Tools : cx autotest and workflow changes

CarbonixUAV · Aug 29, 2024 · ad6ec2a · ad6ec2a
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diff --git a/.github/workflows/carbonix_build.yml b/.github/workflows/carbonix_build.yml
@@ -0,0 +1,344 @@
+name: Carbonix Build
+
+on:
+    push:
+      branches:
+        - CxPilot
+        - CxPilot-*
+        - master
+      paths-ignore:
+        # remove non chibios HAL
+        - 'libraries/AP_HAL_Linux/**'
+        - 'libraries/AP_HAL_ESP32/**'
+        - 'libraries/AP_HAL_SITL/**'
+        # remove non stm directories
+        - 'Tools/CHDK-Script/**'
+        - 'Tools/CodeStyle/**'
+        - 'Tools/completion/**'
+        - 'Tools/debug/**'
+        - 'Tools/environment_install/**'
+        - 'Tools/FilterTestTool/**'
+        - 'Tools/Frame_params/**'
+        - 'Tools/geotag/**'
+        - 'Tools/GIT_Test/**'
+        - 'Tools/gittools/**'
+        - 'Tools/Hello/**'
+        - 'Tools/LogAnalyzer/**'
+        - 'Tools/mavproxy_modules/**'
+        - 'Tools/Pozyx/**'
+        - 'Tools/PrintVersion.py'
+        - 'Tools/Replay/**'
+        - 'Tools/simulink/**'
+        - 'Tools/UDP_Proxy/**'
+        - 'Tools/vagrant/**'
+        - 'Tools/Vicon/**'
+        # Remove vehicles autotest we need support of test_build_option.py in the Tools/autotest directory
+        - 'Tools/autotest/antennatracker.py'
+        - 'Tools/autotest/arduplane.py'
+        - 'Tools/autotest/ardusub.py'
+        - 'Tools/autotest/balancebot.py'
+        - 'Tools/autotest/location.txt'
+        - 'Tools/autotest/quadplane.py'
+        - 'Tools/autotest/rover.py'
+        - 'Tools/autotest/sailboat.py'
+        - 'Tools/autotest/swarminit.txt'
+        # 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/**'
+
+    pull_request:
+      paths-ignore:
+        # remove non chibios HAL
+        - 'libraries/AP_HAL_Linux/**'
+        - 'libraries/AP_HAL_ESP32/**'
+        - 'libraries/AP_HAL_SITL/**'
+        # remove non stm directories
+        - 'Tools/CHDK-Script/**'
+        - 'Tools/CodeStyle/**'
+        - 'Tools/completion/**'
+        - 'Tools/debug/**'
+        - 'Tools/environment_install/**'
+        - 'Tools/FilterTestTool/**'
+        - 'Tools/Frame_params/**'
+        - 'Tools/geotag/**'
+        - 'Tools/GIT_Test/**'
+        - 'Tools/gittools/**'
+        - 'Tools/Hello/**'
+        - 'Tools/LogAnalyzer/**'
+        - 'Tools/mavproxy_modules/**'
+        - 'Tools/Pozyx/**'
+        - 'Tools/PrintVersion.py'
+        - 'Tools/Replay/**'
+        - 'Tools/simulink/**'
+        - 'Tools/UDP_Proxy/**'
+        - 'Tools/vagrant/**'
+        - 'Tools/Vicon/**'
+        # Remove vehicles autotest we need support of test_build_option.py in the Tools/autotest directory
+        - 'Tools/autotest/antennatracker.py'
+        - 'Tools/autotest/arduplane.py'
+        - 'Tools/autotest/ardusub.py'
+        - 'Tools/autotest/autotest.py'
+        - 'Tools/autotest/balancebot.py'
+        - 'Tools/autotest/common.py'
+        - 'Tools/autotest/examples.py'
+        - 'Tools/autotest/quadplane.py'
+        - 'Tools/autotest/rover.py'
+        - 'Tools/autotest/sailboat.py'
+        - 'Tools/autotest/**.txt'
+        - 'Tools/autotest/logger_metadata/**'
+        - 'Tools/autotest/param_metadata/**'
+        # 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/**'
+
+    release:
+      types: [published]
+
+    workflow_dispatch:
+
+concurrency:
+    group: ci-${{github.workflow}}-${{ github.ref }}
+    cancel-in-progress: true
+
+jobs:
+  build-sitl:
+    runs-on: 'windows-latest'
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          submodules: 'recursive'
+      - name: Prepare ccache timestamp
+        id: ccache_cache_timestamp
+        shell: bash
+        run: |
+          NOW=$(date -u +"%F-%T")
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
+          WORKFLOWNAME="${{github.workflow}}"
+          NAME_DASHED=${WORKFLOWNAME//+( )/_}
+          echo "cache-key=${NAME_DASHED}" >> $GITHUB_OUTPUT
+
+      - uses: cygwin/cygwin-install-action@master
+        with:
+          packages: cygwin64 gcc-g++=10.2.0-1 ccache python37 python37-future python37-lxml python37-pip python37-setuptools python37-wheel git procps gettext
+          add-to-path: false
+      # Put ccache into github cache for faster build
+      - name: setup ccache
+        env:
+          PATH: /usr/bin:$(cygpath ${SYSTEMROOT})/system32
+        shell: C:\cygwin\bin\bash.exe -eo pipefail '{0}'
+        run: >-
+          mkdir -p /cygdrive/d/a/ardupilot/ardupilot/ccache &&
+          mkdir -p /usr/local/etc &&
+          echo "export CCACHE_SLOPPINESS=file_stat_matches" >> ~/ccache.conf &&
+          echo "export CCACHE_DIR=/cygdrive/d/a/ardupilot/ardupilot/ccache" >> ~/ccache.conf &&
+          echo "export CCACHE_BASEDIR=/cygdrive/d/a/ardupilot/ardupilot" >> ~/ccache.conf &&
+          echo "export CCACHE_COMPRESS=1" >> ~/ccache.conf &&
+          echo "export CCACHE_COMPRESSLEVEL=6" >> ~/ccache.conf &&
+          echo "export CCACHE_MAXSIZE=400M" >> ~/ccache.conf &&
+          source ~/ccache.conf &&
+          ccache -s
+      - name: ccache cache files
+        uses: actions/cache@v3
+        with:
+          path: D:/a/ardupilot/ardupilot/ccache
+          key: ${{ steps.ccache_cache_timestamp.outputs.cache-key }}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+          restore-keys: ${{ steps.ccache_cache_timestamp.outputs.cache-key }}-ccache-  # restore ccache from either previous build on this branch or on base branch
+      - name: Prepare Python environment
+        env:
+          PATH: /usr/bin:$(cygpath ${SYSTEMROOT})/system32
+        shell: C:\cygwin\bin\bash.exe -eo pipefail '{0}'
+        run: >-
+          ln -sf /usr/bin/python3.7 /usr/bin/python && ln -sf /usr/bin/pip3.7 /usr/bin/pip &&
+          python -m pip install --progress-bar off empy pexpect &&
+          python -m pip install --progress-bar off dronecan --upgrade &&
+          cp /usr/bin/ccache /usr/local/bin/ &&
+          cd /usr/local/bin && ln -s ccache /usr/local/bin/gcc &&
+          ln -s ccache /usr/local/bin/g++ &&
+          ln -s ccache /usr/local/bin/x86_64-pc-cygwin-gcc &&
+          ln -s ccache /usr/local/bin/x86_64-pc-cygwin-g++
+
+      - name: Build SITL
+        env:
+          PATH: /usr/bin:$(cygpath ${SYSTEMROOT})/system32
+        shell: C:\cygwin\bin\bash.exe -eo pipefail '{0}'
+        run: >-
+          export PATH=/usr/local/bin:/usr/bin:$(cygpath ${SYSTEMROOT})/system32 &&
+          source ~/ccache.conf &&
+          Tools/scripts/cygwin_build.sh &&
+          ccache -s
+
+      - name: Check build files
+        id: check_files
+        uses: andstor/file-existence-action@v2
+        with:
+          files: "artifacts/*.exe"
+          fail: true
+
+      - name: Archive build
+        uses: actions/upload-artifact@v4
+        with:
+           name: sitl
+           path: artifacts
+           retention-days: 90
+
+  build-apj:
+    runs-on: ubuntu-20.04
+    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.0.29
+    strategy:
+      fail-fast: false  # don't cancel if a job from the matrix fails
+      matrix:
+        toolchain: [
+            chibios,
+            #chibios-clang,
+        ]
+        gcc: [10]
+        exclude:
+          - gcc: 10
+            toolchain: chibios-clang
+
+    steps:
+      # git checkout the PR
+      - uses: actions/checkout@v3
+        with:
+          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: ${{github.workflow}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+          restore-keys: ${{github.workflow}}-ccache-  # restore ccache from either previous build on this branch or on master
+      - name: setup ccache
+        run: |
+          . .github/workflows/ccache.env
+
+      - name: build
+        shell: bash
+        run: Tools/Carbonix_scripts/carbonix_waf_build.sh
+
+      - name: Check build files
+        id: check_files
+        uses: andstor/file-existence-action@v2
+        with:
+          files: "build/CubeOrange/*, build/CubeOrange-Volanti/*, build/CubeOrange-Ottano/*, build/CarbonixF405/*, build/CarbonixF405-no-crystal/*"
+          fail: true
+      - name: Gather build output
+        run: |
+          mkdir -p temp/others
+          for dir in CubeOrange CubeOrange-Volanti CubeOrange-Ottano CarbonixF405 CarbonixF405-no-crystal; do
+            mkdir -p temp/others/$dir/bin
+            cp -vr build/$dir/bin/* temp/others/$dir/bin/
+          done
+          cp -vr output/* temp/
+          mv temp/others/CubeOrange-Volanti temp/Volanti
+          mv temp/others/CubeOrange-Ottano temp/Ottano
+          if [ -d "ArduPlane/ReleaseNotes.txt" ]; then
+            cp -v ArduPlane/ReleaseNotes.txt temp/
+          else
+            echo "ReleaseNotes.txt File does not exist"
+          fi
+          if [ -d "libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/payloads" ]; then
+            cp -vr libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/payloads temp/
+          else
+            echo "payloads Folder does not exist"
+          fi
+        shell: sh -e {0}
+      - name: Archive production artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: apj
+          path: temp
+          retention-days: 90
+
+  upload:
+    runs-on: ubuntu-20.04
+    needs: [build-apj, build-sitl]
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v3
+
+      - name: Extract firmware version, commit id, and branch name
+        id: extract_info
+        run: |
+          FIRMWARE_VERSION=$(grep -oP '#define AP_CUSTOM_FIRMWARE_STRING "\K(.*)(?=")' libraries/AP_Common/CxVersion.h)
+          COMMIT_ID=$(git rev-parse --short HEAD)
+          BRANCH_NAME=$(echo ${GITHUB_REF#refs/heads/})
+          echo "firmware_version=$FIRMWARE_VERSION" >> $GITHUB_ENV
+          echo "commit_id=$COMMIT_ID" >> $GITHUB_ENV
+          echo "branch_name=$BRANCH_NAME" >> $GITHUB_ENV
+        shell: sh -e {0}
+
+      - name: Download APJ build
+        uses: actions/download-artifact@v4
+        with:
+          name: apj
+          path: temp
+
+      - name: Download SITL build
+        uses: actions/download-artifact@v4
+        with:
+          name: sitl
+          path: temp/sitl
+
+      - name: Configure AWS credentials
+        uses: aws-actions/configure-aws-credentials@v1
+        with:
+          aws-access-key-id: ${{ secrets.AWS_S3_ACCESS_KEY_ID }}
+          aws-secret-access-key: ${{ secrets.AWS_S3_SECRET_ACCESS_KEY }}
+          aws-region: us-east-1 
+
+      - name: Upload artifacts to S3
+        run: |
+          DATE_HR=$(date +%Y%m%d_%H%M)
+          if ${{ github.event_name == 'release' }}; then
+            PATH_TO_S3=s3://carbonix-firmware-release-files/Carbopilot_V2/${DATE_HR}_${{ env.firmware_version }}_${{ env.commit_id }}/
+            echo "Uploading to: $PATH_TO_S3"
+            aws s3 cp temp/ $PATH_TO_S3 --recursive
+          elif ${{ github.event_name == 'push' && startsWith(env.branch_name, 'CxPilot') }}; then
+            PATH_TO_S3=s3://carbonix-firmware-dev-files/Carbopilot_V2/${{ env.branch_name }}/${DATE_HR}_${{ env.firmware_version }}_${{ env.commit_id }}/
+            echo "Uploading to: $PATH_TO_S3"
+            aws s3 cp temp/ $PATH_TO_S3 --recursive
+          elif ${{ github.event_name == 'pull_request' }}; then
+            PATH_TO_S3=s3://carbonix-firmware-dev-files/Carbopilot_V2/PR/${DATE_HR}_${{ env.firmware_version }}_${{ env.commit_id }}_${{ github.event.pull_request.number }}/
+            echo "Uploading to: $PATH_TO_S3"
+            aws s3 cp temp/ $PATH_TO_S3 --recursive
+          fi
diff --git a/.github/workflows/ccache.env b/.github/workflows/ccache.env
@@ -1,6 +1,8 @@
 # common ccache env vars for CI
 export CCACHE_SLOPPINESS=file_stat_matches
 
+git config --global --add safe.directory ${GITHUB_WORKSPACE}
+
 mkdir -p ~/.ccache
 echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
 echo "compression = true" >> ~/.ccache/ccache.conf

diff --git a/.github/workflows/colcon.yml b/.github/workflows/colcon.yml
@@ -2,6 +2,10 @@ name: colcon build/test
 
 on:
   push:
+    branches:
+      - CxPilot
+      - CxPilot-*
+      - master
     paths-ignore:
       # remove not tests vehicles
       - 'AntennaTracker/**'