Sub: move servo calc logic to motors_output() and cork SRV_Channels … #23
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| name: test sub | |
| on: | |
| push: | |
| paths-ignore: | |
| # remove other vehicles | |
| - 'AntennaTracker/**' | |
| - 'ArduCopter/**' | |
| - 'ArduPlane/**' | |
| - 'Blimp/**' | |
| - 'Rover/**' | |
| # remove non SITL HAL | |
| - 'libraries/AP_HAL_ChibiOS/**' | |
| - 'libraries/AP_HAL_ESP32/**' | |
| # remove non SITL directories | |
| - 'Tools/AP_Bootloader/**' | |
| - 'Tools/AP_Periph/**' | |
| - 'Tools/bootloaders/**' | |
| - 'Tools/CHDK-Script/**' | |
| - 'Tools/CodeStyle/**' | |
| - 'Tools/completion/**' | |
| - 'Tools/CPUInfo/**' | |
| - 'Tools/debug/**' | |
| - 'Tools/environment_install/**' | |
| - 'Tools/FilterTestTool/**' | |
| - 'Tools/Frame_params/**' | |
| - 'Tools/geotag/**' | |
| - 'Tools/GIT_Test/**' | |
| - 'Tools/gittools/**' | |
| - 'Tools/Hello/**' | |
| - 'Tools/IO_Firmware/**' | |
| - 'Tools/Linux_HAL_Essentials/**' | |
| - 'Tools/LogAnalyzer/**' | |
| - 'Tools/Pozyx/**' | |
| - 'Tools/PrintVersion.py' | |
| - 'Tools/Replay/**' | |
| - 'Tools/simulink/**' | |
| - 'Tools/UDP_Proxy/**' | |
| - 'Tools/vagrant/**' | |
| - 'Tools/Vicon/**' | |
| # Discard python file from Tools/scripts as not used | |
| - 'Tools/scripts/**.py' | |
| - 'Tools/scripts/build_sizes/**' | |
| - 'Tools/scripts/build_tests/**' | |
| - 'Tools/scripts/CAN/**' | |
| - 'Tools/scripts/signing/**' | |
| # Remove other vehicles autotest | |
| - 'Tools/autotest/antennatracker.py' | |
| - 'Tools/autotest/arducopter.py' | |
| - 'Tools/autotest/arduplane.py' | |
| - 'Tools/autotest/balancebot.py' | |
| - 'Tools/autotest/helicopter.py' | |
| - 'Tools/autotest/location.txt' | |
| - 'Tools/autotest/quadplane.py' | |
| - 'Tools/autotest/rover.py' | |
| - 'Tools/autotest/sailboat.py' | |
| - 'Tools/autotest/swarminit.txt' | |
| # Remove markdown files as irrelevant | |
| - '**.md' | |
| # Remove dotfile at root directory | |
| - './.dir-locals.el' | |
| - './.dockerignore' | |
| - './.editorconfig' | |
| - './.flake8' | |
| - './.gitattributes' | |
| - './.github' | |
| - './.gitignore' | |
| - './.pre-commit-config.yaml' | |
| - './.pydevproject' | |
| - './.valgrind-suppressions' | |
| - './.valgrindrc' | |
| - 'Dockerfile' | |
| - 'Vagrantfile' | |
| - 'Makefile' | |
| # Remove some directories check | |
| - '.vscode/**' | |
| - '.github/ISSUE_TEMPLATE/**' | |
| # Remove change on other workflows | |
| - '.github/workflows/test_environment.yml' | |
| pull_request: | |
| paths-ignore: | |
| # remove other vehicles | |
| - 'AntennaTracker/**' | |
| - 'ArduCopter/**' | |
| - 'ArduPlane/**' | |
| - 'Blimp/**' | |
| - 'Rover/**' | |
| # remove non SITL HAL | |
| - 'libraries/AP_HAL_ChibiOS/**' | |
| - 'libraries/AP_HAL_ESP32/**' | |
| # remove non SITL directories | |
| - 'Tools/AP_Bootloader/**' | |
| - 'Tools/AP_Periph/**' | |
| - 'Tools/bootloaders/**' | |
| - 'Tools/CHDK-Script/**' | |
| - 'Tools/CodeStyle/**' | |
| - 'Tools/completion/**' | |
| - 'Tools/CPUInfo/**' | |
| - 'Tools/debug/**' | |
| - 'Tools/environment_install/**' | |
| - 'Tools/FilterTestTool/**' | |
| - 'Tools/Frame_params/**' | |
| - 'Tools/geotag/**' | |
| - 'Tools/GIT_Test/**' | |
| - 'Tools/gittools/**' | |
| - 'Tools/Hello/**' | |
| - 'Tools/IO_Firmware/**' | |
| - 'Tools/Linux_HAL_Essentials/**' | |
| - 'Tools/LogAnalyzer/**' | |
| - 'Tools/Pozyx/**' | |
| - 'Tools/PrintVersion.py' | |
| - 'Tools/Replay/**' | |
| - 'Tools/simulink/**' | |
| - 'Tools/UDP_Proxy/**' | |
| - 'Tools/vagrant/**' | |
| - 'Tools/Vicon/**' | |
| # Discard python file from Tools/scripts as not used | |
| - 'Tools/scripts/**.py' | |
| - 'Tools/scripts/build_sizes/**' | |
| - 'Tools/scripts/build_tests/**' | |
| - 'Tools/scripts/CAN/**' | |
| - 'Tools/scripts/signing/**' | |
| # Remove other vehicles autotest | |
| - 'Tools/autotest/antennatracker.py' | |
| - 'Tools/autotest/arducopter.py' | |
| - 'Tools/autotest/arduplane.py' | |
| - 'Tools/autotest/balancebot.py' | |
| - 'Tools/autotest/helicopter.py' | |
| - 'Tools/autotest/location.txt' | |
| - 'Tools/autotest/quadplane.py' | |
| - 'Tools/autotest/rover.py' | |
| - 'Tools/autotest/sailboat.py' | |
| - 'Tools/autotest/swarminit.txt' | |
| # Remove markdown files as irrelevant | |
| - '**.md' | |
| # Remove dotfile at root directory | |
| - './.dir-locals.el' | |
| - './.dockerignore' | |
| - './.editorconfig' | |
| - './.flake8' | |
| - './.gitattributes' | |
| - './.github' | |
| - './.gitignore' | |
| - './.pre-commit-config.yaml' | |
| - './.pydevproject' | |
| - './.valgrind-suppressions' | |
| - './.valgrindrc' | |
| - 'Dockerfile' | |
| - 'Vagrantfile' | |
| - 'Makefile' | |
| # Remove some directories check | |
| - '.vscode/**' | |
| - '.github/ISSUE_TEMPLATE/**' | |
| # Remove change on other workflows | |
| - '.github/workflows/test_environment.yml' | |
| workflow_dispatch: | |
| concurrency: | |
| group: ci-${{github.workflow}}-${{ github.ref }} | |
| cancel-in-progress: true | |
| jobs: | |
| build: | |
| runs-on: ubuntu-22.04 | |
| container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.3 | |
| strategy: | |
| fail-fast: false # don't cancel if a job from the matrix fails | |
| matrix: | |
| toolchain: [ | |
| base, # GCC | |
| clang, | |
| ] | |
| steps: | |
| # git checkout the PR | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: 'recursive' | |
| # Put ccache into github cache for faster build | |
| - name: Prepare ccache timestamp | |
| id: ccache_cache_timestamp | |
| run: | | |
| NOW=$(date -u +"%F-%T") | |
| echo "timestamp=${NOW}" >> $GITHUB_OUTPUT | |
| - name: ccache cache files | |
| uses: actions/cache@v3 | |
| with: | |
| path: ~/.ccache | |
| key: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-${{steps.ccache_cache_timestamp.outputs.timestamp}} | |
| restore-keys: ${{github.workflow}}-ccache-${{ matrix.toolchain }}- # restore ccache from either previous build on this branch or on master | |
| - name: setup ccache | |
| run: | | |
| . .github/workflows/ccache.env | |
| - name: build sub ${{ matrix.toolchain }} | |
| shell: bash | |
| run: | | |
| git config --global --add safe.directory ${GITHUB_WORKSPACE} | |
| if [[ ${{ matrix.toolchain }} == "clang" ]]; then | |
| export CC=clang | |
| export CXX=clang++ | |
| fi | |
| PATH="/github/home/.local/bin:$PATH" | |
| ./waf configure --board sitl --debug | |
| ./waf build --target bin/ardusub | |
| ccache -s | |
| ccache -z | |
| autotest: | |
| needs: build # don't try to launch the tests matrix if it doesn't build first, profit from caching for fast build | |
| runs-on: ubuntu-22.04 | |
| container: | |
| image: ardupilot/ardupilot-dev-base:v0.1.3 | |
| options: --privileged --cap-add=SYS_PTRACE --security-opt apparmor=unconfined --security-opt seccomp=unconfined | |
| strategy: | |
| fail-fast: false # don't cancel if a job from the matrix fails | |
| matrix: | |
| config: [ | |
| sitltest-sub | |
| ] | |
| steps: | |
| # git checkout the PR | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: 'recursive' | |
| # Put ccache into github cache for faster build | |
| - name: Prepare ccache timestamp | |
| id: ccache_cache_timestamp | |
| run: | | |
| NOW=$(date -u +"%F-%T") | |
| echo "timestamp=${NOW}" >> $GITHUB_OUTPUT | |
| - name: ccache cache files | |
| uses: actions/cache/restore@v3 | |
| with: | |
| path: ~/.ccache | |
| key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}} | |
| restore-keys: ${{github.workflow}}-ccache-base- # restore ccache from either previous build on this branch or on master | |
| - name: setup ccache | |
| run: | | |
| . .github/workflows/ccache.env | |
| - name: test ${{matrix.config}} | |
| env: | |
| CI_BUILD_TARGET: ${{matrix.config}} | |
| shell: bash | |
| run: | | |
| git config --global --add safe.directory ${GITHUB_WORKSPACE} | |
| PATH="/github/home/.local/bin:$PATH" | |
| Tools/scripts/build_ci.sh | |
| - name: Archive buildlog artifacts | |
| uses: actions/upload-artifact@v3 | |
| if: failure() | |
| with: | |
| name: fail-${{matrix.config}} | |
| path: | | |
| /tmp/buildlogs | |
| /__w/ardupilot/ardupilot/logs | |
| /__w/ardupilot/ardupilot/ap-*.core | |
| /__w/ardupilot/ardupilot/core.* | |
| /__w/ardupilot/ardupilot/dumpstack.sh_* | |
| /__w/ardupilot/ardupilot/dumpcore.sh_* | |
| retention-days: 14 | |
| - name: Archive .bin artifacts | |
| uses: actions/upload-artifact@v3 | |
| with: | |
| name: BIN-${{matrix.config}} | |
| path: /__w/ardupilot/ardupilot/logs | |
| retention-days: 7 | |