Plane: backport takeoff fix PR 28792 #35287
Workflow file for this run
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: test size | |
| on: | |
| pull_request: | |
| paths-ignore: # ignore autotest stuffs | |
| - 'Tools/autotest/**' | |
| # 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 generic tools | |
| - 'Tools/CHDK-Script/**' | |
| - 'Tools/CodeStyle/**' | |
| - 'Tools/completion/**' | |
| - 'Tools/CPUInfo/**' | |
| - 'Tools/debug/**' | |
| - 'Tools/environment_install/**' | |
| - 'Tools/FilterTestTool/**' | |
| - 'Tools/geotag/**' | |
| - 'Tools/GIT_Test/**' | |
| - 'Tools/gittools/**' | |
| - 'Tools/Hello/**' | |
| - 'Tools/Linux_HAL_Essentials/**' | |
| - 'Tools/mavproxy_modules/**' | |
| - 'Tools/Pozyx/**' | |
| - 'Tools/PrintVersion.py' | |
| - 'Tools/simulink/**' | |
| - 'Tools/UDP_Proxy/**' | |
| - 'Tools/vagrant/**' | |
| - 'Tools/Vicon/**' | |
| # remove non CHIBIOS HAL | |
| - 'libraries/AP_HAL_SITL/**' | |
| - 'libraries/AP_HAL_ESP32/**' | |
| - 'libraries/AP_HAL_Linux/**' | |
| # 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: [ | |
| chibios, | |
| ] | |
| config: [ | |
| Durandal, | |
| MatekF405, | |
| KakuteF7, | |
| MatekH743-bdshot, | |
| Pixhawk1-1M, | |
| MatekF405-CAN, # see special "build bootloader" code below | |
| DrotekP3Pro, # see special "build bootloader" code below | |
| Hitec-Airspeed, # see special code for Periph below (3 places!) | |
| f103-GPS # see special code for Periph below (3 places!) | |
| ] | |
| include: | |
| - config: disco | |
| toolchain: armhf | |
| exclude: | |
| - config: disco | |
| toolchain: chibios | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| ref: ${{ github.event.pull_request.base.ref }} | |
| path: base_branch | |
| submodules: 'recursive' | |
| # Put ccache into github cache for faster build | |
| - name: Prepare ccache timestamp | |
| id: ccache_cache_timestamp | |
| run: | | |
| NOW=$(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 base branch | |
| - name: setup ccache | |
| run: | | |
| . base_branch/.github/workflows/ccache.env | |
| - name: Build ${{ github.event.pull_request.base.ref }} ${{matrix.config}} ${{ matrix.toolchain }} | |
| env: | |
| CI_BUILD_TARGET: ${{matrix.config}} | |
| shell: bash | |
| run: | | |
| set -ex | |
| # set up some variables based on what sort of build we're doing: | |
| BOOTLOADER=0 | |
| AP_PERIPH=0 | |
| if [ "${{matrix.config}}" = "Hitec-Airspeed" ] || | |
| [ "${{matrix.config}}" = "f103-GPS" ]; then | |
| AP_PERIPH=1 | |
| elif [ "${{matrix.config}}" = "MatekF405-CAN" ] || | |
| [ "${{matrix.config}}" = "DrotekP3Pro" ]; then | |
| BOOTLOADER=1 | |
| fi | |
| if [ $BOOTLOADER -eq 1 ]; then | |
| BIN_SRC="build/${{matrix.config}}/bootloader" | |
| else | |
| BIN_SRC="build/${{matrix.config}}/bin" | |
| fi | |
| git config --global --add safe.directory ${GITHUB_WORKSPACE} | |
| PATH="/github/home/.local/bin:$PATH" | |
| # build the base branch | |
| cd base_branch | |
| # configure: | |
| if [ $BOOTLOADER -eq 1 ]; then | |
| ./waf configure --board ${{matrix.config}} --bootloader | |
| else | |
| ./waf configure --board ${{matrix.config}} | |
| fi | |
| # build: | |
| if [ $AP_PERIPH -eq 1 ]; then | |
| ./waf AP_Periph | |
| elif [ $BOOTLOADER -eq 1 ]; then | |
| ./waf bootloader | |
| else | |
| ./waf | |
| fi | |
| mkdir -p $GITHUB_WORKSPACE/base_branch_bin | |
| cp -r $BIN_SRC/* $GITHUB_WORKSPACE/base_branch_bin/ | |
| # build a set of binaries without symbols so we can check if | |
| # the binaries have changed. | |
| echo [`date`] Building ${{ github.event.pull_request.base.ref }} with no versions | |
| NO_VERSIONS_DIR="$GITHUB_WORKSPACE/base_branch_bin_no_versions" | |
| mkdir "$NO_VERSIONS_DIR" | |
| # export some environment variables designed to get | |
| # repeatable builds from the same source: | |
| export CHIBIOS_GIT_VERSION="12345678" | |
| export GIT_VERSION="abcdef" | |
| export GIT_VERSION_INT="15" | |
| if [ $AP_PERIPH -eq 1 ]; then | |
| ./waf AP_Periph | |
| elif [ $BOOTLOADER -eq 1 ]; then | |
| ./waf bootloader | |
| else | |
| ./waf | |
| fi | |
| cp -r $BIN_SRC/* "$NO_VERSIONS_DIR" | |
| echo [`date`] Built ${{ github.event.pull_request.base.ref }} with no versions | |
| - uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 0 | |
| path: 'pr' | |
| - name: Build PR rebased ${{matrix.config}} ${{ matrix.toolchain }} | |
| env: | |
| CI_BUILD_TARGET: ${{matrix.config}} | |
| shell: bash | |
| run: | | |
| set -ex | |
| # set up some variables based on what sort of build we're doing: | |
| BOOTLOADER=0 | |
| AP_PERIPH=0 | |
| if [ "${{matrix.config}}" = "Hitec-Airspeed" ] || | |
| [ "${{matrix.config}}" = "f103-GPS" ]; then | |
| AP_PERIPH=1 | |
| elif [ "${{matrix.config}}" = "MatekF405-CAN" ] || | |
| [ "${{matrix.config}}" = "DrotekP3Pro" ]; then | |
| BOOTLOADER=1 | |
| fi | |
| if [ $BOOTLOADER -eq 1 ]; then | |
| BIN_SRC="build/${{matrix.config}}/bootloader" | |
| else | |
| BIN_SRC="build/${{matrix.config}}/bin" | |
| fi | |
| git config --global --add safe.directory ${GITHUB_WORKSPACE} | |
| PATH="/github/home/.local/bin:$PATH" | |
| cd pr/ | |
| git config user.email "[email protected]" | |
| git config user.name "ArduPilot CI" | |
| git remote add target_repo https://github.com/${{github.event.pull_request.base.repo.full_name}} | |
| git fetch --no-tags --prune --progress target_repo ${{ github.event.pull_request.base.ref }} | |
| git rebase target_repo/${{ github.event.pull_request.base.ref }} | |
| git submodule update --init --recursive --depth=1 | |
| # configure | |
| if [ $BOOTLOADER -eq 1 ]; then | |
| ./waf configure --board ${{matrix.config}} --bootloader | |
| else | |
| ./waf configure --board ${{matrix.config}} | |
| fi | |
| # build | |
| if [ $AP_PERIPH -eq 1 ]; then | |
| ./waf AP_Periph | |
| elif [ $BOOTLOADER -eq 1 ]; then | |
| ./waf bootloader | |
| else | |
| ./waf | |
| fi | |
| mkdir $GITHUB_WORKSPACE/pr_bin | |
| cp -r $BIN_SRC/* $GITHUB_WORKSPACE/pr_bin/ | |
| # build a set of binaries without symbols so we can check if | |
| # the binaries have changed. | |
| echo [`date`] Building PR with no versions | |
| NO_VERSIONS_DIR="$GITHUB_WORKSPACE/pr_bin_no_versions" | |
| mkdir "$NO_VERSIONS_DIR" | |
| # export some environment variables designed to get | |
| # repeatable builds from the same source: | |
| export CHIBIOS_GIT_VERSION="12345678" | |
| export GIT_VERSION="abcdef" | |
| export GIT_VERSION_INT="15" | |
| if [ $AP_PERIPH -eq 1 ]; then | |
| ./waf AP_Periph | |
| elif [ $BOOTLOADER -eq 1 ]; then | |
| ./waf bootloader | |
| else | |
| ./waf | |
| fi | |
| cp -r $BIN_SRC/* "$NO_VERSIONS_DIR" | |
| echo [`date`] Built PR with no versions | |
| # build MatekF405 Plane without quadplane | |
| if [ "${{matrix.config}}" = "MatekF405" ]; then | |
| PLANE_BINARY="build/MatekF405/bin/arduplane.bin" | |
| echo "normal size" | |
| ls -l "$PLANE_BINARY" | |
| EXTRA_HWDEF="/tmp/extra-options.def" | |
| echo "define HAL_QUADPLANE_ENABLED 0" >"$EXTRA_HWDEF" | |
| ./waf configure --board ${{matrix.config}} --extra-hwdef="$EXTRA_HWDEF" | |
| ./waf plane | |
| rm "$EXTRA_HWDEF" | |
| echo "non-quadplane size:" | |
| ls -l "$PLANE_BINARY" | |
| fi | |
| - name: Full size compare with base branch | |
| shell: bash | |
| run: | | |
| cd pr/ | |
| Tools/scripts/pretty_diff_size.py -m $GITHUB_WORKSPACE/base_branch_bin -s $GITHUB_WORKSPACE/pr_bin | |
| - name: Feature compare with ${{ github.event.pull_request.base.ref }} | |
| shell: bash | |
| run: | | |
| set -ex | |
| cd pr/ | |
| BIN_PREFIX="arm-none-eabi-" | |
| if [ "${{matrix.toolchain}}" = "armhf" ]; then | |
| BIN_PREFIX="arm-linux-gnueabihf-" | |
| fi | |
| BOOTLOADER=0 | |
| AP_PERIPH=0 | |
| if [ "${{matrix.config}}" = "Hitec-Airspeed" ] || | |
| [ "${{matrix.config}}" = "f103-GPS" ]; then | |
| AP_PERIPH=1 | |
| elif [ "${{matrix.config}}" = "MatekF405-CAN" ] || | |
| [ "${{matrix.config}}" = "DrotekP3Pro" ]; then | |
| BOOTLOADER=1 | |
| fi | |
| if [ $AP_PERIPH -eq 1 ]; then | |
| EF_BINARY_NAME="AP_Periph" | |
| elif [ $BOOTLOADER -eq 1 ]; then | |
| EF_BINARY_NAME="AP_Bootloader" | |
| else | |
| EF_BINARY_NAME="arduplane" | |
| fi | |
| EF_BASE_BRANCH_BINARY="$GITHUB_WORKSPACE/base_branch_bin/$EF_BINARY_NAME" | |
| EF_PR_BRANCH_BINARY="$GITHUB_WORKSPACE/pr_bin/$EF_BINARY_NAME" | |
| Tools/scripts/extract_features.py "$EF_BASE_BRANCH_BINARY" -nm "${BIN_PREFIX}nm" >features-base_branch.txt | |
| Tools/scripts/extract_features.py "$EF_PR_BRANCH_BINARY" -nm "${BIN_PREFIX}nm" >features-pr.txt | |
| diff -u features-base_branch.txt features-pr.txt || true | |
| - name: Checksum compare with ${{ github.event.pull_request.base.ref }} | |
| shell: bash | |
| run: | | |
| diff -r $GITHUB_WORKSPACE/base_branch_bin_no_versions $GITHUB_WORKSPACE/pr_bin_no_versions --exclude=*.elf --exclude=*.apj || true |