mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-16 10:33:34 +08:00
ci: build multi platform images
- ci: build containers on releases only - setup: install all compilers for arch - ci: saves cache to s3 and defaults to gh public cache - docker: try to catch apt registry installs - ci: use qemu for arm64 images
This commit is contained in:
Ramon Roche
@@ -87,20 +87,17 @@ def process_target(px4board_file, target_name):
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if platform not in excluded_platforms:
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# get the container based on the platform and toolchain
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container = 'ghcr.io/px4/px4-dev:v1.16.0-alpha2-388-ga996439b1d'
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if platform == 'posix':
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container = 'px4io/px4-dev-base-focal:2021-09-08'
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group = 'base'
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if toolchain:
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if toolchain.startswith('aarch64'):
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container = 'px4io/px4-dev-aarch64:2022-08-12'
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group = 'aarch64'
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elif toolchain == 'arm-linux-gnueabihf':
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container = 'px4io/px4-dev-armhf:2023-06-26'
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group = 'armhf'
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else:
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if verbose: print(f'unmatched toolchain: {toolchain}')
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elif platform == 'nuttx':
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container = 'px4io/px4-dev-nuttx-focal:2022-08-12'
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group = 'nuttx'
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else:
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if verbose: print(f'unmatched platform: {platform}')
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@@ -124,7 +121,7 @@ if(verbose):
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# - Events
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metadata_targets = ['airframe_metadata', 'parameters_metadata', 'extract_events']
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grouped_targets['base'] = {}
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grouped_targets['base']['container'] = 'px4io/px4-dev-base-focal:2021-09-08'
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grouped_targets['base']['container'] = 'ghcr.io/px4/px4-dev:v1.16.0-alpha2-388-ga996439b1d'
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grouped_targets['base']['manufacturers'] = {}
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grouped_targets['base']['manufacturers']['px4'] = []
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grouped_targets['base']['manufacturers']['px4'] += metadata_targets
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@@ -4,8 +4,9 @@ mkdir artifacts
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cp **/**/*.px4 artifacts/
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cp **/**/*.elf artifacts/
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for build_dir_path in build/*/ ; do
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build_dir_path=${build_dir_path::${#build_dir_path}-1}
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build_dir=${build_dir_path#*/}
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build_dir=${build_dir::${#build_dir}-1}
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target_name=$build_dir
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mkdir artifacts/$build_dir
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find artifacts/ -maxdepth 1 -type f -name "*$build_dir*"
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# Airframe
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@@ -26,21 +27,23 @@ for build_dir_path in build/*/ ; do
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echo "----------"
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done
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# general metadata
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mkdir artifacts/_general/
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cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
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# Airframe
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cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
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# Parameters
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cp artifacts/px4_sitl_default/parameters.xml artifacts/_general/
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cp artifacts/px4_sitl_default/parameters.json artifacts/_general/
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cp artifacts/px4_sitl_default/parameters.json.xz artifacts/_general/
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# Actuators
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cp artifacts/px4_sitl_default/actuators.json artifacts/_general/
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cp artifacts/px4_sitl_default/actuators.json.xz artifacts/_general/
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# Events
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cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
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# ROS 2 msgs
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cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
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# Module Docs
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ls -la artifacts/_general/
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if [ -d artifacts/px4_sitl_default ]; then
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# general metadata
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mkdir artifacts/_general/
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cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
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# Airframe
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cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
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# Parameters
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cp artifacts/px4_sitl_default/parameters.xml artifacts/_general/
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cp artifacts/px4_sitl_default/parameters.json artifacts/_general/
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cp artifacts/px4_sitl_default/parameters.json.xz artifacts/_general/
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# Actuators
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cp artifacts/px4_sitl_default/actuators.json artifacts/_general/
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cp artifacts/px4_sitl_default/actuators.json.xz artifacts/_general/
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# Events
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cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
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# ROS 2 msgs
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cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
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# Module Docs
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ls -la artifacts/_general/
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fi
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@@ -13,6 +13,14 @@ ENV TZ=UTC
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EXPOSE 14556/udp
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EXPOSE 14557/udp
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# Set Up Caching of APT packages
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RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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--mount=type=cache,target=/var/lib/apt,sharing=locked \
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rm -f /etc/apt/apt.conf.d/docker-clean && \
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echo 'Binary::apt::APT::Keep-Downloaded-Packages "true";' >/etc/apt/apt.conf.d/keep-cache && \
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apt-get --quiet -y update
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# Install Shell Script Entrypoint
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COPY docker-entrypoint.sh /usr/local/bin/docker-entrypoint.sh
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# Install PX4 Requirements
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@@ -1,19 +1,27 @@
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#!/bin/bash
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GREEN='\033[0;32m'
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NC='\033[0m' # No Color
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FILE_DESCRIPTOR="${GREEN}[docker-entrypoint.sh]${NC}"
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echo -e "$FILE_DESCRIPTOR Starting"
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# Start virtual X server in the background
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# - DISPLAY default is :99, set in dockerfile
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# - Users can override with `-e DISPLAY=` in `docker run` command to avoid
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# running Xvfb and attach their screen
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if [[ -x "$(command -v Xvfb)" && "$DISPLAY" == ":99" ]]; then
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echo "[docker-entrypoint.sh] Starting Xvfb"
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echo -e "$FILE_DESCRIPTOR Starting Xvfb"
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Xvfb :99 -screen 0 1600x1200x24+32 &
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fi
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# Check if the ROS_DISTRO is passed and use it
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# to source the ROS environment
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if [ -n "${ROS_DISTRO}" ]; then
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echo "[docker-entrypoint.sh] ROS: ${ROS_DISTRO}"
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echo -e "$FILE_DESCRIPTOR ROS: ${ROS_DISTRO}"
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source "/opt/ros/$ROS_DISTRO/setup.bash"
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fi
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echo -e "$FILE_DESCRIPTOR ($( uname -m ))"
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exec "$@"
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+32
-15
@@ -27,9 +27,12 @@ do
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fi
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done
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echo "[ubuntu.sh] Starting..."
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echo "[ubuntu.sh] arch: ${GREEN}$INSTALL_ARCH${NC}"
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# detect if running in docker
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if [ -f /.dockerenv ]; then
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echo "Running within docker, installing initial dependencies";
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echo "[ubuntu.sh] Running within docker, installing initial dependencies";
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apt-get --quiet -y update && DEBIAN_FRONTEND=noninteractive apt-get --quiet -y install \
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ca-certificates \
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gnupg \
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@@ -47,7 +50,7 @@ DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
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# check requirements.txt exists (script not run in source tree)
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REQUIREMENTS_FILE="requirements.txt"
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if [[ ! -f "${DIR}/${REQUIREMENTS_FILE}" ]]; then
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echo "FAILED: ${REQUIREMENTS_FILE} needed in same directory as ubuntu.sh (${DIR})."
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echo "[ubuntu.sh] FAILED: ${REQUIREMENTS_FILE} needed in same directory as ubuntu.sh (${DIR})."
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return 1
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fi
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@@ -55,10 +58,8 @@ fi
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# check ubuntu version
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# otherwise warn and point to docker?
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UBUNTU_RELEASE="`lsb_release -rs`"
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echo "Ubuntu ${UBUNTU_RELEASE}"
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echo
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echo "Installing PX4 general dependencies"
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echo "[ubuntu.sh] Ubuntu ${GREEN}${UBUNTU_RELEASE}${NC}"
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echo "[ubuntu.sh] Installing PX4 general dependencies"
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sudo apt-get update -y --quiet
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sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
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@@ -91,7 +92,7 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
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# Python3 dependencies
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echo
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echo "Installing PX4 Python3 dependencies"
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echo "[ubuntu.sh] Installing PX4 Python3 dependencies"
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PYTHON_VERSION=$(python3 --version 2>&1 | awk '{print $2}')
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REQUIRED_VERSION="3.11"
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if [[ "$(printf '%s\n' "$REQUIRED_VERSION" "$PYTHON_VERSION" | sort -V | head -n1)" == "$REQUIRED_VERSION" ]]; then
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@@ -109,8 +110,8 @@ fi
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if [[ $INSTALL_NUTTX == "true" ]]; then
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echo
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echo "Installing NuttX dependencies"
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echo "[ubuntu.sh] NuttX Installing Dependencies"
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sudo apt-get update -y --quiet
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sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
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automake \
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binutils-dev \
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@@ -118,9 +119,6 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
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build-essential \
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curl \
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flex \
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g++-multilib \
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gcc-arm-none-eabi \
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gcc-multilib \
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gdb-multiarch \
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genromfs \
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gettext \
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@@ -147,6 +145,25 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
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vim-common \
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;
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echo
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echo "[ubuntu.sh] NuttX Installing Dependencies ($INSTALL_ARCH)"
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if [[ "${INSTALL_ARCH}" == "x86_64" ]]; then
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sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
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g++-multilib \
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gcc-arm-none-eabi \
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gcc-multilib \
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;
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fi
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if [[ "${INSTALL_ARCH}" == "aarch64" ]]; then
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sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
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g++-aarch64-linux-gnu \
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g++-arm-linux-gnueabihf \
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;
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fi
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if [ -n "$USER" ]; then
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# add user to dialout group (serial port access)
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sudo usermod -aG dialout $USER
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@@ -157,7 +174,7 @@ fi
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if [[ $INSTALL_SIM == "true" ]]; then
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echo
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echo "Installing PX4 simulation dependencies"
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echo "[ubuntu.sh] Installing PX4 simulation dependencies"
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# General simulation dependencies
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sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
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@@ -182,8 +199,8 @@ if [[ $INSTALL_SIM == "true" ]]; then
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fi
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else
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# Expects Ubuntu 22.04 > by default
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echo "Gazebo (Harmonic) will be installed"
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echo "Earlier versions will be removed"
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echo "[ubuntu.sh] Gazebo (Harmonic) will be installed"
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echo "[ubuntu.sh] Earlier versions will be removed"
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# Add Gazebo binary repository
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sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
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echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
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