ardupilot/.github/workflows/test_sitl_periph.yml at dd529db76a3140f8e91d23d8004eed627ea6d8c1 · ArduPilot/ardupilot · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
name: test ap_periph

on:
  push:
    paths-ignore:
      # remove other vehicles than copter
      - 'AntennaTracker/**'
      - 'ArduPlane/**'
      - 'ArduSub/**'
      - 'Blimp/**'
      - 'Rover/**'
      # remove non SITL HAL
      - 'libraries/AP_HAL_ChibiOS/**'
      - 'libraries/AP_HAL_ESP32/**'
      - 'libraries/AP_HAL_QURT/**'
      # remove non SITL directories
      - 'Tools/AP_Bootloader/**'
      - 'Tools/bootloaders/**'
      - 'Tools/cameras_gimbals/**'
      - 'Tools/CHDK-Scripts/**'
      - '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/Linux_HAL_Essentials/**'
      - 'Tools/Pozyx/**'
      - 'Tools/PrintVersion.py'
      - 'Tools/Replay/**'
      - 'Tools/simulink/**'
      - 'Tools/terrain-tools/**'
      - '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 other vehicles autotest keep only coptertest
      - 'Tools/autotest/antennatracker.py'
      - 'Tools/autotest/arduplane.py'
      - 'Tools/autotest/ardusub.py'
      - 'Tools/autotest/balancebot.py'
      - 'Tools/autotest/blimp.py'
      - 'Tools/autotest/helicopter.py'
      - 'Tools/autotest/location.txt'
      - 'Tools/autotest/quadplane.py'
      - 'Tools/autotest/rover.py'
      - 'Tools/autotest/sailboat.py'
      - 'Tools/autotest/swarminit.txt'
      - 'Tools/autotest/sim_vehicle.py'
      # 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/**'
      - '!.github/workflows/test_sitl_periph.yml'  # except this one

  pull_request:
    paths-ignore:
      # remove other vehicles than copter
      - 'AntennaTracker/**'
      - 'ArduPlane/**'
      - 'ArduSub/**'
      - 'Blimp/**'
      - 'Rover/**'
      # remove non SITL HAL
      - 'libraries/AP_HAL_ChibiOS/**'
      - 'libraries/AP_HAL_ESP32/**'
      - 'libraries/AP_HAL_QURT/**'
      # remove non SITL directories
      - 'Tools/AP_Bootloader/**'
      - 'Tools/bootloaders/**'
      - 'Tools/cameras_gimbals/**'
      - 'Tools/CHDK-Scripts/**'
      - '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/Linux_HAL_Essentials/**'
      - 'Tools/Pozyx/**'
      - 'Tools/PrintVersion.py'
      - 'Tools/Replay/**'
      - 'Tools/simulink/**'
      - 'Tools/terrain-tools/**'
      - '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 other vehicles autotest keep only coptertest
      - 'Tools/autotest/antennatracker.py'
      - 'Tools/autotest/arduplane.py'
      - 'Tools/autotest/ardusub.py'
      - 'Tools/autotest/balancebot.py'
      - 'Tools/autotest/blimp.py'
      - 'Tools/autotest/helicopter.py'
      - 'Tools/autotest/location.txt'
      - 'Tools/autotest/quadplane.py'
      - 'Tools/autotest/rover.py'
      - 'Tools/autotest/sailboat.py'
      - 'Tools/autotest/swarminit.txt'
      - 'Tools/autotest/sim_vehicle.py'
      # 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/**'
      - '!.github/workflows/test_sitl_periph.yml'  # except this one

  workflow_dispatch:

concurrency:
  group: ci-${{github.workflow}}-${{ github.ref }}
  cancel-in-progress: true

permissions:
  contents: read  # checkout; jobs that save ccache add actions:write per-job

jobs:
  build-test:
    permissions:
      contents: read
      actions: write  # save-ccache prunes the previous cache entry
    runs-on: ubuntu-22.04
    container:
      image: ardupilot/ardupilot-dev-periph:v0.2.0
      options: --privileged
    steps:
      # git checkout the PR
      - uses: actions/checkout@v7
        with:
          submodules: 'recursive'
      - uses: ./.github/actions/setup-ccache
        with:
          key-suffix: periph

      - name: run dronecan dsdlc generator test
        run: |
          PATH="/github/home/.local/bin:$PATH"
          python3 -m pip install --upgrade dronecan
          python3 modules/DroneCAN/dronecan_dsdlc/dronecan_dsdlc.py -O dsdlc_generated modules/DroneCAN/DSDL/uavcan modules/DroneCAN/DSDL/dronecan modules/DroneCAN/DSDL/com --run-test

      - name: build sitl_periph_universal
        shell: bash
        run: |
          git config --global --add safe.directory ${GITHUB_WORKSPACE}
          PATH="/github/home/.local/bin:$PATH"
          ./waf configure --board sitl_periph_universal --debug
          ./waf build --target bin/AP_Periph
          ccache -s
          ccache -z
      - uses: ./.github/actions/save-ccache
        with:
          key-suffix: periph

      - name: test sitltest-can
        env:
          CI_BUILD_TARGET: sitltest-can
        shell: bash
        run: |
          git config --global --add safe.directory ${GITHUB_WORKSPACE}
          kernel_ver=`uname -r`
          if [ "$kernel_ver" = "5.4.0-1032-azure" ] || [ "$kernel_ver" = "5.11.4-051104-generic" ]; then echo "Unsupported Kernel $kernel_ver" && exit 0; fi;
          PATH="/github/home/.local/bin:$PATH"
          Tools/scripts/build_ci.sh