Spacecrafts and Thrusters Plugin #774
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| name: Firmware Build and SITL Tests | |
| on: | |
| push: | |
| branches: | |
| - main | |
| pull_request: | |
| branches: | |
| - '*' | |
| jobs: | |
| Firmware-build: | |
| runs-on: ubuntu-latest | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| model: | |
| - "iris" | |
| - "standard_vtol" | |
| container: | |
| image: px4io/px4-dev-simulation-focal:2021-05-31 | |
| options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined | |
| steps: | |
| - name: Checkout Firmware main | |
| uses: actions/checkout@v2.3.1 | |
| with: | |
| repository: PX4/Firmware | |
| ref: main | |
| path: Firmware | |
| fetch-depth: 0 | |
| submodules: recurvise | |
| - name: Checkout matching branch on PX4/Firmware if possible | |
| run: | | |
| git checkout ${{github.head_ref}} || echo "Firmware branch: ${{github.head_ref}} not found, using main instead" | |
| git submodule update --init --recursive | |
| working-directory: Firmware | |
| - name: Configure Firmware to include current sitl_gazebo version | |
| working-directory: Firmware/Tools/simulation/gazebo-classic/sitl_gazebo-classic | |
| run: | | |
| git fetch origin pull/${{github.event.pull_request.number}}/head:${{github.head_ref}} || echo "Couldn't find the feature branch of the pull request, using default branch" | |
| git checkout ${{github.head_ref}} | |
| - name: Download MAVSDK | |
| working-directory: Firmware | |
| run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb" | |
| - name: Install MAVSDK | |
| working-directory: Firmware | |
| run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb" | |
| - name: Prepare ccache timestamp | |
| id: ccache_cache_timestamp | |
| shell: cmake -P {0} | |
| run: | | |
| string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC) | |
| message("::set-output name=timestamp::${current_date}") | |
| - name: ccache cache files | |
| uses: actions/cache@v2 | |
| with: | |
| path: ~/.ccache | |
| key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}} | |
| restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache- | |
| - name: setup ccache | |
| run: | | |
| mkdir -p ~/.ccache | |
| echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf | |
| echo "compression = true" >> ~/.ccache/ccache.conf | |
| echo "compression_level = 6" >> ~/.ccache/ccache.conf | |
| echo "max_size = 400M" >> ~/.ccache/ccache.conf | |
| ccache -s | |
| ccache -z | |
| - name: Build Firmware | |
| working-directory: Firmware | |
| env: | |
| DONT_RUN: 1 | |
| GIT_SUBMODULES_ARE_EVIL: 1 | |
| run: make px4_sitl_default gazebo_iris | |
| - name: ccache post-run px4/firmware | |
| run: ccache -s | |
| - name: Build MAVSDK tests | |
| working-directory: Firmware | |
| env: | |
| DONT_RUN: 1 | |
| GIT_SUBMODULES_ARE_EVIL: 1 | |
| run: make px4_sitl_default gazebo_iris mavsdk_tests | |
| - name: ccache post-run mavsdk_tests | |
| run: ccache -s | |
| - name: Run SITL tests | |
| working-directory: Firmware | |
| run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.model}} test/mavsdk_tests/configs/sitl.json |