(WIP) rebase of CxPilot5.1.1 on Ardupilot 4.4.4

.github/workflows/carbonix_build.yml

@@ -0,0 +1,208 @@
+name: Build and Archive
+
+on:
+    push:
+      branches:
+        - 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/**'
+
+concurrency:
+    group: ci-${{github.workflow}}-${{ github.ref }}
+    cancel-in-progress: true
+
+jobs:
+  build:
+    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: ${{github.workflow}}-ccache-  # restore ccache from either previous build on this branch or on master
+      - name: setup ccache
+        run: |
+          . .github/workflows/ccache.env
+
+      - name: build Carbonix Flight Controller
+        shell: bash
+        run: |
+          boards=("CubeOrange" "CarbonixCubeOrange" "sitl")
+          for board in "${boards[@]}"; do
+            echo "Compiling AP_Periph for $board..."
+            ./Tools/scripts/build_bootloaders.py "$board"
+            ./waf configure --board "$board" --define=CARBOPILOT=1
+            ./waf plane
+          done
+          echo "Script completed successfully."
+      - name: build Carbonix Periph boards
+        shell: bash
+        run: |
+          boards=("CarbonixF405" "Volanti-M1" "Volanti-M2" "Volanti-M3" "Volanti-M4" "Volanti-M5" "Volanti-LWing" "Volanti-RWing" "Volanti-LTail" "Volanti-RTail" "Ottano-M1" "Ottano-M2" "Ottano-M3" "Ottano-M4" "Ottano-M5" "Ottano-LWing" "Ottano-RWing" "Ottano-LTail" "Ottano-RTail")
+          for board in "${boards[@]}"; do
+            echo "Compiling AP_Periph for $board..."
+            ./Tools/scripts/build_bootloaders.py "$board"
+            ./waf configure --board "$board" --define=CARBOPILOT=1
+            ./waf AP_Periph
+          done
+          echo "Script completed successfully."
+      - name: Check build files
+        id: check_files
+        uses: andstor/file-existence-action@v2
+        with:
+          files: "build/CubeOrange/*, build/CarbonixCubeOrange/*, build/sitl/*, build/CarbonixF405/*, build/Volanti-M1/*, build/Volanti-M2/*, build/Volanti-M3/*, build/Volanti-M4/*, build/Volanti-M5/*, build/Volanti-LWing/*, build/Volanti-RWing/*, build/Volanti-LTail/*, build/Volanti-RTail/*, build/Ottano-M1/*, build/Ottano-M2/*, build/Ottano-M3/*, build/Ottano-M4/*, build/Ottano-M5/*, build/Ottano-LWing/*, build/Ottano-RWing/*, build/Ottano-LTail/*, build/Ottano-RTail/*"
+          fail: true
+      - name: Install zip utility
+        run: sudo apt-get install zip
+      - name: Archive build output
+        run: |
+          echo build/*/bin/ | xargs -n 1 cp -v ArduPlane/ReleaseNotes.txt
+          cp -v ArduPlane/ReleaseNotes.txt build/
+          zip -r build-output.zip build/*/bin/*
+      - name: Archive production artifacts
+        uses: actions/upload-artifact@v3
+        with:
+          name: compiled-output
+          path: build-output.zip
+          retention-days: 90

.github/workflows/cx_build_compare.yml

@@ -0,0 +1,128 @@
+name: Compare Build Outputs
+
+on:
+  pull_request:
+    types: [labeled]
+
+concurrency:
+    group: ci-${{github.workflow}}-${{ github.ref }}
+    cancel-in-progress: true
+
+jobs:
+  build-and-compare:
+    if: github.event.label.name == 'CX_NO_CODE_CHANGE'
+    runs-on: ubuntu-20.04
+
+    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.0.29
+    strategy:
+      fail-fast: false  # don't cancel if a job from the matrix fails
+      matrix:
+        toolchain: [
+            chibios,
+        ]
+        gcc: [10]
+        exclude:
+          - gcc: 10
+            toolchain: chibios-clang
+        board: ["CarbonixCubeOrange", "Volanti-M1", "Volanti-M2", "Volanti-M3", "Volanti-M4", "Volanti-M5", "Volanti-LWing", "Volanti-RWing", "Volanti-LTail", "Volanti-RTail", "Ottano-M1", "Ottano-M2", "Ottano-M3", "Ottano-M4", "Ottano-M5", "Ottano-LWing", "Ottano-RWing", "Ottano-LTail", "Ottano-RTail"]        
+    steps:
+      # git checkout the PR
+      - uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+          submodules: 'recursive'
+
+      # Put ccache into github cache for faster build
+      - name: Prepare ccache timestamp
+        id: ccache_cache_timestamp
+        run: |
+          NOW=$(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: Check if Hwdef directory has been modified
+        run: |
+          git fetch origin ${{ github.event.pull_request.base.ref }}
+          CHANGED=$(git diff --quiet HEAD origin/${{ github.event.pull_request.base.ref }} -- libraries/AP_HAL_ChibiOS/hwdef || echo "changed")
+          if [ "$CHANGED" = "changed" ]; then
+            echo "Directory has been modified"
+            exit 1
+          fi
+
+      - name: Build Head and ${{ github.event.pull_request.base.ref }} ${{matrix.board}} 
+        shell: bash
+        run: |
+            git config --global --add safe.directory ${GITHUB_WORKSPACE}
+            PATH="/github/home/.local/bin:$PATH"
+
+            # 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"
+            ./waf configure --board ${{matrix.board}} 
+
+            ./Tools/Carbonix_scripts/build_no_clean.sh ${{ matrix.board }}
+
+            NO_VERSIONS_DIR="$GITHUB_WORKSPACE/${{matrix.board}}/pr_bin_no_versions"
+            mkdir -p "$NO_VERSIONS_DIR"  
+            cp -r build/${{matrix.board}}/bin/* "$NO_VERSIONS_DIR"
+
+            echo [`date`] Built Base with no versions
+
+            git checkout ${{ github.event.pull_request.base.ref }} 
+
+            # 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"
+            ./Tools/Carbonix_scripts/build_no_clean.sh ${{ matrix.board }}
+
+            NO_VERSIONS_DIR="$GITHUB_WORKSPACE/${{matrix.board}}/base_branch_bin_no_versions"
+            mkdir -p "$NO_VERSIONS_DIR"
+            cp -r build/${{matrix.board}}/bin/* "$NO_VERSIONS_DIR"
+
+            echo [`date`] Built ${{ github.event.pull_request.base.ref }} with no versions
+
+      - name: Upload Artifacts
+        uses: actions/upload-artifact@v2
+        with:
+          name: ${{ matrix.board }}
+          path: ${{ github.workspace }}/${{ matrix.board }}
+          if-no-files-found: warn
+          retention-days: 7
+
+      - name: Compare build outputs
+        shell: bash
+        run: |
+          git config --global --add safe.directory ${GITHUB_WORKSPACE}
+          PATH="/github/home/.local/bin:$PATH"
+          differences_found=0
+
+          for base_file in $GITHUB_WORKSPACE/${{ matrix.board }}/base_branch_bin_no_versions/*.bin
+          do
+            base_filename=$(basename "$base_file")
+            diff_output=$(diff $base_file $GITHUB_WORKSPACE/${{ matrix.board }}/pr_bin_no_versions/$base_filename) || true
+            if [ "$diff_output" != "" ]; then
+              echo Failed -- Comparing $base_file and $GITHUB_WORKSPACE/${{ matrix.board }}/pr_bin_no_versions/$base_filename resulted in $diff_output 
+              differences_found=1
+            else
+              echo Passed -- Comparing $base_file and $GITHUB_WORKSPACE/${{ matrix.board }}/pr_bin_no_versions/$base_filename
+            fi
+          done
+          if [ $differences_found -eq 1 ]; then
+            exit 1
+          fi
+