diff --git a/.clusterfuzzlite/Dockerfile b/.clusterfuzzlite/Dockerfile deleted file mode 100644 index 181031c695..0000000000 --- a/.clusterfuzzlite/Dockerfile +++ /dev/null @@ -1,7 +0,0 @@ -FROM gcr.io/oss-fuzz-base/base-builder:v1 -COPY . $SRC/PX4-Autopilot -RUN apt-get install -y libjpeg8-dev zlib1g-dev -RUN pip3 install --upgrade pip -RUN python3 -m pip install -r $SRC/PX4-Autopilot/Tools/setup/requirements.txt -WORKDIR $SRC/PX4-Autopilot -COPY ./.clusterfuzzlite/build.sh $SRC/ diff --git a/.clusterfuzzlite/build.sh b/.clusterfuzzlite/build.sh deleted file mode 100644 index ac0892c59f..0000000000 --- a/.clusterfuzzlite/build.sh +++ /dev/null @@ -1,4 +0,0 @@ -#!/usr/bin/env bash -eu - -PX4_FUZZ=1 make px4_sitl -cp build/px4_sitl_default/bin/px4 $OUT/px4 diff --git a/.clusterfuzzlite/project.yaml b/.clusterfuzzlite/project.yaml deleted file mode 100644 index b4788012b1..0000000000 --- a/.clusterfuzzlite/project.yaml +++ /dev/null @@ -1 +0,0 @@ -language: c++ diff --git a/.gitattributes b/.gitattributes index 6573a35b14..ec5d2b604d 100644 --- a/.gitattributes +++ b/.gitattributes @@ -72,6 +72,7 @@ Makefile.* text eol=lf *.tar binary *.tgz binary *.zip binary +*.hex binary # everything else .gitattributes text eol=lf diff --git a/.github/ISSUE_TEMPLATE/config.yml b/.github/ISSUE_TEMPLATE/config.yml index 92ab6b5184..6dd27384ad 100644 --- a/.github/ISSUE_TEMPLATE/config.yml +++ b/.github/ISSUE_TEMPLATE/config.yml @@ -3,6 +3,3 @@ contact_links: - name: Support Question url: https://docs.px4.io/main/en/contribute/support.html#forums-and-chat about: For questions about using PX4 or related components, please use the discuss forum and discord server - - name: Documentation Issue - url: https://github.com/PX4/PX4-user_guide/issues - about: If you found an issue in documentation, please submit it directly to the docs repository issues diff --git a/.github/ISSUE_TEMPLATE/docs_bug_report.yml b/.github/ISSUE_TEMPLATE/docs_bug_report.yml new file mode 100644 index 0000000000..8e53821e7e --- /dev/null +++ b/.github/ISSUE_TEMPLATE/docs_bug_report.yml @@ -0,0 +1,33 @@ +name: 📑 Documentation Bug report +description: Create a report to help us improve the docs +title: "[Docs] [Bug] " +labels: ["Documentation 📑"] +body: + - type: textarea + attributes: + label: Describe the bug + description: A clear and concise description of the bug. + placeholder: | + # A PR to fix the bug is often better than adding this issue! + # + # If you can't create a PR please provide the following: + # - What page and/or section has the problem + # - What is the problem - missing information, incorrect information? + # - Suggested fixes, links to corresponding code PRs + # - Any additional context + validations: + required: true + + - type: input + attributes: + label: Page URL + description: The URL of the problem page. + validations: + required: false + + - type: textarea + attributes: + label: Screenshot / Media + description: Add screenshot / media if you have them + validations: + required: false diff --git a/.github/labeler.yml b/.github/labeler.yml new file mode 100644 index 0000000000..e4d891c5c6 --- /dev/null +++ b/.github/labeler.yml @@ -0,0 +1,10 @@ +# Labeler configuration file for GitHub Actions +# The action is ./.github/workflows/label.yml +# Docs for the syntax in this file can be found at +# https://github.com/actions/labeler + + +# Add 'Documentation' label to any changes within 'docs' folder or any subfolders +"Documentation 📑": +- changed-files: + - any-glob-to-any-file: docs/** diff --git a/.github/workflows/build_all_targets.yml b/.github/workflows/build_all_targets.yml index e6d0ece289..ef3b4d1470 100644 --- a/.github/workflows/build_all_targets.yml +++ b/.github/workflows/build_all_targets.yml @@ -14,9 +14,17 @@ on: - 'stable' - 'beta' - 'release/**' + paths-ignore: + - 'docs/**' pull_request: branches: - - '*' + - '**' + paths-ignore: + - 'docs/**' + +concurrency: + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: true jobs: group_targets: @@ -26,7 +34,6 @@ jobs: outputs: matrix: ${{ steps.set-matrix.outputs.matrix }} timestamp: ${{ steps.set-timestamp.outputs.timestamp }} - tagname: ${{ steps.set-tag.outputs.tagname }} branchname: ${{ steps.set-branch.outputs.branchname }} steps: - uses: actions/checkout@v4 @@ -47,7 +54,13 @@ jobs: run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")" - id: set-branch - run: echo "::set-output name=branchname::${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}" + run: | + echo "branchname=${{ + github.event_name == 'pull_request' && + format('pr-{0}', github.event.pull_request.number) || + github.head_ref || + github.ref_name + }}" >> $GITHUB_OUTPUT - name: Debug Matrix Output if: runner.debug == '1' @@ -57,9 +70,9 @@ jobs: echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)" setup: - name: Build Group [${{ matrix.group }}] + name: Build Group [${{ matrix.group }}][${{ matrix.arch == 'nuttx' && 'x86' || 'arm64' }}] # runs-on: ubuntu-latest - runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false] + runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false] needs: group_targets strategy: matrix: ${{ fromJson(needs.group_targets.outputs.matrix) }} @@ -94,7 +107,7 @@ jobs: - name: Building [${{ matrix.group }}] run: | - ./Tools/ci/build_all_runner.sh ${{matrix.targets}} + ./Tools/ci/build_all_runner.sh ${{matrix.targets}} ${{matrix.arch}} - name: Arrange Build Artifacts run: | @@ -112,7 +125,7 @@ jobs: artifacts: name: Upload Artifacts to S3 # runs-on: ubuntu-latest - runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false] + runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false] needs: [setup, group_targets] if: contains(fromJSON('["main", "stable", "beta"]'), needs.group_targets.outputs.branchname) steps: @@ -140,10 +153,12 @@ jobs: release: name: Create Release and Upload Artifacts + permissions: + contents: write # runs-on: ubuntu-latest - runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false] + runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false] needs: [setup, group_targets] - if: startsWith(github.ref, 'refs/tags/v') + if: startsWith(github.ref, 'refs/tags/') steps: - name: Download Artifacts uses: actions/download-artifact@v4 diff --git a/.github/workflows/cflite_batch.yml b/.github/workflows/cflite_batch.yml deleted file mode 100644 index d1321cc6b7..0000000000 --- a/.github/workflows/cflite_batch.yml +++ /dev/null @@ -1,34 +0,0 @@ -name: ClusterFuzzLite batch fuzzing -on: - schedule: - - cron: '0 6 * * *' # UTC 6am every day. -permissions: read-all -jobs: - BatchFuzzing: - runs-on: ubuntu-latest - strategy: - fail-fast: false - matrix: - sanitizer: - - address - - undefined - - memory - steps: - - name: Build Fuzzers (${{ matrix.sanitizer }}) - id: build - uses: google/clusterfuzzlite/actions/build_fuzzers@v1 - with: - sanitizer: ${{ matrix.sanitizer }} - - name: Run Fuzzers (${{ matrix.sanitizer }}) - id: run - uses: google/clusterfuzzlite/actions/run_fuzzers@v1 - with: - github-token: ${{ secrets.GITHUB_TOKEN }} - fuzz-seconds: 1800 # 30 mins - mode: 'batch' - sanitizer: ${{ matrix.sanitizer }} - # Optional but recommended: For storing certain artifacts from fuzzing. - # See later section on "Git repo for storage". - # storage-repo: https://${{ secrets.PERSONAL_ACCESS_TOKEN }}@github.com/OWNER/STORAGE-REPO-NAME.git - # storage-repo-branch: main # Optional. Defaults to "main" - # storage-repo-branch-coverage: gh-pages # Optional. Defaults to "gh-pages". diff --git a/.github/workflows/checks.yml b/.github/workflows/checks.yml index 1e8d2238a1..66821d5e17 100644 --- a/.github/workflows/checks.yml +++ b/.github/workflows/checks.yml @@ -4,9 +4,17 @@ on: push: branches: - 'main' + paths-ignore: + - 'docs/**' pull_request: branches: - - '*' + - '**' + paths-ignore: + - 'docs/**' + +concurrency: + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: true jobs: build: @@ -35,7 +43,7 @@ jobs: - name: Building [${{ matrix.check }}] uses: addnab/docker-run-action@v3 with: - image: px4io/px4-dev-nuttx-focal:2022-08-12 + image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556 options: -v ${{ github.workspace }}:/workspace run: | cd /workspace diff --git a/.github/workflows/clang-tidy.yml b/.github/workflows/clang-tidy.yml index 89c1ffe1ec..9bb584a0b2 100644 --- a/.github/workflows/clang-tidy.yml +++ b/.github/workflows/clang-tidy.yml @@ -4,10 +4,13 @@ on: push: branches: - 'main' + paths-ignore: + - 'docs/**' pull_request: branches: - - '*' - + - '**' + paths-ignore: + - 'docs/**' jobs: build: runs-on: ubuntu-latest diff --git a/.github/workflows/compile_macos.yml b/.github/workflows/compile_macos.yml index c9b83bdfec..fe656ad450 100644 --- a/.github/workflows/compile_macos.yml +++ b/.github/workflows/compile_macos.yml @@ -4,9 +4,17 @@ on: push: branches: - 'main' + paths-ignore: + - 'docs/**' pull_request: branches: - - '*' + - '**' + paths-ignore: + - 'docs/**' + +concurrency: + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: true jobs: build: diff --git a/.github/workflows/compile_ubuntu.yml b/.github/workflows/compile_ubuntu.yml index 31d1a1e537..b213a5beaa 100644 --- a/.github/workflows/compile_ubuntu.yml +++ b/.github/workflows/compile_ubuntu.yml @@ -7,9 +7,20 @@ on: - 'stable' - 'beta' - 'release/**' + paths-ignore: + - 'docs/**' pull_request: branches: - - '*' + - '**' + paths-ignore: + - 'docs/**' + +env: + RUNS_IN_DOCKER: true + +concurrency: + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: true jobs: build_and_test: diff --git a/.github/workflows/dev_container.yml b/.github/workflows/dev_container.yml index b3f9542ead..a8dd32388e 100644 --- a/.github/workflows/dev_container.yml +++ b/.github/workflows/dev_container.yml @@ -1,4 +1,3 @@ - name: Container build on: @@ -12,27 +11,146 @@ on: - 'v*' pull_request: branches: - - '*' + - '**' + paths: + - '.github/workflows/dev_container.yml' + - 'Tools/setup/ubuntu.sh' + - 'Tools/setup/requirements.txt' + - 'Tools/setup/Dockerfile' + - 'Tools/setup/docker-entrypoint.sh' + workflow_dispatch: + inputs: + px4_version: + description: 'Container tag (e.g. v1.16.0)' + required: true + type: string + deploy_to_registry: + description: 'Whether to push built images to the registry' + required: false + type: boolean + default: false + +concurrency: + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: true jobs: - build: - name: Build and Push Container - runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false] + setup: + name: Set Tags and Variables + permissions: + contents: read + runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache] + outputs: + px4_version: ${{ steps.px4_version.outputs.px4_version }} + meta_tags: ${{ steps.meta.outputs.tags }} + meta_labels: ${{ steps.meta.outputs.labels }} steps: + - uses: runs-on/action@v1 - uses: actions/checkout@v4 with: fetch-tags: true submodules: false fetch-depth: 0 - - name: Set PX4 Tag - id: px4-tag + # If manual dispatch, take the user‐provided input + - name: Set PX4 Tag Version + id: px4_version run: | - echo "tag=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT + if [[ "${{ github.event_name }}" == "workflow_dispatch" ]]; then + echo "px4_version=${{ github.event.inputs.px4_version }}" >> $GITHUB_OUTPUT + else + echo "px4_version=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT + fi + + - name: Extract metadata (tags, labels) for Docker + id: meta + uses: docker/metadata-action@v5 + with: + images: | + ghcr.io/PX4/px4-dev + px4io/px4-dev + tags: | + type=raw,enable=true,value=${{ steps.px4_version.outputs.px4_version }},priority=1000 + + build: + name: Build Container (${{ matrix.arch }}) + permissions: + contents: read + packages: write + needs: setup + strategy: + matrix: + include: + - platform: linux/arm64 + arch: arm64 + runner: arm64 + - platform: linux/amd64 + arch: amd64 + runner: x64 + runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false,extras=s3-cache] + steps: + - uses: runs-on/action@v1 + - uses: actions/checkout@v4 + with: + fetch-tags: true + submodules: false + fetch-depth: 0 + + - name: Login to Docker Hub + uses: docker/login-action@v3 + if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }} + with: + username: ${{ secrets.DOCKERHUB_USERNAME }} + password: ${{ secrets.DOCKERHUB_TOKEN }} + + - name: Login to GitHub Container Registry + uses: docker/login-action@v3 + if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }} + with: + registry: ghcr.io + username: ${{ github.actor }} + password: ${{ secrets.GITHUB_TOKEN }} + + - name: Set up Docker Buildx + uses: docker/setup-buildx-action@v3 + with: + driver: docker-container + platforms: ${{ matrix.platform }} + + - name: Build and Load Container Image + uses: docker/build-push-action@v6 + id: docker + with: + context: Tools/setup + tags: | + ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }} + px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }} + labels: ${{ needs.setup.outputs.meta_labels }} + platforms: ${{ matrix.platform }} + load: false + push: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }} + provenance: false + cache-from: type=gha,version=1 + cache-to: type=gha,version=1,mode=max + + deploy: + name: Deploy To Registry + permissions: + contents: read + packages: write + runs-on: [runs-on,"runner=8cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache] + needs: [build, setup] + if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }} + steps: + - uses: runs-on/action@v1 + - uses: actions/checkout@v4 + with: + fetch-tags: true + submodules: false + fetch-depth: 0 - name: Login to Docker Hub uses: docker/login-action@v3 - if: github.event_name != 'pull_request' with: username: ${{ secrets.DOCKERHUB_USERNAME }} password: ${{ secrets.DOCKERHUB_TOKEN }} @@ -44,58 +162,31 @@ jobs: username: ${{ github.actor }} password: ${{ secrets.GITHUB_TOKEN }} - - name: Extract metadata (tags, labels) for Docker - id: meta - uses: docker/metadata-action@v5 - with: - images: | - ghcr.io/PX4/px4-dev - ${{ (github.event_name != 'pull_request') && 'px4io/px4-dev' || '' }} - tags: | - type=raw,enable=true,value=${{ steps.px4-tag.outputs.tag }},priority=1000 - - - name: Set up Docker Buildx - uses: docker/setup-buildx-action@v3 - - - name: Build and load container image - uses: docker/build-push-action@v6 - id: docker - with: - context: Tools/setup - tags: ${{ steps.meta.outputs.tags }} - labels: ${{ steps.meta.outputs.labels }} - platforms: | - linux/amd64 - load: true - push: false - cache-from: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }} - cache-to: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }},mode=max - - - name: Get Tag Name - id: tag_name + - name: Verify Images Exist Before Creating Manifest run: | - echo "::set-output name=tag_name::$(echo '${{ fromJSON(steps.docker.outputs.metadata)['image.name'] }}' | sed 's/,.*$//')" + docker manifest inspect px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 || echo "⚠️ Warning: No ARM64 image found!" + docker manifest inspect px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 || echo "⚠️ Warning: No AMD64 image found!" + docker manifest inspect ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 || echo "⚠️ Warning: No ARM64 image found!" + docker manifest inspect ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 || echo "⚠️ Warning: No AMD64 image found!" - - name: make quick_check - uses: addnab/docker-run-action@v3 - with: - image: ${{ steps.tag_name.outputs.tag_name }} - options: -v ${{ github.workspace }}:/workspace - run: | - cd /workspace - git config --global --add safe.directory /workspace - make px4_sitl_default - make px4_fmu-v6x_default + - name: Create and Push Multi-Arch Manifest for Docker Hub + run: | + docker manifest create px4io/px4-dev:${{ needs.setup.outputs.px4_version }} \ + --amend px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 \ + --amend px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 - - name: Push container image - uses: docker/build-push-action@v6 - with: - context: Tools/setup - tags: ${{ steps.meta.outputs.tags }} - labels: ${{ steps.meta.outputs.labels }} - platforms: | - linux/amd64 - provenance: mode=max - push: ${{ github.event_name != 'pull_request' }} - cache-from: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }} - cache-to: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }},mode=max + docker manifest annotate px4io/px4-dev:${{ needs.setup.outputs.px4_version }} px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 --arch arm64 + docker manifest annotate px4io/px4-dev:${{ needs.setup.outputs.px4_version }} px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 --arch amd64 + + docker manifest push px4io/px4-dev:${{ needs.setup.outputs.px4_version }} + + - name: Create and Push Multi-Arch Manifest for GHCR + run: | + docker manifest create ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} \ + --amend ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 \ + --amend ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 + + docker manifest annotate ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 --arch arm64 + docker manifest annotate ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 --arch amd64 + + docker manifest push ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} diff --git a/.github/workflows/docs_crowdin_download.yml b/.github/workflows/docs_crowdin_download.yml new file mode 100644 index 0000000000..9fef0afb0e --- /dev/null +++ b/.github/workflows/docs_crowdin_download.yml @@ -0,0 +1,55 @@ +name: Docs - Crowdin - Download Guide Translations + +# https://github.com/crowdin/github-action/tree/master + +on: + schedule: + - cron: '0 0 * * 0' # Runs every Sunday at 00:00 UTC + workflow_dispatch: + +permissions: + contents: write + pull-requests: write + +jobs: + synchronize-with-crowdin: + name: Synchronize with Crowdin + runs-on: ubuntu-latest + strategy: + fail-fast: false + max-parallel: 1 # Should be 1 to avoid parallel builds + matrix: + lc: [ko, uk, zh-CN] # Target languages https://developer.crowdin.com/language-codes/ + steps: + - name: Checkout + uses: actions/checkout@v4 + - name: Debug Environment Variables + run: | + echo "CROWDIN_PROJECT_ID: ${{ secrets.CROWDIN_DOCS_PROJECT_ID }}" + echo "CROWDIN_PERSONAL_TOKEN: ${{ secrets.PX4BUILDBOT_CROWDIN_PERSONAL_TOKEN }}" + - name: Matrix + uses: crowdin/github-action@v2 + with: + config: 'docs/crowdin_docs.yml' + upload_sources: false + upload_translations: false + download_translations: true + commit_message: New Crowdin translations - ${{ matrix.lc }} + localization_branch_name: l10n_crowdin_docs_translations_${{ matrix.lc }} + crowdin_branch_name: main + create_pull_request: true + pull_request_base_branch_name: 'main' + pull_request_title: New PX4 guide translations (Crowdin) - ${{ matrix.lc }} + pull_request_body: 'New PX4 guide Crowdin translations by [Crowdin GH Action](https://github.com/crowdin/github-action) for ${{ matrix.lc }}' + pull_request_labels: 'Documentation 📑' + pull_request_reviewers: hamishwillee + download_language: ${{ matrix.lc }} + env: + # A classic GitHub Personal Access Token with the 'repo' scope selected (the user should have write access to the repository). + GITHUB_TOKEN: ${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }} + + # A numeric ID, found at https://crowdin.com/project//tools/api + CROWDIN_PROJECT_ID: ${{ secrets.CROWDIN_DOCS_PROJECT_ID }} + + # Visit https://crowdin.com/settings#api-key to create this token + CROWDIN_PERSONAL_TOKEN: ${{ secrets.PX4BUILDBOT_CROWDIN_PERSONAL_TOKEN }} diff --git a/.github/workflows/docs_crowdin_upload.yml b/.github/workflows/docs_crowdin_upload.yml new file mode 100644 index 0000000000..f5ec87a367 --- /dev/null +++ b/.github/workflows/docs_crowdin_upload.yml @@ -0,0 +1,44 @@ +name: Docs - Crowdin - Upload Guide sources (en) + +# https://github.com/crowdin/github-action/tree/master + +on: + push: + branches: + - main + paths: + - 'docs/en/**' + #pull_request: + # types: + # - closed + # branches: + # - main + # paths: + # - 'docs/en/**' + workflow_dispatch: + +jobs: + upload-to-crowdin: + #if: github.event.pull_request.merged == true || github.event_name == 'push' || github.event_name == 'workflow_dispatch' + runs-on: ubuntu-latest + + steps: + - name: Checkout + uses: actions/checkout@v4 + - name: crowdin push + uses: crowdin/github-action@v2 + with: + config: 'docs/crowdin_docs.yml' + upload_sources: true + upload_translations: false + download_translations: false + crowdin_branch_name: main + env: + # A classic GitHub Personal Access Token with the 'repo' scope selected (the user should have write access to the repository). + GITHUB_TOKEN: ${{ secrets.PX4BUILDBOT_ACCESSTOKEN }} + + # A numeric ID, found at https://crowdin.com/project//tools/api + CROWDIN_PROJECT_ID: ${{ secrets.CROWDIN_DOCS_PROJECT_ID }} + + # Visit https://crowdin.com/settings#api-key to create this token + CROWDIN_PERSONAL_TOKEN: ${{ secrets.PX4BUILDBOT_CROWDIN_PERSONAL_TOKEN }} diff --git a/.github/workflows/docs_deploy.yml b/.github/workflows/docs_deploy.yml new file mode 100644 index 0000000000..369efbe2db --- /dev/null +++ b/.github/workflows/docs_deploy.yml @@ -0,0 +1,99 @@ +name: Docs - Deploy PX4 User Guide + +on: + push: + branches: + - 'main' + - 'release/**' + paths: + - 'docs/en/**' + pull_request: + branches: + - '**' + paths: + - 'docs/en/**' + + # Allows you to run this workflow manually from the Actions tab + workflow_dispatch: + +# Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages +permissions: + contents: read + pages: write + id-token: write + +# Allow only one concurrent deployment, skipping runs queued between the run in-progress and latest queued. +# However, do NOT cancel in-progress runs as we want to allow these production deployments to complete. +concurrency: + group: pages + cancel-in-progress: false + +env: + BRANCH_NAME: ${{ github.head_ref || github.ref_name }} + +jobs: + build: + runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache] + steps: + - uses: runs-on/action@v1 + - name: Checkout + uses: actions/checkout@v4 + + - name: Setup Node + uses: actions/setup-node@v4 + with: + node-version: 20 + cache: npm + # Specify the path to lock file for correct caching + cache-dependency-path: ./docs/yarn.lock + + - name: Install dependencies + run: yarn install --frozen-lockfile --cwd ./docs + + - name: Build with VitePress + working-directory: ./docs + run: | + npm run docs:build_ubuntu + touch .vitepress/dist/.nojekyll + npm run docs:sitemap + + - name: Upload artifact + if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }} + uses: actions/upload-artifact@v4 + with: + name: px4_docs_build + path: docs/.vitepress/dist/ + retention-days: 1 + + deploy: + if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }} + needs: build + runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false] + + steps: + - name: Download Artifact + uses: actions/download-artifact@v4 + with: + name: px4_docs_build + path: ~/_book + + - name: Deploy + run: | + git clone --single-branch --branch main --depth 1 https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/docs.px4.io.git + # make it an orphan branch + cd docs.px4.io + CURRENT_DATETIME=$(date +'%Y%m%d_%H_%M') + git checkout --orphan "${CURRENT_DATETIME}_main" + rm -rf ${BRANCH_NAME} + mkdir -p ${BRANCH_NAME} + cp -r ~/_book/* ${BRANCH_NAME}/ + git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}" + git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}" + git add . + git commit -a -m "PX4 docs build update (vitepress) `date`" + # push branch as backup + git push origin "${CURRENT_DATETIME}_main" + # Now make main from backup and push updated + git branch -D main + git checkout -b main + git push origin main -f diff --git a/.github/workflows/docs_flaw_checker.yml b/.github/workflows/docs_flaw_checker.yml new file mode 100644 index 0000000000..20f886c891 --- /dev/null +++ b/.github/workflows/docs_flaw_checker.yml @@ -0,0 +1,74 @@ +name: Docs - Check for flaws in PX4 Guide Source +# So far: + # Modifications of translations files + # Broken internal links + +on: + pull_request_target: + types: [opened, edited, synchronize] + paths: + - 'docs/en/**' + +jobs: + check_flaws: + runs-on: ubuntu-latest + steps: + - name: Checkout + uses: actions/checkout@v3 + with: + ref: ${{ github.event.pull_request.head.sha }} + + - name: Install Node.js + uses: actions/setup-node@v3 + with: + node-version: '18' + + - name: Create logs directory + run: | + mkdir logs + + - name: Get changed english doc files + id: get_changed_markdown_english + uses: tj-actions/changed-files@v35.9.2 + with: + json: true + base_sha: "${{ github.event.pull_request.base.sha }}" + sha: "${{ github.event.pull_request.head.sha }}" + # Below are used to output files to a directory. May use in flaw checker. + # write_output_files: true + # output_dir: "./logs" + files: | + docs/en/**/*.md + + - name: Save JSON file containing files to link check + run: | + echo "${{ steps.get_changed_markdown_english.outputs.all_changed_files }}" + echo "${{ steps.get_changed_markdown_english.outputs.all_changed_files }}" > ./logs/prFiles.json + + - name: Run link checker + id: link-check + run: | + npm -g install markdown_link_checker_sc@0.0.138 + markdown_link_checker_sc -r ${{ github.workspace }} -d docs -e en -f ./logs/prFiles.json -i assets -u docs.px4.io/main/ > ./logs/errorsFilteredByPrPages.md + mkdir -p ./pr + cp ./logs/errorsFilteredByPrPages.md ./pr/errorsFilteredByPrPages.md + + - name: Read errorsFilteredByPrPages.md file + id: read-errors-by-page + uses: juliangruber/read-file-action@v1 + with: + path: ./logs/errorsFilteredByPrPages.md + + - name: Echo Errors by Page + run: echo "${{ steps.read-errors-by-page.outputs.content }}" + + - name: Save PR number + env: + PR_NUMBER: ${{ github.event.number }} + run: | + #mkdir -p ./pr + echo $PR_NUMBER > ./pr/pr_number + - uses: actions/upload-artifact@v4 + with: + name: pr_number + path: pr/ diff --git a/.github/workflows/docs_pr_comment.yml b/.github/workflows/docs_pr_comment.yml new file mode 100644 index 0000000000..0d9b9a9066 --- /dev/null +++ b/.github/workflows/docs_pr_comment.yml @@ -0,0 +1,107 @@ +name: Docs - Comment Workflow +on: + workflow_run: + workflows: ["Docs - Check for flaws in PX4 Guide Source"] + types: + - completed +jobs: + comment: + permissions: + pull-requests: write # for marocchino/sticky-pull-request-comment + name: Comments + runs-on: ubuntu-latest + steps: + - name: 'Download PR artifact' + uses: actions/github-script@v6 + with: + script: | + let allArtifacts = await github.rest.actions.listWorkflowRunArtifacts({ + owner: context.repo.owner, + repo: context.repo.repo, + run_id: context.payload.workflow_run.id, + }); + let matchArtifact = allArtifacts.data.artifacts.filter((artifact) => { + return artifact.name == "pr_number" + })[0]; + let download = await github.rest.actions.downloadArtifact({ + owner: context.repo.owner, + repo: context.repo.repo, + artifact_id: matchArtifact.id, + archive_format: 'zip', + }); + let fs = require('fs'); + fs.writeFileSync(`${process.env.GITHUB_WORKSPACE}/pr_number.zip`, Buffer.from(download.data)); + + - name: 'Unzip artifact' + run: unzip pr_number.zip + + # Doesn't work across workflows + #- name: Get artifacts from flaw checker workflow + # uses: actions/download-artifact@v3 + # with: + # name: logs_and_errors + # #path: ./logs + + - name: Read errorsFilteredByPrPages.md file + id: read-errors-by-page + uses: juliangruber/read-file-action@v1 + with: + path: ./errorsFilteredByPrPages.md + + - name: Read PR number + id: read-error-pr-number + uses: juliangruber/read-file-action@v1 + with: + path: ./pr_number + + - name: File detail info + run: | + echo "${{ steps.read-errors-by-page.outputs.content }}" + echo "${{ steps.read-error-pr-number.outputs.content }}" + + - name: Create or update comment + id: comment_to_pr + uses: marocchino/sticky-pull-request-comment@v2 + with: + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + recreate: true + number: ${{ steps.read-error-pr-number.outputs.content }} + header: flaws + message: ${{ steps.read-errors-by-page.outputs.content || 'No flaws found' }} + + #- name: Dump GitHub context + # env: + # GITHUB_CONTEXT: ${{ toJSON(github) }} + # run: echo "$GITHUB_CONTEXT" + + # Would like to do this, but it doesn't work (for me). + # Moving to time-based, or triggering on workflow + #- name: Wait for artifacts upload to succeed + # uses: lewagon/wait-on-check-action@v1.3.1 + # with: + # ref: ${{ github.ref }} + # check-name: 'Archive production artifacts' + # repo-token: ${{ secrets.GITHUB_TOKEN }} + # wait-interval: 80 + + # Not needed for now - trying to trigger off the workflow + #- name: Sleep for 80 seconds + # run: sleep 80s + # shell: bash + #- name: Find Comment + # uses: peter-evans/find-comment@v2 + # id: fc + # with: + # issue-number: ${{ steps.read-error-pr-number.outputs.content }} + # comment-author: 'github-actions[bot]' + # body-includes: Flaws (may be none) + + #- name: Create or update comment + # uses: peter-evans/create-or-update-comment@v3 + # with: + # comment-id: ${{ steps.fc.outputs.comment-id }} + # issue-number: ${{ steps.read-error-pr-number.outputs.content }} + # body: | + # Flaws (may be none) + # ${{ steps.read-errors-by-page.outputs.content }} + # edit-mode: replace diff --git a/.github/workflows/ekf_functional_change_indicator.yml b/.github/workflows/ekf_functional_change_indicator.yml index 7fa9a834aa..d84572386e 100644 --- a/.github/workflows/ekf_functional_change_indicator.yml +++ b/.github/workflows/ekf_functional_change_indicator.yml @@ -3,7 +3,14 @@ name: EKF Change Indicator on: pull_request: branches: - - '*' + - '**' + paths-ignore: + - 'docs/**' + +# If two events are triggered within a short time in the same PR, cancel the run of the oldest event +concurrency: + group: ${{ github.workflow }}-${{ github.event.pull_request.number }} + cancel-in-progress: true jobs: unit_tests: @@ -16,7 +23,7 @@ jobs: - name: main test uses: addnab/docker-run-action@v3 with: - image: px4io/px4-dev-base-focal:2021-09-08 + image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556 options: -v ${{ github.workspace }}:/workspace run: | cd /workspace diff --git a/.github/workflows/ekf_update_change_indicator.yml b/.github/workflows/ekf_update_change_indicator.yml index ecf4f2a564..991dfd397b 100644 --- a/.github/workflows/ekf_update_change_indicator.yml +++ b/.github/workflows/ekf_update_change_indicator.yml @@ -1,6 +1,9 @@ name: EKF Update Change Indicator -on: push +on: + push: + paths-ignore: + - 'docs/**' jobs: unit_tests: @@ -16,7 +19,7 @@ jobs: - name: main test uses: addnab/docker-run-action@v3 with: - image: px4io/px4-dev-base-focal:2021-09-08 + image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556 options: -v ${{ github.workspace }}:/workspace run: | cd /workspace diff --git a/.github/workflows/failsafe_sim.yml b/.github/workflows/failsafe_sim.yml index 6210b713dc..edf3d1cd67 100644 --- a/.github/workflows/failsafe_sim.yml +++ b/.github/workflows/failsafe_sim.yml @@ -4,9 +4,17 @@ on: push: branches: - 'main' + paths-ignore: + - 'docs/**' pull_request: branches: - - '*' + - '**' + paths-ignore: + - 'docs/**' + +concurrency: + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: true jobs: build: @@ -21,7 +29,7 @@ jobs: "failsafe_web", ] container: - image: px4io/px4-dev-nuttx-focal:2022-08-12 + image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556 options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined steps: - name: Install Node v20.18.0 @@ -33,6 +41,9 @@ jobs: with: fetch-depth: 0 + - name: Git ownership workaround + run: git config --system --add safe.directory '*' + - name: Install empscripten run: | git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk diff --git a/.github/workflows/flash_analysis.yml b/.github/workflows/flash_analysis.yml index 8ab97fdda8..e909e24822 100644 --- a/.github/workflows/flash_analysis.yml +++ b/.github/workflows/flash_analysis.yml @@ -1,12 +1,21 @@ name: FLASH usage analysis +permissions: + contents: read + pull-requests: write + issues: write + on: push: branches: - 'main' + paths-ignore: + - 'docs/**' pull_request: branches: - - '*' + - '**' + paths-ignore: + - 'docs/**' env: MIN_FLASH_POS_DIFF_FOR_COMMENT: 50 @@ -17,7 +26,7 @@ jobs: name: Analyzing ${{ matrix.target }} runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false] container: - image: px4io/px4-dev-nuttx-focal + image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556 strategy: matrix: target: [px4_fmu-v5x, px4_fmu-v6x] @@ -69,7 +78,7 @@ jobs: id: bloaty-step with: bloaty-file-args: ./with-change.elf -- ./before-change.elf - bloaty-additional-args: -d sections,compileunits -s vm -n 20 + bloaty-additional-args: -d sections,symbols -s vm -n 20 output-to-summary: true - name: Generate output @@ -83,6 +92,9 @@ jobs: echo '${{ steps.bloaty-step.outputs.bloaty-summary-map }}' >> $GITHUB_OUTPUT echo "$EOF" >> $GITHUB_OUTPUT + # TODO: + # This part of the workflow is causing errors for forks. We should find a way to fix this and enable it again for forks. + # Track this issue https://github.com/PX4/PX4-Autopilot/issues/24408 post_pr_comment: name: Publish Results runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false] @@ -92,7 +104,7 @@ jobs: V5X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-percentage) }} V6X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-absolute) }} V6X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-percentage) }} - if: ${{ github.event.pull_request }} + if: github.event.pull_request && github.event.pull_request.head.repo.full_name == github.repository steps: - name: Find Comment uses: peter-evans/find-comment@v3 diff --git a/.github/workflows/fuzzing.yml b/.github/workflows/fuzzing.yml new file mode 100644 index 0000000000..f8af6a6ab2 --- /dev/null +++ b/.github/workflows/fuzzing.yml @@ -0,0 +1,38 @@ +name: Fuzzing +on: + schedule: + - cron: '0 6 * * *' # UTC 6am every day. + +permissions: + contents: read + +env: + RUNS_IN_DOCKER: true + +jobs: + Fuzzing: + runs-on: ubuntu-latest + container: + image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556 + steps: + - name: Install Dependencies + run: | + apt update && apt install -y clang + + - name: Fix git in Container + run: | + git config --global --add safe.directory $(realpath .) + + - uses: actions/checkout@v4 + + - name: Build and Run Fuzz Tests + run: | + # Only build the tests + export CC=clang + export CXX=clang++ + make tests TESTFILTER=__no_tests__ + + # Run the fuzz tests + for fuzz_binary in build/px4_sitl_test/*fuzz*; do + ./Tools/ci/run_fuzz_tests.sh $fuzz_binary 15m + done diff --git a/.github/workflows/itcm_check.yml b/.github/workflows/itcm_check.yml new file mode 100644 index 0000000000..f6d5c4fd8c --- /dev/null +++ b/.github/workflows/itcm_check.yml @@ -0,0 +1,63 @@ +name: ITCM check + +permissions: + contents: read + +on: + push: + branches: + - 'main' + paths-ignore: + - 'docs/**' + pull_request: + branches: + - '**' + paths-ignore: + - 'docs/**' + +concurrency: + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: true + +jobs: + check_itcm: + name: Checking ${{ matrix.target }} + runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false] + container: + image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556 + strategy: + fail-fast: false + matrix: + include: + - target: px4_fmu-v5x + scripts: > + boards/px4/fmu-v5x/nuttx-config/scripts/itcm_gen_functions.ld + boards/px4/fmu-v5x/nuttx-config/scripts/itcm_static_functions.ld + - target: px4_fmu-v6xrt + scripts: > + boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld + boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_static_functions.ld + - target: nxp_tropic-community + scripts: > + boards/nxp/tropic-community/nuttx-config/scripts/itcm_functions_includes.ld + boards/nxp/tropic-community/nuttx-config/scripts/itcm_static_functions.ld + steps: + - uses: actions/checkout@v4 + with: + fetch-depth: 0 + submodules: recursive + + - name: Git ownership workaround + run: git config --system --add safe.directory '*' + + - name: Build Target + run: make ${{ matrix.target }} + + - name: Copy built ELF + run: cp ./build/**/*.elf ./built.elf + + - name: Install itcm-check dependencies + run: pip3 install -r Tools/setup/optional-requirements.txt --break-system-packages + + - name: Execute the itcm-check + run: python3 Tools/itcm_check.py --elf-file built.elf --script-files ${{ matrix.scripts }} diff --git a/.github/workflows/label.yml b/.github/workflows/label.yml new file mode 100644 index 0000000000..1a69cfdbf5 --- /dev/null +++ b/.github/workflows/label.yml @@ -0,0 +1,21 @@ +# This workflow will triage pull requests and apply a label based on the +# paths that are modified in the pull request. +# The paths are set up in .github/labeler.yml +# +# See: https://github.com/actions/labeler + +name: Labeler +on: [pull_request_target] + +jobs: + label: + + runs-on: ubuntu-latest + permissions: + contents: read + pull-requests: write + + steps: + - uses: actions/labeler@v5 + with: + repo-token: "${{ secrets.GITHUB_TOKEN }}" diff --git a/.github/workflows/mavros_mission_tests.yml b/.github/workflows/mavros_mission_tests.yml index b2807f988f..c5d50109b6 100644 --- a/.github/workflows/mavros_mission_tests.yml +++ b/.github/workflows/mavros_mission_tests.yml @@ -4,9 +4,17 @@ on: push: branches: - 'main' + paths-ignore: + - 'docs/**' pull_request: branches: - - '*' + - '**' + paths-ignore: + - 'docs/**' + +concurrency: + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: true jobs: build: @@ -16,7 +24,6 @@ jobs: matrix: config: - {vehicle: "iris", mission: "MC_mission_box"} - - {vehicle: "rover", mission: "rover_mission_1"} steps: - uses: actions/checkout@v4 diff --git a/.github/workflows/mavros_offboard_tests.yml b/.github/workflows/mavros_offboard_tests.yml index a968af24ef..2aaf21e95b 100644 --- a/.github/workflows/mavros_offboard_tests.yml +++ b/.github/workflows/mavros_offboard_tests.yml @@ -4,9 +4,17 @@ on: push: branches: - 'main' + paths-ignore: + - 'docs/**' pull_request: branches: - - '*' + - '**' + paths-ignore: + - 'docs/**' + +concurrency: + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: true jobs: build: diff --git a/.github/workflows/nuttx_env_config.yml b/.github/workflows/nuttx_env_config.yml index 4a655ffc7a..791f2fbf4c 100644 --- a/.github/workflows/nuttx_env_config.yml +++ b/.github/workflows/nuttx_env_config.yml @@ -4,9 +4,17 @@ on: push: branches: - 'main' + paths-ignore: + - 'docs/**' pull_request: branches: - - '*' + - '**' + paths-ignore: + - 'docs/**' + +concurrency: + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: true jobs: build: @@ -25,7 +33,7 @@ jobs: - name: Build PX4 and Run Test [${{ matrix.config }}] uses: addnab/docker-run-action@v3 with: - image: px4io/px4-dev-nuttx-focal:2022-08-12 + image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556 options: -v ${{ github.workspace }}:/workspace run: | cd /workspace diff --git a/.github/workflows/python_checks.yml b/.github/workflows/python_checks.yml index 3c273ba124..c0fdc73e8b 100644 --- a/.github/workflows/python_checks.yml +++ b/.github/workflows/python_checks.yml @@ -4,9 +4,13 @@ on: push: branches: - 'main' + paths-ignore: + - 'docs/**' pull_request: branches: - - '*' + - '**' + paths-ignore: + - 'docs/**' jobs: build: diff --git a/.github/workflows/ros_integration_tests.yml b/.github/workflows/ros_integration_tests.yml new file mode 100644 index 0000000000..e15aa081e7 --- /dev/null +++ b/.github/workflows/ros_integration_tests.yml @@ -0,0 +1,131 @@ +# NOTE: this workflow is now running on Dronecode / PX4 AWS account. +# - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines +# and comment the "runs-on: [runs-on,runner=..." lines. +# - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com + +name: ROS Integration Tests + +on: + push: + branches: + - 'main' + paths-ignore: + - 'docs/**' + pull_request: + branches: + - '**' + paths-ignore: + - 'docs/**' + +concurrency: + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: true + +jobs: + build: + runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false] + container: + image: px4io/px4-dev-ros2-galactic:2021-09-08 + options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined + steps: + - uses: actions/checkout@v4 + with: + fetch-depth: 0 + + - name: Git Ownership Workaround + run: git config --system --add safe.directory '*' + + - name: Update ROS Keys + run: | + sudo rm /etc/apt/sources.list.d/ros2.list && \ + sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \ + echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null + + - name: Install gazebo + run: | + apt update && apt install -y gazebo11 libgazebo11-dev gstreamer1.0-plugins-bad gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-ugly libgstreamer-plugins-base1.0-dev + + - name: Prepare ccache timestamp + id: ccache_cache_timestamp + shell: cmake -P {0} + run: | + string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC) + message("::set-output name=timestamp::${current_date}") + - name: ccache cache files + uses: actions/cache@v4 + with: + path: ~/.ccache + key: ros_integration_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}} + restore-keys: ros_integration_tests-${{matrix.config.build_type}}-ccache- + - name: setup ccache + run: | + mkdir -p ~/.ccache + echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf + echo "compression = true" >> ~/.ccache/ccache.conf + echo "compression_level = 6" >> ~/.ccache/ccache.conf + echo "max_size = 300M" >> ~/.ccache/ccache.conf + echo "hash_dir = false" >> ~/.ccache/ccache.conf + ccache -s + ccache -z + + - name: Get and build micro-xrce-dds-agent + run: | + cd /opt + git clone --recursive https://github.com/eProsima/Micro-XRCE-DDS-Agent.git + cd Micro-XRCE-DDS-Agent + git checkout v2.2.1 # recent versions require cmake 3.22, but px4-dev-ros2-galactic:2021-09-08 is on 3.16 + sed -i 's/_fastdds_tag 2.8.x/_fastdds_tag 2.8.2/g' CMakeLists.txt + mkdir build + cd build + cmake .. + make -j2 + - name: ccache post-run micro-xrce-dds-agent + run: ccache -s + + - name: Get and build the ros2 interface library + shell: bash + run: | + PX4_DIR="$(pwd)" + . /opt/ros/galactic/setup.bash + mkdir -p /opt/px4_ws/src + cd /opt/px4_ws/src + git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib.git + cd .. + # Copy messages to ROS workspace + "${PX4_DIR}/Tools/copy_to_ros_ws.sh" "$(pwd)" + rm -rf src/translation_node src/px4_msgs_old + colcon build --symlink-install + - name: ccache post-run ros workspace + run: ccache -s + + - name: Build PX4 + run: make px4_sitl_default + - name: ccache post-run px4/firmware + run: ccache -s + - name: Build SITL Gazebo + run: make px4_sitl_default sitl_gazebo-classic + - name: ccache post-run sitl_gazebo-classic + run: ccache -s + + - name: Core dump settings + run: | + ulimit -c unlimited + echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern + + - name: Run tests + shell: bash + run: | + . /opt/px4_ws/install/setup.bash + /opt/Micro-XRCE-DDS-Agent/build/MicroXRCEAgent udp4 localhost -p 8888 -v 0 & + test/ros_test_runner.py --verbose --model iris --upload --force-color + timeout-minutes: 45 + + - name: Upload failed logs + if: failure() + uses: actions/upload-artifact@v4 + with: + name: failed-logs.zip + path: | + logs/**/**/**/*.log + logs/**/**/**/*.ulg + build/px4_sitl_default/tmp_ros_tests/rootfs/log/**/*.ulg diff --git a/.github/workflows/ros_translation_node.yml b/.github/workflows/ros_translation_node.yml index 5a65064edb..9b161dae90 100644 --- a/.github/workflows/ros_translation_node.yml +++ b/.github/workflows/ros_translation_node.yml @@ -3,12 +3,21 @@ on: push: branches: - 'main' + paths-ignore: + - 'docs/**' pull_request: branches: - - '*' + - '**' + paths-ignore: + - 'docs/**' defaults: run: shell: bash + +concurrency: + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: true + jobs: build_and_test: name: Build and test diff --git a/.github/workflows/sitl_tests.yml b/.github/workflows/sitl_tests.yml index 3d326cda50..6dc6eccd2d 100644 --- a/.github/workflows/sitl_tests.yml +++ b/.github/workflows/sitl_tests.yml @@ -9,9 +9,17 @@ on: push: branches: - 'main' + paths-ignore: + - 'docs/**' pull_request: branches: - - '*' + - '**' + paths-ignore: + - 'docs/**' + +concurrency: + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: true jobs: build: @@ -110,7 +118,7 @@ jobs: 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 10 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose + run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose --force-color timeout-minutes: 45 - name: Upload failed logs @@ -121,7 +129,7 @@ jobs: path: | logs/**/**/**/*.log logs/**/**/**/*.ulg - build/px4_sitl_default/tmp_mavsdk_tests/rootfs/*.ulg + build/px4_sitl_default/tmp_mavsdk_tests/rootfs/log/**/*.ulg - name: Look at Core files if: failure() && ${{ hashFiles('px4.core') != '' }} diff --git a/.gitignore b/.gitignore index 165a8e361c..f90db3cf6f 100644 --- a/.gitignore +++ b/.gitignore @@ -108,3 +108,4 @@ src/systemcmds/topic_listener/listener_generated.cpp # colcon log/ +keys/ diff --git a/.gitmodules b/.gitmodules index 1ebafcf5a4..081c2ca994 100644 --- a/.gitmodules +++ b/.gitmodules @@ -89,3 +89,6 @@ [submodule "src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan"] path = src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan url = https://github.com/dronecan/pydronecan +[submodule "test/fuzztest"] + path = test/fuzztest + url = https://github.com/google/fuzztest.git diff --git a/.vscode/cmake-variants.yaml b/.vscode/cmake-variants.yaml index 03968a6e06..3fa3fb9e2e 100644 --- a/.vscode/cmake-variants.yaml +++ b/.vscode/cmake-variants.yaml @@ -6,6 +6,11 @@ CONFIG: buildType: RelWithDebInfo settings: CONFIG: px4_sitl_default + px4_sitl_spacecraft: + short: px4_sitl_spacecraft + buildType: RelWithDebInfo + settings: + CONFIG: px4_sitl_spacecraft px4_sitl_nolockstep: short: px4_sitl_nolockstep buildType: RelWithDebInfo @@ -231,6 +236,11 @@ CONFIG: buildType: MinSizeRel settings: CONFIG: bitcraze_crazyflie_default + bluerobotics_navigator_default: + short: bluerobotics_navigator + buildType: MinSizeRel + settings: + CONFIG: bluerobotics_navigator_default cuav_can-gps-v1_default: short: cuav_can-gps-v1_default buildType: MinSizeRel @@ -296,6 +306,16 @@ CONFIG: buildType: MinSizeRel settings: CONFIG: holybro_durandal-v1_default + holybro_kakuteh7-wing_default: + short: holybro_kakuteh7-wing + buildType: MinSizeRel + settings: + CONFIG: holybro_kakuteh7-wing_default + holybro_kakuteh7dualimu_default: + short: holybro_kakuteh7dualimu + buildType: MinSizeRel + settings: + CONFIG: holybro_kakuteh7dualimu_default matek_h743-slim_default: short: matek_h743-slim buildType: MinSizeRel diff --git a/CMakeLists.txt b/CMakeLists.txt index 55362b1425..d827f7a8c8 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -99,7 +99,7 @@ # #============================================================================= -cmake_minimum_required(VERSION 3.9 FATAL_ERROR) +cmake_minimum_required(VERSION 3.10 FATAL_ERROR) set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}" CACHE FILEPATH "PX4 source directory" FORCE) set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE FILEPATH "PX4 binary directory" FORCE) @@ -334,6 +334,33 @@ if(NOT PX4_CHIP) message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP") endif() +#============================================================================= +# Testing - Automatic unit and integration testing with CTest +# (Needs to be before setting the common compile flags) +# + +# optionally enable cmake testing (supported only on posix) +option(CMAKE_TESTING "Configure test targets" OFF) +if(${PX4_CONFIG} STREQUAL "px4_sitl_test") + set(CMAKE_TESTING ON) +endif() +if(CMAKE_TESTING) + include(CTest) # sets BUILD_TESTING variable +endif() + +# enable test filtering to run only specific tests with the ctest -R regex functionality +set(TESTFILTER "" CACHE STRING "Filter string for ctest to selectively only run specific tests (ctest -R)") + +include(px4_add_gtest) +if(BUILD_TESTING) + # Setting FUZZTEST_FUZZING_MODE=on enables ASAN, and is only supported with Clang + if (("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang") OR ("${CMAKE_CXX_COMPILER_ID}" MATCHES "AppleClang")) + set(FUZZTEST_FUZZING_MODE ON) + endif() + add_subdirectory(test) + fuzztest_setup_fuzzing_flags() +endif() + #============================================================================= # build flags # @@ -386,47 +413,6 @@ if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "") endforeach() endif() -#============================================================================= -# Testing - Automatic unit and integration testing with CTest -# - -# optionally enable cmake testing (supported only on posix) -option(CMAKE_TESTING "Configure test targets" OFF) -if(${PX4_CONFIG} STREQUAL "px4_sitl_test") - set(CMAKE_TESTING ON) -endif() -if(CMAKE_TESTING) - include(CTest) # sets BUILD_TESTING variable -endif() - -# enable test filtering to run only specific tests with the ctest -R regex functionality -set(TESTFILTER "" CACHE STRING "Filter string for ctest to selectively only run specific tests (ctest -R)") - -# if testing is enabled download and configure gtest -list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/gtest/) -include(px4_add_gtest) -if(BUILD_TESTING) - include(gtest) - - # Ensure there's no -R without any filter expression since that trips newer ctest versions - if(TESTFILTER) - set(TESTFILTERARG "-R") - else() - set(TESTFILTERARG "") - endif() - - add_custom_target(test_results - COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test ${TESTFILTERARG} ${TESTFILTER} - DEPENDS - px4 - examples__dyn_hello - USES_TERMINAL - COMMENT "Running tests" - WORKING_DIRECTORY ${PX4_BINARY_DIR}) - set_target_properties(test_results PROPERTIES EXCLUDE_FROM_ALL TRUE) -endif() - - #============================================================================= # subdirectories # @@ -496,7 +482,6 @@ add_custom_target(uorb_graph DEPENDS ${uorb_graph_config}) include(bloaty) -include(doxygen) include(metadata) include(package) diff --git a/Documentation/Doxyfile.in b/Documentation/Doxyfile.in deleted file mode 100644 index 979366b838..0000000000 --- a/Documentation/Doxyfile.in +++ /dev/null @@ -1,2446 +0,0 @@ -# Doxyfile 1.8.11 - -# This file describes the settings to be used by the documentation system -# doxygen (www.doxygen.org) for a project. -# -# All text after a double hash (##) is considered a comment and is placed in -# front of the TAG it is preceding. -# -# All text after a single hash (#) is considered a comment and will be ignored. -# The format is: -# TAG = value [value, ...] -# For lists, items can also be appended using: -# TAG += value [value, ...] -# Values that contain spaces should be placed between quotes (\" \"). - -#--------------------------------------------------------------------------- -# Project related configuration options -#--------------------------------------------------------------------------- - -# This tag specifies the encoding used for all characters in the config file -# that follow. The default is UTF-8 which is also the encoding used for all text -# before the first occurrence of this tag. Doxygen uses libiconv (or the iconv -# built into libc) for the transcoding. See http://www.gnu.org/software/libiconv -# for the list of possible encodings. -# The default value is: UTF-8. - -DOXYFILE_ENCODING = UTF-8 - -# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by -# double-quotes, unless you are using Doxywizard) that should identify the -# project for which the documentation is generated. This name is used in the -# title of most generated pages and in a few other places. -# The default value is: My Project. - -PROJECT_NAME = "PX4 Firmware" - -# The PROJECT_NUMBER tag can be used to enter a project or revision number. This -# could be handy for archiving the generated documentation or if some version -# control system is used. - -PROJECT_NUMBER = - -# Using the PROJECT_BRIEF tag one can provide an optional one line description -# for a project that appears at the top of each page and should give viewer a -# quick idea about the purpose of the project. Keep the description short. - -PROJECT_BRIEF = "PX4 Autopilot Software http://px4.io" - -# With the PROJECT_LOGO tag one can specify a logo or an icon that is included -# in the documentation. The maximum height of the logo should not exceed 55 -# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy -# the logo to the output directory. - -PROJECT_LOGO = - -# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path -# into which the generated documentation will be written. If a relative path is -# entered, it will be relative to the location where doxygen was started. If -# left blank the current directory will be used. - -OUTPUT_DIRECTORY = - -# If the CREATE_SUBDIRS tag is set to YES then doxygen will create 4096 sub- -# directories (in 2 levels) under the output directory of each output format and -# will distribute the generated files over these directories. Enabling this -# option can be useful when feeding doxygen a huge amount of source files, where -# putting all generated files in the same directory would otherwise causes -# performance problems for the file system. -# The default value is: NO. - -CREATE_SUBDIRS = YES - -# If the ALLOW_UNICODE_NAMES tag is set to YES, doxygen will allow non-ASCII -# characters to appear in the names of generated files. 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Doxygen will then generate output that is tailored for VHDL. -# The default value is: NO. - -OPTIMIZE_OUTPUT_VHDL = NO - -# Doxygen selects the parser to use depending on the extension of the files it -# parses. With this tag you can assign which parser to use for a given -# extension. Doxygen has a built-in mapping, but you can override or extend it -# using this tag. The format is ext=language, where ext is a file extension, and -# language is one of the parsers supported by doxygen: IDL, Java, Javascript, -# C#, C, C++, D, PHP, Objective-C, Python, Fortran (fixed format Fortran: -# FortranFixed, free formatted Fortran: FortranFree, unknown formatted Fortran: -# Fortran. In the later case the parser tries to guess whether the code is fixed -# or free formatted code, this is the default for Fortran type files), VHDL. For -# instance to make doxygen treat .inc files as Fortran files (default is PHP), -# and .f files as C (default is Fortran), use: inc=Fortran f=C. -# -# Note: For files without extension you can use no_extension as a placeholder. -# -# Note that for custom extensions you also need to set FILE_PATTERNS otherwise -# the files are not read by doxygen. - -EXTENSION_MAPPING = - -# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments -# according to the Markdown format, which allows for more readable -# documentation. See http://daringfireball.net/projects/markdown/ for details. -# The output of markdown processing is further processed by doxygen, so you can -# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in -# case of backward compatibilities issues. -# The default value is: YES. - -MARKDOWN_SUPPORT = YES - -# When enabled doxygen tries to link words that correspond to documented -# classes, or namespaces to their corresponding documentation. Such a link can -# be prevented in individual cases by putting a % sign in front of the word or -# globally by setting AUTOLINK_SUPPORT to NO. -# The default value is: YES. - -AUTOLINK_SUPPORT = YES - -# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want -# to include (a tag file for) the STL sources as input, then you should set this -# tag to YES in order to let doxygen match functions declarations and -# definitions whose arguments contain STL classes (e.g. func(std::string); -# versus func(std::string) {}). This also make the inheritance and collaboration -# diagrams that involve STL classes more complete and accurate. -# The default value is: NO. - -BUILTIN_STL_SUPPORT = YES - -# If you use Microsoft's C++/CLI language, you should set this option to YES to -# enable parsing support. -# The default value is: NO. - -CPP_CLI_SUPPORT = NO - -# Set the SIP_SUPPORT tag to YES if your project consists of sip (see: -# http://www.riverbankcomputing.co.uk/software/sip/intro) sources only. Doxygen -# will parse them like normal C++ but will assume all classes use public instead -# of private inheritance when no explicit protection keyword is present. -# The default value is: NO. - -SIP_SUPPORT = NO - -# For Microsoft's IDL there are propget and propput attributes to indicate -# getter and setter methods for a property. Setting this option to YES will make -# doxygen to replace the get and set methods by a property in the documentation. -# This will only work if the methods are indeed getting or setting a simple -# type. If this is not the case, or you want to show the methods anyway, you -# should set this option to NO. -# The default value is: YES. - -IDL_PROPERTY_SUPPORT = YES - -# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC -# tag is set to YES then doxygen will reuse the documentation of the first -# member in the group (if any) for the other members of the group. By default -# all members of a group must be documented explicitly. -# The default value is: NO. - -DISTRIBUTE_GROUP_DOC = NO - -# If one adds a struct or class to a group and this option is enabled, then also -# any nested class or struct is added to the same group. By default this option -# is disabled and one has to add nested compounds explicitly via \ingroup. -# The default value is: NO. - -GROUP_NESTED_COMPOUNDS = NO - -# Set the SUBGROUPING tag to YES to allow class member groups of the same type -# (for instance a group of public functions) to be put as a subgroup of that -# type (e.g. under the Public Functions section). Set it to NO to prevent -# subgrouping. Alternatively, this can be done per class using the -# \nosubgrouping command. -# The default value is: YES. - -SUBGROUPING = YES - -# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions -# are shown inside the group in which they are included (e.g. using \ingroup) -# instead of on a separate page (for HTML and Man pages) or section (for LaTeX -# and RTF). -# -# Note that this feature does not work in combination with -# SEPARATE_MEMBER_PAGES. -# The default value is: NO. - -INLINE_GROUPED_CLASSES = NO - -# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions -# with only public data fields or simple typedef fields will be shown inline in -# the documentation of the scope in which they are defined (i.e. file, -# namespace, or group documentation), provided this scope is documented. If set -# to NO, structs, classes, and unions are shown on a separate page (for HTML and -# Man pages) or section (for LaTeX and RTF). -# The default value is: NO. - -INLINE_SIMPLE_STRUCTS = NO - -# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or -# enum is documented as struct, union, or enum with the name of the typedef. So -# typedef struct TypeS {} TypeT, will appear in the documentation as a struct -# with name TypeT. When disabled the typedef will appear as a member of a file, -# namespace, or class. And the struct will be named TypeS. This can typically be -# useful for C code in case the coding convention dictates that all compound -# types are typedef'ed and only the typedef is referenced, never the tag name. -# The default value is: NO. - -TYPEDEF_HIDES_STRUCT = NO - -# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This -# cache is used to resolve symbols given their name and scope. Since this can be -# an expensive process and often the same symbol appears multiple times in the -# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small -# doxygen will become slower. If the cache is too large, memory is wasted. The -# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range -# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536 -# symbols. At the end of a run doxygen will report the cache usage and suggest -# the optimal cache size from a speed point of view. -# Minimum value: 0, maximum value: 9, default value: 0. - -LOOKUP_CACHE_SIZE = 0 - -#--------------------------------------------------------------------------- -# Build related configuration options -#--------------------------------------------------------------------------- - -# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in -# documentation are documented, even if no documentation was available. Private -# class members and static file members will be hidden unless the -# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES. -# Note: This will also disable the warnings about undocumented members that are -# normally produced when WARNINGS is set to YES. -# The default value is: NO. - -EXTRACT_ALL = YES - -# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will -# be included in the documentation. -# The default value is: NO. - -EXTRACT_PRIVATE = YES - -# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal -# scope will be included in the documentation. -# The default value is: NO. - -EXTRACT_PACKAGE = NO - -# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be -# included in the documentation. -# The default value is: NO. - -EXTRACT_STATIC = YES - -# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined -# locally in source files will be included in the documentation. If set to NO, -# only classes defined in header files are included. Does not have any effect -# for Java sources. -# The default value is: YES. - -EXTRACT_LOCAL_CLASSES = YES - -# This flag is only useful for Objective-C code. If set to YES, local methods, -# which are defined in the implementation section but not in the interface are -# included in the documentation. If set to NO, only methods in the interface are -# included. -# The default value is: NO. - -EXTRACT_LOCAL_METHODS = NO - -# If this flag is set to YES, the members of anonymous namespaces will be -# extracted and appear in the documentation as a namespace called -# 'anonymous_namespace{file}', where file will be replaced with the base name of -# the file that contains the anonymous namespace. By default anonymous namespace -# are hidden. -# The default value is: NO. - -EXTRACT_ANON_NSPACES = NO - -# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all -# undocumented members inside documented classes or files. If set to NO these -# members will be included in the various overviews, but no documentation -# section is generated. This option has no effect if EXTRACT_ALL is enabled. -# The default value is: NO. - -HIDE_UNDOC_MEMBERS = NO - -# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all -# undocumented classes that are normally visible in the class hierarchy. If set -# to NO, these classes will be included in the various overviews. This option -# has no effect if EXTRACT_ALL is enabled. -# The default value is: NO. - -HIDE_UNDOC_CLASSES = NO - -# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend -# (class|struct|union) declarations. If set to NO, these declarations will be -# included in the documentation. -# The default value is: NO. - -HIDE_FRIEND_COMPOUNDS = NO - -# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any -# documentation blocks found inside the body of a function. If set to NO, these -# blocks will be appended to the function's detailed documentation block. -# The default value is: NO. - -HIDE_IN_BODY_DOCS = NO - -# The INTERNAL_DOCS tag determines if documentation that is typed after a -# \internal command is included. If the tag is set to NO then the documentation -# will be excluded. Set it to YES to include the internal documentation. -# The default value is: NO. - -INTERNAL_DOCS = NO - -# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file -# names in lower-case letters. If set to YES, upper-case letters are also -# allowed. This is useful if you have classes or files whose names only differ -# in case and if your file system supports case sensitive file names. Windows -# and Mac users are advised to set this option to NO. -# The default value is: system dependent. - -CASE_SENSE_NAMES = NO - -# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with -# their full class and namespace scopes in the documentation. If set to YES, the -# scope will be hidden. -# The default value is: NO. - -HIDE_SCOPE_NAMES = NO - -# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will -# append additional text to a page's title, such as Class Reference. If set to -# YES the compound reference will be hidden. -# The default value is: NO. - -HIDE_COMPOUND_REFERENCE= NO - -# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of -# the files that are included by a file in the documentation of that file. -# The default value is: YES. - -SHOW_INCLUDE_FILES = YES - -# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each -# grouped member an include statement to the documentation, telling the reader -# which file to include in order to use the member. -# The default value is: NO. - -SHOW_GROUPED_MEMB_INC = NO - -# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include -# files with double quotes in the documentation rather than with sharp brackets. -# The default value is: NO. - -FORCE_LOCAL_INCLUDES = NO - -# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the -# documentation for inline members. -# The default value is: YES. - -INLINE_INFO = YES - -# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the -# (detailed) documentation of file and class members alphabetically by member -# name. If set to NO, the members will appear in declaration order. -# The default value is: YES. - -SORT_MEMBER_DOCS = YES - -# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief -# descriptions of file, namespace and class members alphabetically by member -# name. If set to NO, the members will appear in declaration order. Note that -# this will also influence the order of the classes in the class list. -# The default value is: NO. - -SORT_BRIEF_DOCS = NO - -# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the -# (brief and detailed) documentation of class members so that constructors and -# destructors are listed first. If set to NO the constructors will appear in the -# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS. -# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief -# member documentation. -# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting -# detailed member documentation. -# The default value is: NO. - -SORT_MEMBERS_CTORS_1ST = NO - -# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy -# of group names into alphabetical order. If set to NO the group names will -# appear in their defined order. -# The default value is: NO. - -SORT_GROUP_NAMES = NO - -# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by -# fully-qualified names, including namespaces. If set to NO, the class list will -# be sorted only by class name, not including the namespace part. -# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. -# Note: This option applies only to the class list, not to the alphabetical -# list. -# The default value is: NO. - -SORT_BY_SCOPE_NAME = NO - -# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper -# type resolution of all parameters of a function it will reject a match between -# the prototype and the implementation of a member function even if there is -# only one candidate or it is obvious which candidate to choose by doing a -# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still -# accept a match between prototype and implementation in such cases. -# The default value is: NO. - -STRICT_PROTO_MATCHING = NO - -# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo -# list. This list is created by putting \todo commands in the documentation. -# The default value is: YES. - -GENERATE_TODOLIST = YES - -# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test -# list. This list is created by putting \test commands in the documentation. -# The default value is: YES. - -GENERATE_TESTLIST = YES - -# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug -# list. This list is created by putting \bug commands in the documentation. -# The default value is: YES. - -GENERATE_BUGLIST = YES - -# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO) -# the deprecated list. This list is created by putting \deprecated commands in -# the documentation. -# The default value is: YES. - -GENERATE_DEPRECATEDLIST= YES - -# The ENABLED_SECTIONS tag can be used to enable conditional documentation -# sections, marked by \if ... \endif and \cond -# ... \endcond blocks. - -ENABLED_SECTIONS = - -# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the -# initial value of a variable or macro / define can have for it to appear in the -# documentation. If the initializer consists of more lines than specified here -# it will be hidden. Use a value of 0 to hide initializers completely. The -# appearance of the value of individual variables and macros / defines can be -# controlled using \showinitializer or \hideinitializer command in the -# documentation regardless of this setting. -# Minimum value: 0, maximum value: 10000, default value: 30. - -MAX_INITIALIZER_LINES = 30 - -# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at -# the bottom of the documentation of classes and structs. If set to YES, the -# list will mention the files that were used to generate the documentation. -# The default value is: YES. - -SHOW_USED_FILES = YES - -# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This -# will remove the Files entry from the Quick Index and from the Folder Tree View -# (if specified). -# The default value is: YES. - -SHOW_FILES = YES - -# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces -# page. This will remove the Namespaces entry from the Quick Index and from the -# Folder Tree View (if specified). -# The default value is: YES. - -SHOW_NAMESPACES = YES - -# The FILE_VERSION_FILTER tag can be used to specify a program or script that -# doxygen should invoke to get the current version for each file (typically from -# the version control system). Doxygen will invoke the program by executing (via -# popen()) the command command input-file, where command is the value of the -# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided -# by doxygen. Whatever the program writes to standard output is used as the file -# version. For an example see the documentation. - -FILE_VERSION_FILTER = - -# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed -# by doxygen. The layout file controls the global structure of the generated -# output files in an output format independent way. To create the layout file -# that represents doxygen's defaults, run doxygen with the -l option. You can -# optionally specify a file name after the option, if omitted DoxygenLayout.xml -# will be used as the name of the layout file. -# -# Note that if you run doxygen from a directory containing a file called -# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE -# tag is left empty. - -LAYOUT_FILE = - -# The CITE_BIB_FILES tag can be used to specify one or more bib files containing -# the reference definitions. This must be a list of .bib files. The .bib -# extension is automatically appended if omitted. This requires the bibtex tool -# to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info. -# For LaTeX the style of the bibliography can be controlled using -# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the -# search path. See also \cite for info how to create references. - -CITE_BIB_FILES = - -#--------------------------------------------------------------------------- -# Configuration options related to warning and progress messages -#--------------------------------------------------------------------------- - -# The QUIET tag can be used to turn on/off the messages that are generated to -# standard output by doxygen. If QUIET is set to YES this implies that the -# messages are off. -# The default value is: NO. - -QUIET = YES - -# The WARNINGS tag can be used to turn on/off the warning messages that are -# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES -# this implies that the warnings are on. -# -# Tip: Turn warnings on while writing the documentation. -# The default value is: YES. - -WARNINGS = YES - -# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate -# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag -# will automatically be disabled. -# The default value is: YES. - -WARN_IF_UNDOCUMENTED = YES - -# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for -# potential errors in the documentation, such as not documenting some parameters -# in a documented function, or documenting parameters that don't exist or using -# markup commands wrongly. -# The default value is: YES. - -WARN_IF_DOC_ERROR = YES - -# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that -# are documented, but have no documentation for their parameters or return -# value. If set to NO, doxygen will only warn about wrong or incomplete -# parameter documentation, but not about the absence of documentation. -# The default value is: NO. - -WARN_NO_PARAMDOC = NO - -# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when -# a warning is encountered. -# The default value is: NO. - -WARN_AS_ERROR = NO - -# The WARN_FORMAT tag determines the format of the warning messages that doxygen -# can produce. The string should contain the $file, $line, and $text tags, which -# will be replaced by the file and line number from which the warning originated -# and the warning text. Optionally the format may contain $version, which will -# be replaced by the version of the file (if it could be obtained via -# FILE_VERSION_FILTER) -# The default value is: $file:$line: $text. - -WARN_FORMAT = "$file:$line: $text" - -# The WARN_LOGFILE tag can be used to specify a file to which warning and error -# messages should be written. If left blank the output is written to standard -# error (stderr). - -WARN_LOGFILE = - -#--------------------------------------------------------------------------- -# Configuration options related to the input files -#--------------------------------------------------------------------------- - -# The INPUT tag is used to specify the files and/or directories that contain -# documented source files. You may enter file names like myfile.cpp or -# directories like /usr/src/myproject. Separate the files or directories with -# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING -# Note: If this tag is empty the current directory is searched. - -INPUT = @CMAKE_SOURCE_DIR@/src \ - @CMAKE_BINARY_DIR@/uORB - -# This tag can be used to specify the character encoding of the source files -# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses -# libiconv (or the iconv built into libc) for the transcoding. See the libiconv -# documentation (see: http://www.gnu.org/software/libiconv) for the list of -# possible encodings. -# The default value is: UTF-8. - -INPUT_ENCODING = UTF-8 - -# If the value of the INPUT tag contains directories, you can use the -# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and -# *.h) to filter out the source-files in the directories. -# -# Note that for custom extensions or not directly supported extensions you also -# need to set EXTENSION_MAPPING for the extension otherwise the files are not -# read by doxygen. -# -# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp, -# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, -# *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc, -# *.m, *.markdown, *.md, *.mm, *.dox, *.py, *.pyw, *.f90, *.f, *.for, *.tcl, -# *.vhd, *.vhdl, *.ucf, *.qsf, *.as and *.js. - -FILE_PATTERNS = *.h \ - *.hpp \ - *.hh \ - *.c \ - *.cc \ - *.cpp \ - *.md - -# The RECURSIVE tag can be used to specify whether or not subdirectories should -# be searched for input files as well. -# The default value is: NO. - -RECURSIVE = YES - -# The EXCLUDE tag can be used to specify files and/or directories that should be -# excluded from the INPUT source files. This way you can easily exclude a -# subdirectory from a directory tree whose root is specified with the INPUT tag. -# -# Note that relative paths are relative to the directory from which doxygen is -# run. - -EXCLUDE = @CMAKE_SOURCE_DIR@/src/modules/uavcan/libdronecan \ - @CMAKE_SOURCE_DIR@/src/examples \ - @CMAKE_SOURCE_DIR@/src/templates - -# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or -# directories that are symbolic links (a Unix file system feature) are excluded -# from the input. -# The default value is: NO. - -EXCLUDE_SYMLINKS = NO - -# If the value of the INPUT tag contains directories, you can use the -# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude -# certain files from those directories. -# -# Note that the wildcards are matched against the file with absolute path, so to -# exclude all test directories for example use the pattern */test/* - -EXCLUDE_PATTERNS = */*_params.c - -# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names -# (namespaces, classes, functions, etc.) that should be excluded from the -# output. The symbol name can be a fully qualified name, a word, or if the -# wildcard * is used, a substring. Examples: ANamespace, AClass, -# AClass::ANamespace, ANamespace::*Test -# -# Note that the wildcards are matched against the file with absolute path, so to -# exclude all test directories use the pattern */test/* - -EXCLUDE_SYMBOLS = - -# The EXAMPLE_PATH tag can be used to specify one or more files or directories -# that contain example code fragments that are included (see the \include -# command). - -EXAMPLE_PATH = - -# If the value of the EXAMPLE_PATH tag contains directories, you can use the -# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and -# *.h) to filter out the source-files in the directories. If left blank all -# files are included. - -EXAMPLE_PATTERNS = * - -# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be -# searched for input files to be used with the \include or \dontinclude commands -# irrespective of the value of the RECURSIVE tag. -# The default value is: NO. - -EXAMPLE_RECURSIVE = NO - -# The IMAGE_PATH tag can be used to specify one or more files or directories -# that contain images that are to be included in the documentation (see the -# \image command). - -IMAGE_PATH = "@CMAKE_SOURCE_DIR@" - -# The INPUT_FILTER tag can be used to specify a program that doxygen should -# invoke to filter for each input file. Doxygen will invoke the filter program -# by executing (via popen()) the command: -# -# -# -# where is the value of the INPUT_FILTER tag, and is the -# name of an input file. Doxygen will then use the output that the filter -# program writes to standard output. If FILTER_PATTERNS is specified, this tag -# will be ignored. -# -# Note that the filter must not add or remove lines; it is applied before the -# code is scanned, but not when the output code is generated. If lines are added -# or removed, the anchors will not be placed correctly. -# -# Note that for custom extensions or not directly supported extensions you also -# need to set EXTENSION_MAPPING for the extension otherwise the files are not -# properly processed by doxygen. - -INPUT_FILTER = - -# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern -# basis. Doxygen will compare the file name with each pattern and apply the -# filter if there is a match. The filters are a list of the form: pattern=filter -# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how -# filters are used. If the FILTER_PATTERNS tag is empty or if none of the -# patterns match the file name, INPUT_FILTER is applied. -# -# Note that for custom extensions or not directly supported extensions you also -# need to set EXTENSION_MAPPING for the extension otherwise the files are not -# properly processed by doxygen. - -FILTER_PATTERNS = - -# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using -# INPUT_FILTER) will also be used to filter the input files that are used for -# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES). -# The default value is: NO. - -FILTER_SOURCE_FILES = NO - -# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file -# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and -# it is also possible to disable source filtering for a specific pattern using -# *.ext= (so without naming a filter). -# This tag requires that the tag FILTER_SOURCE_FILES is set to YES. - -FILTER_SOURCE_PATTERNS = - -# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that -# is part of the input, its contents will be placed on the main page -# (index.html). This can be useful if you have a project on for instance GitHub -# and want to reuse the introduction page also for the doxygen output. - -USE_MDFILE_AS_MAINPAGE = @CMAKE_SOURCE_DIR@/README.md - -#--------------------------------------------------------------------------- -# Configuration options related to source browsing -#--------------------------------------------------------------------------- - -# If the SOURCE_BROWSER tag is set to YES then a list of source files will be -# generated. Documented entities will be cross-referenced with these sources. -# -# Note: To get rid of all source code in the generated output, make sure that -# also VERBATIM_HEADERS is set to NO. -# The default value is: NO. - -SOURCE_BROWSER = YES - -# Setting the INLINE_SOURCES tag to YES will include the body of functions, -# classes and enums directly into the documentation. -# The default value is: NO. - -INLINE_SOURCES = NO - -# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any -# special comment blocks from generated source code fragments. Normal C, C++ and -# Fortran comments will always remain visible. -# The default value is: YES. - -STRIP_CODE_COMMENTS = NO - -# If the REFERENCED_BY_RELATION tag is set to YES then for each documented -# function all documented functions referencing it will be listed. -# The default value is: NO. - -REFERENCED_BY_RELATION = YES - -# If the REFERENCES_RELATION tag is set to YES then for each documented function -# all documented entities called/used by that function will be listed. -# The default value is: NO. - -REFERENCES_RELATION = YES - -# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set -# to YES then the hyperlinks from functions in REFERENCES_RELATION and -# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will -# link to the documentation. -# The default value is: YES. - -REFERENCES_LINK_SOURCE = YES - -# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the -# source code will show a tooltip with additional information such as prototype, -# brief description and links to the definition and documentation. Since this -# will make the HTML file larger and loading of large files a bit slower, you -# can opt to disable this feature. -# The default value is: YES. -# This tag requires that the tag SOURCE_BROWSER is set to YES. - -SOURCE_TOOLTIPS = YES - -# If the USE_HTAGS tag is set to YES then the references to source code will -# point to the HTML generated by the htags(1) tool instead of doxygen built-in -# source browser. The htags tool is part of GNU's global source tagging system -# (see http://www.gnu.org/software/global/global.html). You will need version -# 4.8.6 or higher. -# -# To use it do the following: -# - Install the latest version of global -# - Enable SOURCE_BROWSER and USE_HTAGS in the config file -# - Make sure the INPUT points to the root of the source tree -# - Run doxygen as normal -# -# Doxygen will invoke htags (and that will in turn invoke gtags), so these -# tools must be available from the command line (i.e. in the search path). -# -# The result: instead of the source browser generated by doxygen, the links to -# source code will now point to the output of htags. -# The default value is: NO. -# This tag requires that the tag SOURCE_BROWSER is set to YES. - -USE_HTAGS = NO - -# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a -# verbatim copy of the header file for each class for which an include is -# specified. Set to NO to disable this. -# See also: Section \class. -# The default value is: YES. - -VERBATIM_HEADERS = YES - -# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the -# clang parser (see: http://clang.llvm.org/) for more accurate parsing at the -# cost of reduced performance. This can be particularly helpful with template -# rich C++ code for which doxygen's built-in parser lacks the necessary type -# information. -# Note: The availability of this option depends on whether or not doxygen was -# generated with the -Duse-libclang=ON option for CMake. -# The default value is: NO. - -CLANG_ASSISTED_PARSING = NO - -# If clang assisted parsing is enabled you can provide the compiler with command -# line options that you would normally use when invoking the compiler. Note that -# the include paths will already be set by doxygen for the files and directories -# specified with INPUT and INCLUDE_PATH. -# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES. - -CLANG_OPTIONS = - -#--------------------------------------------------------------------------- -# Configuration options related to the alphabetical class index -#--------------------------------------------------------------------------- - -# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all -# compounds will be generated. Enable this if the project contains a lot of -# classes, structs, unions or interfaces. -# The default value is: YES. - -ALPHABETICAL_INDEX = YES - -# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in -# which the alphabetical index list will be split. -# Minimum value: 1, maximum value: 20, default value: 5. -# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. - -COLS_IN_ALPHA_INDEX = 5 - -# In case all classes in a project start with a common prefix, all classes will -# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag -# can be used to specify a prefix (or a list of prefixes) that should be ignored -# while generating the index headers. -# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. - -IGNORE_PREFIX = - -#--------------------------------------------------------------------------- -# Configuration options related to the HTML output -#--------------------------------------------------------------------------- - -# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output -# The default value is: YES. - -GENERATE_HTML = YES - -# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a -# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of -# it. -# The default directory is: html. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_OUTPUT = @CMAKE_BINARY_DIR@/Documentation - -# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each -# generated HTML page (for example: .htm, .php, .asp). -# The default value is: .html. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_FILE_EXTENSION = .html - -# The HTML_HEADER tag can be used to specify a user-defined HTML header file for -# each generated HTML page. If the tag is left blank doxygen will generate a -# standard header. -# -# To get valid HTML the header file that includes any scripts and style sheets -# that doxygen needs, which is dependent on the configuration options used (e.g. -# the setting GENERATE_TREEVIEW). It is highly recommended to start with a -# default header using -# doxygen -w html new_header.html new_footer.html new_stylesheet.css -# YourConfigFile -# and then modify the file new_header.html. See also section "Doxygen usage" -# for information on how to generate the default header that doxygen normally -# uses. -# Note: The header is subject to change so you typically have to regenerate the -# default header when upgrading to a newer version of doxygen. For a description -# of the possible markers and block names see the documentation. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_HEADER = - -# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each -# generated HTML page. If the tag is left blank doxygen will generate a standard -# footer. See HTML_HEADER for more information on how to generate a default -# footer and what special commands can be used inside the footer. See also -# section "Doxygen usage" for information on how to generate the default footer -# that doxygen normally uses. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_FOOTER = - -# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style -# sheet that is used by each HTML page. It can be used to fine-tune the look of -# the HTML output. If left blank doxygen will generate a default style sheet. -# See also section "Doxygen usage" for information on how to generate the style -# sheet that doxygen normally uses. -# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as -# it is more robust and this tag (HTML_STYLESHEET) will in the future become -# obsolete. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_STYLESHEET = - -# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined -# cascading style sheets that are included after the standard style sheets -# created by doxygen. Using this option one can overrule certain style aspects. -# This is preferred over using HTML_STYLESHEET since it does not replace the -# standard style sheet and is therefore more robust against future updates. -# Doxygen will copy the style sheet files to the output directory. -# Note: The order of the extra style sheet files is of importance (e.g. the last -# style sheet in the list overrules the setting of the previous ones in the -# list). For an example see the documentation. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_EXTRA_STYLESHEET = - -# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or -# other source files which should be copied to the HTML output directory. Note -# that these files will be copied to the base HTML output directory. Use the -# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these -# files. In the HTML_STYLESHEET file, use the file name only. Also note that the -# files will be copied as-is; there are no commands or markers available. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_EXTRA_FILES = - -# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen -# will adjust the colors in the style sheet and background images according to -# this color. Hue is specified as an angle on a colorwheel, see -# http://en.wikipedia.org/wiki/Hue for more information. For instance the value -# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300 -# purple, and 360 is red again. -# Minimum value: 0, maximum value: 359, default value: 220. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_COLORSTYLE_HUE = 220 - -# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors -# in the HTML output. For a value of 0 the output will use grayscales only. A -# value of 255 will produce the most vivid colors. -# Minimum value: 0, maximum value: 255, default value: 100. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_COLORSTYLE_SAT = 40 - -# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the -# luminance component of the colors in the HTML output. Values below 100 -# gradually make the output lighter, whereas values above 100 make the output -# darker. The value divided by 100 is the actual gamma applied, so 80 represents -# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not -# change the gamma. -# Minimum value: 40, maximum value: 240, default value: 80. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_COLORSTYLE_GAMMA = 80 - -# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML -# page will contain the date and time when the page was generated. Setting this -# to YES can help to show when doxygen was last run and thus if the -# documentation is up to date. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_TIMESTAMP = NO - -# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML -# documentation will contain sections that can be hidden and shown after the -# page has loaded. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_DYNAMIC_SECTIONS = NO - -# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries -# shown in the various tree structured indices initially; the user can expand -# and collapse entries dynamically later on. Doxygen will expand the tree to -# such a level that at most the specified number of entries are visible (unless -# a fully collapsed tree already exceeds this amount). So setting the number of -# entries 1 will produce a full collapsed tree by default. 0 is a special value -# representing an infinite number of entries and will result in a full expanded -# tree by default. -# Minimum value: 0, maximum value: 9999, default value: 100. -# This tag requires that the tag GENERATE_HTML is set to YES. - -HTML_INDEX_NUM_ENTRIES = 100 - -# If the GENERATE_DOCSET tag is set to YES, additional index files will be -# generated that can be used as input for Apple's Xcode 3 integrated development -# environment (see: http://developer.apple.com/tools/xcode/), introduced with -# OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a -# Makefile in the HTML output directory. Running make will produce the docset in -# that directory and running make install will install the docset in -# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at -# startup. See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html -# for more information. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_DOCSET = NO - -# This tag determines the name of the docset feed. A documentation feed provides -# an umbrella under which multiple documentation sets from a single provider -# (such as a company or product suite) can be grouped. -# The default value is: Doxygen generated docs. -# This tag requires that the tag GENERATE_DOCSET is set to YES. - -DOCSET_FEEDNAME = "Doxygen generated docs" - -# This tag specifies a string that should uniquely identify the documentation -# set bundle. This should be a reverse domain-name style string, e.g. -# com.mycompany.MyDocSet. Doxygen will append .docset to the name. -# The default value is: org.doxygen.Project. -# This tag requires that the tag GENERATE_DOCSET is set to YES. - -DOCSET_BUNDLE_ID = org.doxygen.Project - -# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify -# the documentation publisher. This should be a reverse domain-name style -# string, e.g. com.mycompany.MyDocSet.documentation. -# The default value is: org.doxygen.Publisher. -# This tag requires that the tag GENERATE_DOCSET is set to YES. - -DOCSET_PUBLISHER_ID = org.doxygen.Publisher - -# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher. -# The default value is: Publisher. -# This tag requires that the tag GENERATE_DOCSET is set to YES. - -DOCSET_PUBLISHER_NAME = Publisher - -# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three -# additional HTML index files: index.hhp, index.hhc, and index.hhk. The -# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop -# (see: http://www.microsoft.com/en-us/download/details.aspx?id=21138) on -# Windows. -# -# The HTML Help Workshop contains a compiler that can convert all HTML output -# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML -# files are now used as the Windows 98 help format, and will replace the old -# Windows help format (.hlp) on all Windows platforms in the future. Compressed -# HTML files also contain an index, a table of contents, and you can search for -# words in the documentation. The HTML workshop also contains a viewer for -# compressed HTML files. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_HTMLHELP = NO - -# The CHM_FILE tag can be used to specify the file name of the resulting .chm -# file. You can add a path in front of the file if the result should not be -# written to the html output directory. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -CHM_FILE = - -# The HHC_LOCATION tag can be used to specify the location (absolute path -# including file name) of the HTML help compiler (hhc.exe). If non-empty, -# doxygen will try to run the HTML help compiler on the generated index.hhp. -# The file has to be specified with full path. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -HHC_LOCATION = - -# The GENERATE_CHI flag controls if a separate .chi index file is generated -# (YES) or that it should be included in the master .chm file (NO). -# The default value is: NO. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -GENERATE_CHI = NO - -# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc) -# and project file content. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -CHM_INDEX_ENCODING = - -# The BINARY_TOC flag controls whether a binary table of contents is generated -# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it -# enables the Previous and Next buttons. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -BINARY_TOC = NO - -# The TOC_EXPAND flag can be set to YES to add extra items for group members to -# the table of contents of the HTML help documentation and to the tree view. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTMLHELP is set to YES. - -TOC_EXPAND = NO - -# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and -# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that -# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help -# (.qch) of the generated HTML documentation. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_QHP = NO - -# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify -# the file name of the resulting .qch file. The path specified is relative to -# the HTML output folder. -# This tag requires that the tag GENERATE_QHP is set to YES. - -QCH_FILE = - -# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help -# Project output. For more information please see Qt Help Project / Namespace -# (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#namespace). -# The default value is: org.doxygen.Project. -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_NAMESPACE = org.doxygen.Project - -# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt -# Help Project output. For more information please see Qt Help Project / Virtual -# Folders (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#virtual- -# folders). -# The default value is: doc. -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_VIRTUAL_FOLDER = doc - -# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom -# filter to add. For more information please see Qt Help Project / Custom -# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- -# filters). -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_CUST_FILTER_NAME = - -# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the -# custom filter to add. For more information please see Qt Help Project / Custom -# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- -# filters). -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_CUST_FILTER_ATTRS = - -# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this -# project's filter section matches. Qt Help Project / Filter Attributes (see: -# http://qt-project.org/doc/qt-4.8/qthelpproject.html#filter-attributes). -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHP_SECT_FILTER_ATTRS = - -# The QHG_LOCATION tag can be used to specify the location of Qt's -# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the -# generated .qhp file. -# This tag requires that the tag GENERATE_QHP is set to YES. - -QHG_LOCATION = - -# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be -# generated, together with the HTML files, they form an Eclipse help plugin. To -# install this plugin and make it available under the help contents menu in -# Eclipse, the contents of the directory containing the HTML and XML files needs -# to be copied into the plugins directory of eclipse. The name of the directory -# within the plugins directory should be the same as the ECLIPSE_DOC_ID value. -# After copying Eclipse needs to be restarted before the help appears. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_ECLIPSEHELP = NO - -# A unique identifier for the Eclipse help plugin. When installing the plugin -# the directory name containing the HTML and XML files should also have this -# name. Each documentation set should have its own identifier. -# The default value is: org.doxygen.Project. -# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES. - -ECLIPSE_DOC_ID = org.doxygen.Project - -# If you want full control over the layout of the generated HTML pages it might -# be necessary to disable the index and replace it with your own. The -# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top -# of each HTML page. A value of NO enables the index and the value YES disables -# it. Since the tabs in the index contain the same information as the navigation -# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -DISABLE_INDEX = NO - -# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index -# structure should be generated to display hierarchical information. If the tag -# value is set to YES, a side panel will be generated containing a tree-like -# index structure (just like the one that is generated for HTML Help). For this -# to work a browser that supports JavaScript, DHTML, CSS and frames is required -# (i.e. any modern browser). Windows users are probably better off using the -# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can -# further fine-tune the look of the index. As an example, the default style -# sheet generated by doxygen has an example that shows how to put an image at -# the root of the tree instead of the PROJECT_NAME. Since the tree basically has -# the same information as the tab index, you could consider setting -# DISABLE_INDEX to YES when enabling this option. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -GENERATE_TREEVIEW = YES - -# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that -# doxygen will group on one line in the generated HTML documentation. -# -# Note that a value of 0 will completely suppress the enum values from appearing -# in the overview section. -# Minimum value: 0, maximum value: 20, default value: 4. -# This tag requires that the tag GENERATE_HTML is set to YES. - -ENUM_VALUES_PER_LINE = 4 - -# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used -# to set the initial width (in pixels) of the frame in which the tree is shown. -# Minimum value: 0, maximum value: 1500, default value: 250. -# This tag requires that the tag GENERATE_HTML is set to YES. - -TREEVIEW_WIDTH = 250 - -# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to -# external symbols imported via tag files in a separate window. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -EXT_LINKS_IN_WINDOW = NO - -# Use this tag to change the font size of LaTeX formulas included as images in -# the HTML documentation. When you change the font size after a successful -# doxygen run you need to manually remove any form_*.png images from the HTML -# output directory to force them to be regenerated. -# Minimum value: 8, maximum value: 50, default value: 10. -# This tag requires that the tag GENERATE_HTML is set to YES. - -FORMULA_FONTSIZE = 10 - -# Use the FORMULA_TRANPARENT tag to determine whether or not the images -# generated for formulas are transparent PNGs. Transparent PNGs are not -# supported properly for IE 6.0, but are supported on all modern browsers. -# -# Note that when changing this option you need to delete any form_*.png files in -# the HTML output directory before the changes have effect. -# The default value is: YES. -# This tag requires that the tag GENERATE_HTML is set to YES. - -FORMULA_TRANSPARENT = YES - -# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see -# http://www.mathjax.org) which uses client side Javascript for the rendering -# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX -# installed or if you want to formulas look prettier in the HTML output. When -# enabled you may also need to install MathJax separately and configure the path -# to it using the MATHJAX_RELPATH option. -# The default value is: NO. -# This tag requires that the tag GENERATE_HTML is set to YES. - -USE_MATHJAX = NO - -# When MathJax is enabled you can set the default output format to be used for -# the MathJax output. See the MathJax site (see: -# http://docs.mathjax.org/en/latest/output.html) for more details. -# Possible values are: HTML-CSS (which is slower, but has the best -# compatibility), NativeMML (i.e. MathML) and SVG. -# The default value is: HTML-CSS. -# This tag requires that the tag USE_MATHJAX is set to YES. - -MATHJAX_FORMAT = HTML-CSS - -# When MathJax is enabled you need to specify the location relative to the HTML -# output directory using the MATHJAX_RELPATH option. The destination directory -# should contain the MathJax.js script. For instance, if the mathjax directory -# is located at the same level as the HTML output directory, then -# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax -# Content Delivery Network so you can quickly see the result without installing -# MathJax. However, it is strongly recommended to install a local copy of -# MathJax from http://www.mathjax.org before deployment. -# The default value is: http://cdn.mathjax.org/mathjax/latest. -# This tag requires that the tag USE_MATHJAX is set to YES. - -MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest - -# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax -# extension names that should be enabled during MathJax rendering. For example -# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols -# This tag requires that the tag USE_MATHJAX is set to YES. - -MATHJAX_EXTENSIONS = - -# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces -# of code that will be used on startup of the MathJax code. See the MathJax site -# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an -# example see the documentation. -# This tag requires that the tag USE_MATHJAX is set to YES. - -MATHJAX_CODEFILE = - -# When the SEARCHENGINE tag is enabled doxygen will generate a search box for -# the HTML output. The underlying search engine uses javascript and DHTML and -# should work on any modern browser. Note that when using HTML help -# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) -# there is already a search function so this one should typically be disabled. -# For large projects the javascript based search engine can be slow, then -# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to -# search using the keyboard; to jump to the search box use + S -# (what the is depends on the OS and browser, but it is typically -# , /