From 83e084c3960e8ca0c422624d9095d09ee24fc38e Mon Sep 17 00:00:00 2001 From: Ryan Friedman Date: Wed, 15 Nov 2023 22:26:14 -0700 Subject: [PATCH] .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 --- .github/workflows/colcon.yml | 200 +++++++++++++++++++++++++++++++++++ 1 file changed, 200 insertions(+) create mode 100644 .github/workflows/colcon.yml diff --git a/.github/workflows/colcon.yml b/.github/workflows/colcon.yml new file mode 100644 index 00000000000000..994aacddb9b168 --- /dev/null +++ b/.github/workflows/colcon.yml @@ -0,0 +1,200 @@ +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 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 +