diff --git a/.github/workflows/esp32_build.yml b/.github/workflows/esp32_build.yml
@@ -155,7 +155,7 @@ jobs:
         gcc: [10]
 
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
       - name: Install Prerequisites
@@ -200,7 +200,7 @@ jobs:
           ./install.sh
           source ./export.sh
           cd ../..
-          python -m pip install --progress-bar off future lxml pymavlink MAVProxy pexpect flake8 geocoder empy dronecan
+          python -m pip install --progress-bar off future lxml pymavlink MAVProxy pexpect flake8 geocoder empy==3.3.4 dronecan
           which cmake
           ./waf configure --board ${{matrix.config}}
           ./waf plane

diff --git a/.github/workflows/macos_build.yml b/.github/workflows/macos_build.yml
@@ -151,7 +151,7 @@ jobs:
         ]
 
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
       - name: Install Prerequisites

diff --git a/.github/workflows/test_ccache.yml b/.github/workflows/test_ccache.yml
@@ -126,7 +126,7 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-22.04
-    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.0
+    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.3
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
       matrix:
@@ -136,7 +136,7 @@ jobs:
         gcc: [10]
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
       - name: ccache test

diff --git a/.github/workflows/test_chibios.yml b/.github/workflows/test_chibios.yml
@@ -134,7 +134,7 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-22.04
-    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.0
+    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.3
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
       matrix:
@@ -168,7 +168,7 @@ jobs:
 
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build

diff --git a/.github/workflows/test_coverage.yml b/.github/workflows/test_coverage.yml
@@ -15,7 +15,7 @@ jobs:
   build:
     runs-on: ubuntu-22.04
     container:
-      image: ardupilot/ardupilot-dev-${{ matrix.type }}:v0.1.0
+      image: ardupilot/ardupilot-dev-${{ matrix.type }}:v0.1.3
       options: --privileged
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
@@ -38,7 +38,7 @@ jobs:
             type: coverage
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build

diff --git a/.github/workflows/test_dds.yml b/.github/workflows/test_dds.yml
@@ -152,7 +152,7 @@ jobs:
         ]
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build

diff --git a/.github/workflows/test_environment.yml b/.github/workflows/test_environment.yml
@@ -73,7 +73,7 @@ jobs:
           esac
 
       # git checkout the PR
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
             submodules: 'recursive'
       - name: test install environment ${{matrix.os}}.${{matrix.name}}

diff --git a/.github/workflows/test_linux_sbc.yml b/.github/workflows/test_linux_sbc.yml
@@ -135,7 +135,7 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-22.04
-    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.0
+    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.3
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
       matrix:
@@ -167,7 +167,7 @@ jobs:
 
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build

diff --git a/.github/workflows/test_replay.yml b/.github/workflows/test_replay.yml
@@ -148,7 +148,7 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-22.04
-    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.0
+    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.3
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
       matrix:
@@ -161,7 +161,7 @@ jobs:
         ]
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: 'recursive'
       # Put ccache into github cache for faster build

diff --git a/.github/workflows/test_scripting.yml b/.github/workflows/test_scripting.yml
@@ -22,10 +22,10 @@ concurrency:
 jobs:
   test-scripting:
     runs-on: ubuntu-22.04
-    container: ardupilot/ardupilot-dev-base:v0.1.0
+    container: ardupilot/ardupilot-dev-base:v0.1.3
     steps:
       # git checkout the PR
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: 'recursive'