mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-31 10:26:52 +08:00
ci: upgrade sitl mavsdk tests workflow
This commit is contained in:
Ramon Roche
Daniel Agar
+121
-106
@@ -10,126 +10,141 @@ on:
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jobs:
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jobs:
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build:
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build:
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runs-on: ubuntu-latest
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name: Testing PX4 ${{ matrix.config.model }}
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runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
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# outputs:
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# timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
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container:
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image: px4io/px4-dev-simulation-focal:2021-09-08
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options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
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strategy:
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strategy:
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fail-fast: false
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fail-fast: false
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matrix:
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matrix:
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config:
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config:
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- {model: "iris", latitude: "59.617693", longitude: "-151.145316", altitude: "48", build_type: "RelWithDebInfo" } # Alaska
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- {model: "iris", latitude: "59.617693", longitude: "-151.145316", altitude: "48", build_type: "RelWithDebInfo" } # Alaska
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# - {model: "standard_vtol", latitude: "-38.071235", longitude: "145.281220", altitude: "31", build_type: "AddressSanitizer" } # Australia
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- {model: "tailsitter" , latitude: "29.660316", longitude: "-82.316658", altitude: "30", build_type: "RelWithDebInfo" } # Florida
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- {model: "tailsitter" , latitude: "29.660316", longitude: "-82.316658", altitude: "30", build_type: "RelWithDebInfo" } # Florida
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- {model: "standard_vtol", latitude: "47.397742", longitude: "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
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- {model: "standard_vtol", latitude: "47.397742", longitude: "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
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container:
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image: px4io/px4-dev-simulation-focal:2021-09-08
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options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
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steps:
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steps:
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- uses: actions/checkout@v1
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- uses: actions/checkout@v4
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with:
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with:
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token: ${{ secrets.ACCESS_TOKEN }}
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fetch-depth: 0
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- name: Download MAVSDK
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- name: Git Ownership Workaround
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run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
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run: git config --system --add safe.directory '*'
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- name: Install MAVSDK
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run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
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- name: Prepare ccache timestamp
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- id: set-timestamp
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id: ccache_cache_timestamp
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name: Set timestamp for cache
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shell: cmake -P {0}
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run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
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run: |
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string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
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message("::set-output name=timestamp::${current_date}")
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- name: ccache cache files
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uses: actions/cache@v2
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with:
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path: ~/.ccache
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key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
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restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
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- name: setup ccache
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run: |
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mkdir -p ~/.ccache
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echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
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echo "compression = true" >> ~/.ccache/ccache.conf
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echo "compression_level = 6" >> ~/.ccache/ccache.conf
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echo "max_size = 100M" >> ~/.ccache/ccache.conf
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echo "hash_dir = false" >> ~/.ccache/ccache.conf
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ccache -s
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ccache -z
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- name: check environment
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- name: Cache Key Config
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env:
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uses: actions/cache@v4
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PX4_HOME_LAT: ${{matrix.config.latitude}}
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with:
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PX4_HOME_LON: ${{matrix.config.longitude}}
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path: ~/.ccache
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PX4_HOME_ALT: ${{matrix.config.altitude}}
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key: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}
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PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
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restore-keys: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}
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run: |
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export
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ulimit -a
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- name: Build PX4
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env:
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PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
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run: make px4_sitl_default
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- name: ccache post-run px4/firmware
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run: ccache -s
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- name: Build SITL Gazebo
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env:
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PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
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run: make px4_sitl_default sitl_gazebo-classic
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- name: ccache post-run sitl_gazebo-classic
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run: ccache -s
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- name: Build MAVSDK tests
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env:
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PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
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DONT_RUN: 1
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run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests
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- name: ccache post-run mavsdk_tests
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run: ccache -s
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- name: Core dump settings
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- name: Cache Conf Config
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run: |
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run: |
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ulimit -c unlimited
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mkdir -p ~/.ccache
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echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
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echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
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echo "compression = true" >> ~/.ccache/ccache.conf
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echo "compression_level = 6" >> ~/.ccache/ccache.conf
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echo "max_size = 120M" >> ~/.ccache/ccache.conf
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echo "hash_dir = false" >> ~/.ccache/ccache.conf
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ccache -s
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ccache -z
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- name: Run SITL tests
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- name: Build PX4
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env:
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env:
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PX4_HOME_LAT: ${{matrix.config.latitude}}
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PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
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PX4_HOME_LON: ${{matrix.config.longitude}}
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run: make px4_sitl_default
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PX4_HOME_ALT: ${{matrix.config.altitude}}
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PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
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run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
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timeout-minutes: 45
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- name: Look at core files
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- name: Cache Post-Run [px4_sitl_default]
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if: failure()
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run: ccache -s
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run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
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- name: Upload px4 coredump
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if: failure()
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uses: actions/upload-artifact@v2-preview
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with:
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name: coredump
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path: px4.core
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- name: Upload px4 binary
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- name: Build SITL Gazebo
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if: failure()
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env:
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uses: actions/upload-artifact@v2-preview
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PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
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with:
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run: make px4_sitl_default sitl_gazebo-classic
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name: binary
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path: build/px4_sitl_default/bin/px4
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# Report test coverage
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- name: Cache Post-Run [sitl_gazebo-classic]
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- name: Upload coverage
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run: ccache -s
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if: contains(matrix.config.build_type, 'Coverage')
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run: |
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- name: Download MAVSDK
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git config --global credential.helper "" # disable the keychain credential helper
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run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
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git config --global --add credential.helper store # enable the local store credential helper
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echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
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- name: Install MAVSDK
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git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
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run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
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mkdir -p coverage
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lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
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- name: Check PX4 Environment Variables
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- name: Upload coverage information to Codecov
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env:
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if: contains(matrix.config.build_type, 'Coverage')
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PX4_HOME_LAT: ${{matrix.config.latitude}}
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uses: codecov/codecov-action@v1
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PX4_HOME_LON: ${{matrix.config.longitude}}
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with:
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PX4_HOME_ALT: ${{matrix.config.altitude}}
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token: ${{ secrets.CODECOV_TOKEN }}
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PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
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flags: mavsdk
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run: |
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file: coverage/lcov.info
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export
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ulimit -a
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- name: Build PX4 / MAVSDK tests
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env:
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PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
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DONT_RUN: 1
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run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests
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- name: Cache Post-Run [px4_sitl_default sitl_gazebo-classic mavsdk_tests]
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run: ccache -s
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- name: Core Dump Settings
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run: |
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ulimit -c unlimited
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echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
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- name: Run SITL / MAVSDK Tests
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env:
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PX4_HOME_LAT: ${{matrix.config.latitude}}
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PX4_HOME_LON: ${{matrix.config.longitude}}
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PX4_HOME_ALT: ${{matrix.config.altitude}}
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PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
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run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
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timeout-minutes: 45
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- name: Upload failed logs
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if: failure()
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uses: actions/upload-artifact@v4
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with:
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name: failed-${{matrix.config.model}}-logs.zip
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path: |
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logs/**/**/**/*.log
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logs/**/**/**/*.ulg
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build/px4_sitl_default/tmp_mavsdk_tests/rootfs/*.ulg
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- name: Look at Core files
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if: failure() && ${{ hashFiles('px4.core') != '' }}
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run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
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- name: Upload PX4 coredump
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if: failure() && ${{ hashFiles('px4.core') != '' }}
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uses: actions/upload-artifact@v4
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with:
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name: coredump
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path: px4.core
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- name: Setup & Generate Coverage Report
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if: contains(matrix.config.build_type, 'Coverage')
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run: |
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git config --global credential.helper "" # disable the keychain credential helper
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git config --global --add credential.helper store # enable the local store credential helper
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echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
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git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
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mkdir -p coverage
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lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
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- name: Upload Coverage Information to Codecov
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if: contains(matrix.config.build_type, 'Coverage')
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uses: codecov/codecov-action@v4
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with:
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token: ${{ secrets.CODECOV_TOKEN }}
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flags: mavsdk
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file: coverage/lcov.info
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