Add flow tests to MAVSDK tests (#14039)

* workflows: remove unneeded pip dep and comments

* mavsdk_tests: simple test using flow/offboard

This adds a first proof of concept of a test using flow and offboard.

* Flow MAVSDK test: check against ground truth

* CleanUp

* workflows: use latest docker image with psutil

* mavsdk_tests: fix PEP8 issues

* Add VTOL CI tests back

* switch to non-rendering flow mockup

* workflows: install mavsdk from GitHub release .deb

* Add vision test and disable VTOL temporarlly

* Fist draft of combining test coverage and test in one workflow

* Add VTOL mavsdk tests back in CI

Co-authored-by: Julian Oes <julian@oes.ch>
Co-authored-by: kritz <kritz@ethz.ch>

.github/workflows/sitl_tests.yml

@@ -11,20 +11,42 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-simulation-bionic:2020-01-13
+    container: px4io/px4-dev-simulation-bionic:2020-01-29
     steps:
     - uses: actions/checkout@v1
       with:
         token: ${{ secrets.ACCESS_TOKEN }}
     - name: Download MAVSDK
-      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.23.0/mavsdk_0.23.0_ubuntu18.04_amd64.deb
+      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.24.0/mavsdk_0.24.0_ubuntu18.04_amd64.deb
     - name: Install MAVSDK
-      run: dpkg -i mavsdk_0.23.0_ubuntu18.04_amd64.deb
-    - name: Install psutil
-      run: pip3 install psutil
+      run: dpkg -i mavsdk_0.24.0_ubuntu18.04_amd64.deb
     - name: Build PX4 in SITL integration test mode
-      # Build all targets
-      run: DONT_RUN=1 make px4_sitl gazebo mavsdk_tests
-    - name: Run simulation tests
-      # Grind configuration: Change iterations to a number between 20 and 100 (30 minutes to about 3 hours runtime)
-      run:  test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --iterations 1 --fail-early
+      run: DONT_RUN=1 make px4_sitl PX4_CMAKE_BUILD_TYPE=Coverage gazebo mavsdk_tests
+    - name: Run multicopter simulation test
+      run:  test/mavsdk_tests/mavsdk_test_runner.py --model iris --speed-factor 20 --iterations 1 --fail-early
+    - name: Run multicopter with optical flow simulation test
+      run:  test/mavsdk_tests/mavsdk_test_runner.py --model iris_opt_flow_mockup --speed-factor 1 --iterations 1 --fail-early
+    - name: Run multicopter with VIO sensor simulation test
+      run:  test/mavsdk_tests/mavsdk_test_runner.py --model iris_vision --speed-factor 1 --iterations 1 --fail-early
+    - name: Run VTOL simulation test #
+      run:  test/mavsdk_tests/mavsdk_test_runner.py --model standard_vtol --speed-factor 20 --iterations 1 --fail-early
+
+    # Report test coverage
+    - name: disable the keychain credential helper
+      run: git config --global credential.helper ""
+    - name: enable the local store credential helper
+      run: git config --global --add credential.helper store
+    - name: add credential
+      run: echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials
+    - name: tell git to use https instead of ssh whenever it encounters it
+      run: 'git config --global url."https://github.com/".insteadof git@github.com:'
+    - name: Check code coverage
+      run: |
+        mkdir -p coverage
+        lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
+    - name: Upload coverage information to Codecov
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: mavsdk
+        file: coverage/lcov.info

.github/workflows/sitl_tests_coverage.yml

@@ -1,52 +0,0 @@
-name: SITL Tests (Code Coverage)
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-simulation-bionic:2020-01-13
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-    # see https://github.com/actions/checkout/issues/14
-    - name: disable the keychain credential helper
-      run: git config --global credential.helper ""
-    - name: enable the local store credential helper
-      run: git config --global --add credential.helper store
-    - name: add credential
-      run: echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials
-    - name: tell git to use https instead of ssh whenever it encounters it
-      run: 'git config --global url."https://github.com/".insteadof git@github.com:'
-    - name: get submodules
-      run: 'git submodule update --init --recursive'
-    - name: Set Python 3 as default
-      run: update-alternatives --install /usr/bin/python python /usr/bin/python3 10
-    - name: Install psutil
-      run: pip3 install psutil
-    # - name: Download newer mavsdk
-    #   run: git clone https://github.com/mavlink/MAVSDK.git && cd MAVSDK && git submodule init && git submodule update && mkdir -p build/default
-    # - name: Build newer mavsdk
-    #   run: mkdir -p MAVSDK/build/default && cd MAVSDK/build/default && cmake ../.. && make -j4 && make install
-    - name: Run Coverage Tests
-      run: make tests_integration_coverage
-    # We are not actively using coveralls, but we keep the config
-    # in case the service should be re-enabled later
-    # - name: Upload coverage information to Coveralls
-    #   uses: coverallsapp/github-action@master
-    #   with:
-    #     path-to-lcov: coverage/lcov.info
-    #     github-token: ${{ secrets.GITHUB_TOKEN }}
-    - name: Upload coverage information to Codecov
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: mavsdk
-        file: coverage/lcov.info