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.github: Enable colcon tests in DDS CI
* Use checkout v4 to pull in ArduPilot into a subdir first * Enable console cohesion during test since JUnit reporting is out of scope * Install mavproxy separately as needed, alternative to --console Signed-off-by: Ryan Friedman <[email protected]>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,200 @@ | ||
| name: colcon build/test | ||
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| 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 https://raw.githubusercontent.com/ArduPilot/ardupilot/master/Tools/ros2/ros2.repos | ||
| vcs import --recursive --debug --shallow --skip-existing < ros2.repos | ||
| - name: Install 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 | ||
| # Install these specific versions just to prevent rolling updates. | ||
| # These are the latest available | ||
| python3 -m pip install MAVProxy==1.8.67 pymavlink==2.4.40 | ||
| - 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 | ||