From 7f33dcfcfb1cbfad21790ec70e4b526737f2762b Mon Sep 17 00:00:00 2001 From: Ramon Roche Date: Wed, 21 Aug 2024 10:03:23 -0700 Subject: [PATCH] ci: upgrade sitl mavsdk tests workflow --- .github/workflows/sitl_tests.yml | 227 ++++++++++++++++--------------- 1 file changed, 121 insertions(+), 106 deletions(-) diff --git a/.github/workflows/sitl_tests.yml b/.github/workflows/sitl_tests.yml index 3282c797c5..58f35f3437 100644 --- a/.github/workflows/sitl_tests.yml +++ b/.github/workflows/sitl_tests.yml @@ -10,126 +10,141 @@ on: jobs: build: - runs-on: ubuntu-latest + name: Testing PX4 ${{ matrix.config.model }} + runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"] + # outputs: + # timestamp: ${{ steps.set-timestamp.outputs.timestamp }} + container: + image: px4io/px4-dev-simulation-focal:2021-09-08 + options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined strategy: fail-fast: false matrix: config: - {model: "iris", latitude: "59.617693", longitude: "-151.145316", altitude: "48", build_type: "RelWithDebInfo" } # Alaska - # - {model: "standard_vtol", latitude: "-38.071235", longitude: "145.281220", altitude: "31", build_type: "AddressSanitizer" } # Australia - {model: "tailsitter" , latitude: "29.660316", longitude: "-82.316658", altitude: "30", build_type: "RelWithDebInfo" } # Florida - {model: "standard_vtol", latitude: "47.397742", longitude: "8.545594", altitude: "488", build_type: "Coverage" } # Zurich - container: - image: px4io/px4-dev-simulation-focal:2021-09-08 - options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined steps: - - uses: actions/checkout@v1 - with: - token: ${{ secrets.ACCESS_TOKEN }} + - uses: actions/checkout@v4 + with: + fetch-depth: 0 - - name: Download MAVSDK - run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb" - - name: Install MAVSDK - run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb" + - name: Git Ownership Workaround + run: git config --system --add safe.directory '*' - - name: Prepare ccache timestamp - id: ccache_cache_timestamp - shell: cmake -P {0} - run: | - string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC) - message("::set-output name=timestamp::${current_date}") - - name: ccache cache files - uses: actions/cache@v2 - with: - path: ~/.ccache - key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}} - restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache- - - name: setup ccache - run: | - mkdir -p ~/.ccache - echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf - echo "compression = true" >> ~/.ccache/ccache.conf - echo "compression_level = 6" >> ~/.ccache/ccache.conf - echo "max_size = 100M" >> ~/.ccache/ccache.conf - echo "hash_dir = false" >> ~/.ccache/ccache.conf - ccache -s - ccache -z + - id: set-timestamp + name: Set timestamp for cache + run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")" - - name: check environment - env: - PX4_HOME_LAT: ${{matrix.config.latitude}} - PX4_HOME_LON: ${{matrix.config.longitude}} - PX4_HOME_ALT: ${{matrix.config.altitude}} - PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}} - run: | - export - ulimit -a - - name: Build PX4 - env: - PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}} - run: make px4_sitl_default - - name: ccache post-run px4/firmware - run: ccache -s - - name: Build SITL Gazebo - env: - PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}} - run: make px4_sitl_default sitl_gazebo-classic - - name: ccache post-run sitl_gazebo-classic - run: ccache -s - - name: Build MAVSDK tests - env: - PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}} - DONT_RUN: 1 - run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests - - name: ccache post-run mavsdk_tests - run: ccache -s + - name: Cache Key Config + uses: actions/cache@v4 + with: + path: ~/.ccache + key: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }} + restore-keys: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }} - - name: Core dump settings - run: | - ulimit -c unlimited - echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern + - name: Cache Conf Config + run: | + mkdir -p ~/.ccache + echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf + echo "compression = true" >> ~/.ccache/ccache.conf + echo "compression_level = 6" >> ~/.ccache/ccache.conf + echo "max_size = 120M" >> ~/.ccache/ccache.conf + echo "hash_dir = false" >> ~/.ccache/ccache.conf + ccache -s + ccache -z - - name: Run SITL tests - env: - PX4_HOME_LAT: ${{matrix.config.latitude}} - PX4_HOME_LON: ${{matrix.config.longitude}} - PX4_HOME_ALT: ${{matrix.config.altitude}} - PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}} - run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose - timeout-minutes: 45 + - name: Build PX4 + env: + PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}} + run: make px4_sitl_default - - 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@v2-preview - with: - name: coredump - path: px4.core + - name: Cache Post-Run [px4_sitl_default] + run: ccache -s - - name: Upload px4 binary - if: failure() - uses: actions/upload-artifact@v2-preview - with: - name: binary - path: build/px4_sitl_default/bin/px4 + - name: Build SITL Gazebo + env: + PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}} + run: make px4_sitl_default sitl_gazebo-classic - # Report test coverage - - name: Upload coverage - if: contains(matrix.config.build_type, 'Coverage') - run: | - git config --global credential.helper "" # disable the keychain credential helper - git config --global --add credential.helper store # enable the local store credential helper - echo "https://x-access-token:${{ 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: ${{ secrets.CODECOV_TOKEN }} - flags: mavsdk - file: coverage/lcov.info + - name: Cache Post-Run [sitl_gazebo-classic] + run: ccache -s + + - name: Download MAVSDK + run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb" + + - name: Install MAVSDK + run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb" + + - name: Check PX4 Environment Variables + env: + PX4_HOME_LAT: ${{matrix.config.latitude}} + PX4_HOME_LON: ${{matrix.config.longitude}} + PX4_HOME_ALT: ${{matrix.config.altitude}} + PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}} + run: | + export + ulimit -a + + - name: Build PX4 / MAVSDK tests + env: + PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}} + DONT_RUN: 1 + run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests + + - name: Cache Post-Run [px4_sitl_default sitl_gazebo-classic mavsdk_tests] + run: ccache -s + + - name: Core Dump Settings + run: | + ulimit -c unlimited + echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern + + - name: Run SITL / MAVSDK Tests + env: + PX4_HOME_LAT: ${{matrix.config.latitude}} + PX4_HOME_LON: ${{matrix.config.longitude}} + PX4_HOME_ALT: ${{matrix.config.altitude}} + PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}} + run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose + timeout-minutes: 45 + + - name: Upload failed logs + if: failure() + uses: actions/upload-artifact@v4 + with: + name: failed-${{matrix.config.model}}-logs.zip + path: | + logs/**/**/**/*.log + logs/**/**/**/*.ulg + build/px4_sitl_default/tmp_mavsdk_tests/rootfs/*.ulg + + - name: Look at Core files + if: failure() && ${{ hashFiles('px4.core') != '' }} + run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit" + + - name: Upload PX4 coredump + if: failure() && ${{ hashFiles('px4.core') != '' }} + uses: actions/upload-artifact@v4 + with: + name: coredump + path: px4.core + + - name: Setup & Generate Coverage Report + if: contains(matrix.config.build_type, 'Coverage') + run: | + git config --global credential.helper "" # disable the keychain credential helper + git config --global --add credential.helper store # enable the local store credential helper + echo "https://x-access-token:${{ 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@v4 + with: + token: ${{ secrets.CODECOV_TOKEN }} + flags: mavsdk + file: coverage/lcov.info