[Spinal][GA] Include Ros build into repeat build flow. #31
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| name: Build Spinal Firmware | |
| on: [push, pull_request, workflow_dispatch] | |
| jobs: | |
| build: | |
| runs-on: ubuntu-latest | |
| container: | |
| image: ghcr.io/ut-dragon-lab/stm32cubeide_1.8.0_build_env:latest | |
| steps: | |
| - name: Checkout code | |
| uses: actions/checkout@v4 | |
| with: | |
| # submodules too | |
| submodules: recursive | |
| - name: Install ROS packages with rosdep # Setup Github ws as a catkin ws | |
| run: | | |
| source /opt/ros/noetic/setup.bash | |
| rm /etc/ros/rosdep/sources.list.d/20-default.list | |
| sudo rosdep init | |
| rosdep update | |
| mkdir -p ~/catkin_ws/src | |
| ln -s $GITHUB_WORKSPACE ~/catkin_ws/src/jsk_aerial_robot | |
| cd ~/catkin_ws | |
| rosdep install -y -r --from-paths src --ignore-src --rosdistro noetic | |
| shell: bash | |
| # ========================= | |
| # Repeat ROS Build and H7 Build 5 times | |
| # ========================= | |
| - name: Build Spinal as ROS + H7 (up to 5 times) | |
| run: | | |
| for i in {1..5}; do | |
| echo "=======================================" | |
| echo "=== [Attempt $i/5] Build Spinal as ROS Package ===" | |
| ( | |
| # --- Build Spinal as ROS Package --- | |
| source /opt/ros/noetic/setup.bash | |
| cd ~/catkin_ws | |
| catkin config --cmake-args -Dcatkin_DIR=/opt/ros/noetic/share/catkin/cmake | |
| catkin build spinal | |
| source devel/setup.bash | |
| ) || { | |
| echo "Build Spinal as ROS Package failed on attempt #$i." | |
| echo "Cleaning up STM32CubeIDE workspace..." | |
| rm -rf ~/STM32CubeIDE/workspace_1.8.0/.metadata | |
| continue | |
| } | |
| echo "=== [Attempt $i/5] Build Spinal H7 as STM32CubeIDE project ===" | |
| # --- Build Spinal H7 as STM32CubeIDE project --- | |
| /opt/st/stm32cubeide_1.8.0/stm32cubeide -nosplash \ | |
| -application org.eclipse.cdt.managedbuilder.core.headlessbuild \ | |
| -data ~/STM32CubeIDE/workspace_1.8.0/ \ | |
| -import aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/STM32CubeIDE/ \ | |
| -cleanBuild spinal/Debug \ | |
| -vmargs -Dorg.eclipse.cdt.core.build.parallel=true \ | |
| -Dorg.eclipse.cdt.core.build.parallel.threads=12 || { | |
| echo "Build Spinal H7 failed on attempt #$i." | |
| echo "Cleaning up STM32CubeIDE workspace..." | |
| rm -rf ~/STM32CubeIDE/workspace_1.8.0/.metadata | |
| continue | |
| } | |
| echo "All builds (ROS + H7) succeeded on attempt #$i." | |
| exit 0 | |
| done | |
| echo "All 5 attempts (ROS + H7) have failed. Exiting with error." | |
| exit 1 | |
| - name: Upload H7 artifacts | |
| if: success() | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: SpinalH7.artifacts | |
| path: aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/STM32CubeIDE/Debug/spinal.* | |
| # ========================= | |
| # Repeat ROS Build and F7 Build 5 times | |
| # ========================= | |
| - name: Build Spinal as ROS + F7 (up to 5 times) | |
| if: success() | |
| run: | | |
| for i in {1..5}; do | |
| echo "=======================================" | |
| echo "=== [Attempt $i/5] Build Spinal as ROS Package ===" | |
| ( | |
| # --- Build Spinal as ROS Package --- | |
| source /opt/ros/noetic/setup.bash | |
| cd ~/catkin_ws | |
| catkin config --cmake-args -Dcatkin_DIR=/opt/ros/noetic/share/catkin/cmake | |
| catkin build spinal | |
| source devel/setup.bash | |
| ) || { | |
| echo "Build Spinal as ROS Package failed on attempt #$i." | |
| echo "Cleaning up STM32CubeIDE workspace..." | |
| rm -rf ~/STM32CubeIDE/workspace_1.8.0/.metadata | |
| continue | |
| } | |
| echo "=== [Attempt $i/5] Build Spinal F7 as STM32CubeIDE project ===" | |
| # --- Build Spinal F7 as STM32CubeIDE project --- | |
| /opt/st/stm32cubeide_1.8.0/stm32cubeide -nosplash \ | |
| -application org.eclipse.cdt.managedbuilder.core.headlessbuild \ | |
| -data ~/STM32CubeIDE/workspace_1.8.0/ \ | |
| -import aerial_robot_nerve/spinal/mcu_project/boards/stm32F7/STM32CubeIDE/ \ | |
| -cleanBuild spinal/Debug \ | |
| -vmargs -Dorg.eclipse.cdt.core.build.parallel=true \ | |
| -Dorg.eclipse.cdt.core.build.parallel.threads=12 || { | |
| echo "Build Spinal F7 failed on attempt #$i." | |
| echo "Cleaning up STM32CubeIDE workspace..." | |
| rm -rf ~/STM32CubeIDE/workspace_1.8.0/.metadata | |
| continue | |
| } | |
| echo "All builds (ROS + F7) succeeded on attempt #$i." | |
| exit 0 | |
| done | |
| echo "All 5 attempts (ROS + F7) have failed. Exiting with error." | |
| exit 1 | |
| - name: Upload F7 artifacts | |
| if: success() | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: SpinalF7.artifacts | |
| path: aerial_robot_nerve/spinal/mcu_project/boards/stm32F7/STM32CubeIDE/Debug/spinal.* |