ci: update actions and images

Updates some actions to run build steps in container instead of the
whole workflow.

.github/workflows/checks.yml

@@ -25,28 +25,27 @@ jobs:
           "NO_NINJA_BUILD=1 px4_fmu-v5_default",
           "NO_NINJA_BUILD=1 px4_sitl_default",
           "px4_sitl_allyes",
-          "airframe_metadata",
           "module_documentation",
-          "parameters_metadata",
         ]
-    container:
-      image: px4io/px4-dev-nuttx-focal:2022-08-12
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
-    - uses: actions/checkout@v1
+      - uses: actions/checkout@v4
-      with:
+        with:
-        token: ${{ secrets.ACCESS_TOKEN }}
+          fetch-depth: 0
 
-    - name: check environment
+      - name: Building [${{ matrix.check }}]
-      run: |
+        uses: addnab/docker-run-action@v3
-          export
+        with:
-          ulimit -a
+          image: px4io/px4-dev-nuttx-focal:2022-08-12
-    - name: ${{matrix.check}}
+          options: -v ${{ github.workspace }}:/workspace
-      run: make ${{matrix.check}}
+          run: |
-    - name: upload coverage
+            cd /workspace
-      if: contains(matrix.check, 'coverage')
+            git config --global --add safe.directory /workspace
-      uses: codecov/codecov-action@v1
+            make ${{ matrix.check }}
-      with:
+
-        token: ${{ secrets.CODECOV_TOKEN }}
+      - name: Uploading Coverage to Codecov.io
-        flags: unittests
+        if: contains(matrix.check, 'coverage')
-        file: coverage/lcov.info
+        uses: codecov/codecov-action@v1
+        with:
+          token: ${{ secrets.CODECOV_TOKEN }}
+          flags: unittests
+          file: coverage/lcov.info

.github/workflows/clang-tidy.yml

@@ -11,13 +11,17 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2021-09-08
     steps:
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v4
       with:
-        token: ${{secrets.ACCESS_TOKEN}}
+        fetch-depth: 0
 
-    - uses: corrupt952/actions-retry-command@v1.0.7
+    - name: Testing (clang-tidy-quiet)
+      uses: addnab/docker-run-action@v3
       with:
-        command: make clang-tidy-quiet
+        image: px4io/px4-dev-clang:2021-09-08
-        max_attempts: 3
+        options: -v ${{ github.workspace }}:/workspace
+        run: |
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          make clang-tidy-quiet

.github/workflows/compile_macos.yml

@@ -19,13 +19,11 @@ jobs:
           ]
     steps:
     - name: install Python 3.10
-      uses: actions/setup-python@v4
+      uses: actions/setup-python@v5
       with:
         python-version: "3.10"
 
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v4
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
 
     - name: setup
       run: ./Tools/setup/macos.sh; ./Tools/setup/macos.sh
@@ -37,7 +35,7 @@ jobs:
         string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
         message("::set-output name=timestamp::${current_date}")
     - name: ccache cache files
-      uses: actions/cache@v2
+      uses: actions/cache@v4
       with:
         path: ~/.ccache
         key: macos_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}

.github/workflows/ekf_functional_change_indicator.yml

@@ -1,21 +1,28 @@
 name: EKF Change Indicator
 
-on: pull_request
+on:
+  pull_request:
+    branches:
+    - '*'
 
 jobs:
   unit_tests:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
     steps:
-    - uses: actions/checkout@v2.3.1
+    - uses: actions/checkout@v4
       with:
         fetch-depth: 0
-    - name: checkout newest version of branch
+
-      run: |
-        git fetch origin pull/${{github.event.pull_request.number}}/head:${{github.head_ref}}
-        git checkout ${GITHUB_HEAD_REF}
     - name: main test
-      run: make tests TESTFILTER=EKF
+      uses: addnab/docker-run-action@v3
+      with:
+        image: px4io/px4-dev-base-focal:2021-09-08
+        options: -v ${{ github.workspace }}:/workspace
+        run: |
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          make tests TESTFILTER=EKF
+
     - name: Check if there is a functional change
       run: git diff --exit-code
       working-directory: src/modules/ekf2/test/change_indication

.github/workflows/ekf_update_change_indicator.yml

@@ -5,25 +5,40 @@ on: push
 jobs:
   unit_tests:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
     env:
       GIT_COMMITTER_EMAIL: bot@px4.io
       GIT_COMMITTER_NAME: PX4BuildBot
     steps:
-    - uses: actions/checkout@v2.3.1
+    - uses: actions/checkout@v4
       with:
         fetch-depth: 0
-    - name: main test updates change indication files
+
-      run: make tests TESTFILTER=EKF
+    - name: main test
+      uses: addnab/docker-run-action@v3
+      with:
+        image: px4io/px4-dev-base-focal:2021-09-08
+        options: -v ${{ github.workspace }}:/workspace
+        run: |
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          make tests TESTFILTER=EKF
+
     - name: Check if there exists diff and save result in variable
-      run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_ENV
+      id: diff-check
+      run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_OUTPUT
       working-directory: src/modules/ekf2/test/change_indication
+
     - name: auto-commit any changes to change indication
       uses: stefanzweifel/git-auto-commit-action@v4
       with:
-        commit_message: '[AUTO COMMIT] update change indication'
+        file_pattern: 'src/modules/ekf2/test/change_indication/*.csv'
         commit_user_name: ${GIT_COMMITTER_NAME}
         commit_user_email: ${GIT_COMMITTER_EMAIL}
-    - if: ${{env.CHANGE_INDICATED}}
+        commit_message: |
-      name: if there is a functional change, fail check
+          '[AUTO COMMIT] update change indication'
+
+          See .github/workflopws/ekf_update_change_indicator.yml for more details
+
+    - name: if there is a functional change, fail check
+      if: ${{ steps.diff-check.outputs.CHANGE_INDICATED }}
       run: exit 1

.github/workflows/failsafe_sim.yml

@@ -24,21 +24,23 @@ jobs:
       image: px4io/px4-dev-nuttx-focal:2022-08-12
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
-    - uses: actions/checkout@v1
+      - name: Install Node v20.18.0
-      with:
+        uses: actions/setup-node@v4
-        token: ${{ secrets.ACCESS_TOKEN }}
+        with:
+          node-version: 20.18.0
 
-    - name: check environment
+      - uses: actions/checkout@v4
-      run: |
+        with:
-          export
+          fetch-depth: 0
-          ulimit -a
+
-    - name: install emscripten
+      - name: Install empscripten
-      run: |
+        run: |
-        git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
+          git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
-        cd _emscripten_sdk
+          cd _emscripten_sdk
-        ./emsdk install latest
+          ./emsdk install latest
-        ./emsdk activate latest
+          ./emsdk activate latest
-    - name: ${{matrix.check}}
+
-      run: |
+      - name: Testing [${{ matrix.check }}]
-        . ./_emscripten_sdk/emsdk_env.sh
+        run: |
-        make ${{matrix.check}}
+          . ./_emscripten_sdk/emsdk_env.sh
+          make ${{ matrix.check }}

.github/workflows/mavros_mission_tests.yml

@@ -11,131 +11,26 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    env:
-      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
     strategy:
       fail-fast: false
       matrix:
         config:
-          - {vehicle: "iris",          mission: "MC_mission_box",  build_type: "RelWithDebInfo"}
+          - {vehicle: "iris",          mission: "MC_mission_box"}
-          - {vehicle: "rover",         mission: "rover_mission_1", build_type: "RelWithDebInfo"}
+          - {vehicle: "rover",         mission: "rover_mission_1"}
-          #- {vehicle: "plane",         mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
-          #- {vehicle: "plane_catapult",mission: "FW_mission_1",    build_type: "RelWithDebInfo"}
-          #- {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "Coverage"}
-          #- {vehicle: "standard_vtol", mission: "VTOL_mission_1",  build_type: "AddressSanitizer"}
-          #- {vehicle: "tailsitter",    mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
-          #- {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}
 
-    container:
-      image: px4io/px4-dev-ros-melodic:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v4
       with:
-        token: ${{ secrets.ACCESS_TOKEN }}
+        fetch-depth: 0
 
-    - name: Prepare ccache timestamp
+    - name: Build SITL and Run Tests
-      id: ccache_cache_timestamp
+      uses: addnab/docker-run-action@v3
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
       with:
-        path: ~/.ccache
+        image: px4io/px4-dev-ros-melodic:2021-09-08
-        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        options: -v ${{ github.workspace }}:/workspace
-        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
+        run: |
-    - name: setup ccache
+          cd /workspace
-      run: |
+          git config --global --add safe.directory /workspace
-          mkdir -p ~/.ccache
+          make px4_sitl_default
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          make px4_sitl_default sitl_gazebo-classic
-          echo "compression = true" >> ~/.ccache/ccache.conf
+          ./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: Build PX4 and sitl_gazebo-classic
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        ccache -z
-        make px4_sitl_default
-        make px4_sitl_default sitl_gazebo-classic
-        ccache -s
-
-    - name: Core dump settings
-      run: |
-          ulimit -c unlimited
-          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-    - name: Run SITL tests
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        export
-        ./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}
-      timeout-minutes: 45
-
-    - name: Look at core files
-      if: failure()
-      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-    - name: Upload px4 coredump
-      if: failure()
-      uses: actions/upload-artifact@v3
-      with:
-        name: coredump
-        path: px4.core
-
-    - name: ecl EKF analysis
-      if: always()
-      run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg || true
-
-    - name: Upload logs to flight review
-      if: always()
-      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
-
-    - name: Upload px4 binary
-      if: failure()
-      uses: actions/upload-artifact@v3
-      with:
-        name: binary
-        path: build/px4_sitl_default/bin/px4
-
-    - name: Store PX4 log
-      if: failure()
-      uses: actions/upload-artifact@v3
-      with:
-        name: px4_log
-        path: ~/.ros/log/*/*.ulg
-
-    - name: Store ROS log
-      if: failure()
-      uses: actions/upload-artifact@v3
-      with:
-        name: ros_log
-        path: ~/.ros/**/rostest-*.log
-
-    # Report test coverage
-    - name: Upload coverage
-      if: contains(matrix.config.build_type, 'Coverage')
-      run: |
-          git config --global credential.helper "" # disable the keychain credential helper
-          git config --global --add credential.helper store # enable the local store credential helper
-          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-          mkdir -p coverage
-          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
-    - name: Upload coverage information to Codecov
-      if: contains(matrix.config.build_type, 'Coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: mavros_mission
-        file: coverage/lcov.info

.github/workflows/mavros_offboard_tests.yml

@@ -17,120 +17,21 @@ jobs:
       fail-fast: false
       matrix:
         config:
-          - {test_file: "mavros_posix_tests_offboard_posctl.test",    vehicle: "iris", build_type: "RelWithDebInfo"}
+          - {test_file: "mavros_posix_tests_offboard_posctl.test",    vehicle: "iris"}
-          #- {test_file: "mavros_posix_tests_offboard_attctl.test",    vehicle: "iris", build_type: "RelWithDebInfo"}
-          #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}
 
-    container:
-      image: px4io/px4-dev-ros-melodic:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v4
       with:
-        token: ${{ secrets.ACCESS_TOKEN }}
+        fetch-depth: 0
 
-    - name: Prepare ccache timestamp
+    - name: Build PX4 and Run Tests
-      id: ccache_cache_timestamp
+      uses: addnab/docker-run-action@v3
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
       with:
-        path: ~/.ccache
+        image: px4io/px4-dev-ros-melodic:2021-09-08
-        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        options: -v ${{ github.workspace }}:/workspace
-        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
+        run: |
-    - name: setup ccache
+          cd /workspace
-      run: |
+          git config --global --add safe.directory /workspace
-          mkdir -p ~/.ccache
+          make px4_sitl_default
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          make px4_sitl_default sitl_gazebo-classic
-          echo "compression = true" >> ~/.ccache/ccache.conf
+          ./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: check environment
-      run: |
-          export
-          ulimit -a
-    - name: Build PX4 and sitl_gazebo-classic
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        ccache -z
-        make px4_sitl_default
-        make px4_sitl_default sitl_gazebo-classic
-        ccache -s
-
-    - name: Core dump settings
-      run: |
-          ulimit -c unlimited
-          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-    - name: Run SITL tests
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-        export
-        ./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}
-      timeout-minutes: 45
-
-    - name: Look at core files
-      if: failure()
-      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-    - name: Upload px4 coredump
-      if: failure()
-      uses: actions/upload-artifact@v3
-      with:
-        name: coredump
-        path: px4.core
-
-    - name: ecl EKF analysis
-      if: always()
-      run: ./Tools/ecl_ekf/process_logdata_ekf.py ~/.ros/log/*/*.ulg || true
-
-    - name: Upload logs to flight review
-      if: always()
-      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ~/.ros/log/*/*.ulg
-
-    - name: Upload px4 binary
-      if: failure()
-      uses: actions/upload-artifact@v3
-      with:
-        name: binary
-        path: build/px4_sitl_default/bin/px4
-
-    - name: Store PX4 log
-      if: failure()
-      uses: actions/upload-artifact@v3
-      with:
-        name: px4_log
-        path: ~/.ros/log/*/*.ulg
-
-    - name: Store ROS log
-      if: failure()
-      uses: actions/upload-artifact@v3
-      with:
-        name: ros_log
-        path: ~/.ros/**/rostest-*.log
-
-    # Report test coverage
-    - name: Upload coverage
-      if: contains(matrix.config.build_type, 'Coverage')
-      run: |
-          git config --global credential.helper "" # disable the keychain credential helper
-          git config --global --add credential.helper store # enable the local store credential helper
-          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-          mkdir -p coverage
-          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
-    - name: Upload coverage information to Codecov
-      if: contains(matrix.config.build_type, 'Coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: mavros_offboard
-        file: coverage/lcov.info

.github/workflows/nuttx_env_config.yml

@@ -11,22 +11,27 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2022-08-12
     strategy:
       matrix:
         config: [
-          px4_fmu-v5,
+          px4_fmu-v5_default,
           ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
 
-    - name: make ${{matrix.config}}
+    steps:
-      env:
+    - uses: actions/checkout@v4
-        PX4_EXTRA_NUTTX_CONFIG: "CONFIG_NSH_LOGIN_PASSWORD=\"test\";CONFIG_NSH_CONSOLE_LOGIN=y"
+      with:
-      run: |
+        fetch-depth: 0
-        echo "PX4_EXTRA_NUTTX_CONFIG: $PX4_EXTRA_NUTTX_CONFIG"
+
-        make ${{matrix.config}} nuttx_context
+    - name: Build PX4 and Run Test [${{ matrix.config }}]
-        # Check that the config option is set
+      uses: addnab/docker-run-action@v3
-        grep CONFIG_NSH_LOGIN_PASSWORD build/${{matrix.config}}_default/NuttX/nuttx/.config
+      with:
+        image: px4io/px4-dev-nuttx-focal:2022-08-12
+        options: -v ${{ github.workspace }}:/workspace
+        run: |
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          export PX4_EXTRA_NUTTX_CONFIG="CONFIG_NSH_LOGIN_PASSWORD=\"test\";CONFIG_NSH_CONSOLE_LOGIN=y"
+          echo "PX4_EXTRA_NUTTX_CONFIG: $PX4_EXTRA_NUTTX_CONFIG"
+          make ${{ matrix.config }} nuttx_context
+          echo "Check that the config option is set"
+          grep CONFIG_NSH_LOGIN_PASSWORD build/${{ matrix.config }}/NuttX/nuttx/.config

.github/workflows/python_checks.yml

@@ -12,14 +12,18 @@ jobs:
   build:
     runs-on: ubuntu-24.04
     steps:
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v4
       with:
-        token: ${{ secrets.ACCESS_TOKEN }}
+        fetch-depth: 0
+
     - name: Install Python3
       run: sudo apt-get install python3 python3-setuptools python3-pip -y
+
     - name: Install tools
       run: python3 -m pip install mypy types-requests flake8 --break-system-packages
+
     - name: Check MAVSDK test scripts with mypy
       run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
+
     - name: Check MAVSDK test scripts with flake8
       run: $HOME/.local/bin/flake8 test/mavsdk_tests/*.py