github actions run SITL tests in parallel

- temporarily disable iris dual gps

.github/workflows/sitl_tests.yml

@@ -12,13 +12,15 @@ jobs:
   build:
     runs-on: ubuntu-latest
     strategy:
+      fail-fast: false
       matrix:
-        ubuntu_release: [
-          #bionic,
-          focal
-          ]
+        config:
+          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo"} # Alaska
+          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "RelWithDebInfo"} # Australia
+          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo"} # Florida
+          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage"} # Zurich
     container:
-      image: px4io/px4-dev-simulation-${{ matrix.ubuntu_release }}:2020-04-01
+      image: px4io/px4-dev-simulation-focal:2020-04-01
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1
@@ -40,8 +42,8 @@ jobs:
       uses: actions/cache@v2
       with:
         path: ~/.ccache
-        key: sitl_tests_${{matrix.ubuntu_release}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: sitl_tests_${{matrix.ubuntu_release}}-ccache-
+        key: sitl_tests-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: sitl_tests-ccache-
     - name: setup ccache
       run: |
           mkdir -p ~/.ccache
@@ -52,9 +54,31 @@ jobs:
           ccache -s
           ccache -z
 
-    - name: Build PX4 in SITL integration test mode
-      run: DONT_RUN=1 make px4_sitl PX4_CMAKE_BUILD_TYPE=Coverage gazebo mavsdk_tests
-    - name: ccache post-run
+    - name: check environment
+      env:
+        PX4_HOME_LAT: ${{matrix.config.latitude}}
+        PX4_HOME_LON: ${{matrix.config.longitude}}
+        PX4_HOME_ALT: ${{matrix.config.altitude}}
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: export
+    - name: Build PX4
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: make px4_sitl_default
+    - name: ccache post-run px4/firmware
+      run: ccache -s
+    - name: Build SITL Gazebo
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: make px4_sitl_default sitl_gazebo
+    - name: ccache post-run sitl_gazebo
+      run: ccache -s
+    - name: Build MAVSDK tests
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+        DONT_RUN: 1
+      run: make px4_sitl_default gazebo mavsdk_tests
+    - name: ccache post-run mavsdk_tests
       run: ccache -s
 
     - name: Core dump settings
@@ -63,22 +87,18 @@ jobs:
           echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
 
     - name: Run SITL tests
-      run:  test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early test/mavsdk_tests/configs/sitl.json
-
-    - name: Run SITL tests in Southern hemisphere
-      run: PX4_HOME_LAT=-37.8134048 PX4_HOME_LON=175.304109 PX4_HOME_ALT=32 |
-        test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early test/mavsdk_tests/configs/sitl.json
-
-    - name: Run SITL tests far in the West
-      run: PX4_HOME_LAT=59.6176928 PX4_HOME_LON=-151.1453163 PX4_HOME_ALT=48 |
-        test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early test/mavsdk_tests/configs/sitl.json
+      env:
+        PX4_HOME_LAT: ${{matrix.config.latitude}}
+        PX4_HOME_LON: ${{matrix.config.longitude}}
+        PX4_HOME_ALT: ${{matrix.config.altitude}}
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+          export
+          test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early test/mavsdk_tests/configs/sitl.json
 
     - name: Look at core files
       if: failure()
       run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-    - name: Upload logs to flight review
-      if: failure()
-      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ./build/px4_sitl_default/tmp/rootfs/log/*/*.ulg
     - name: Upload px4 coredump
       if: failure()
       uses: actions/upload-artifact@v2-preview
@@ -86,6 +106,10 @@ jobs:
         name: coredump
         path: px4.core
 
+    - name: Upload logs to flight review
+      if: failure()
+      run: ./Tools/upload_log.py -q --description "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID}" --feedback "${GITHUB_WORKFLOW} ${GITHUB_RUN_ID} ${GITHUB_REPOSITORY} ${GITHUB_REF}" --source CI ./build/px4_sitl_default/tmp/rootfs/log/*/*.ulg
+
     - name: Upload px4 binary
       if: failure()
       uses: actions/upload-artifact@v2-preview
@@ -94,19 +118,17 @@ jobs:
         path: build/px4_sitl_default/bin/px4
 
     # Report test coverage
-    - name: disable the keychain credential helper
-      run: git config --global credential.helper ""
-    - name: enable the local store credential helper
-      run: git config --global --add credential.helper store
-    - name: add credential
-      run: echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials
-    - name: tell git to use https instead of ssh whenever it encounters it
-      run: 'git config --global url."https://github.com/".insteadof git@github.com:'
-    - name: Check code coverage
+    - name: Upload coverage
+      if: ${{matrix.config.build_type}} == 'Coverage'
       run: |
-        mkdir -p coverage
-        lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
+          git config --global credential.helper "" # disable the keychain credential helper
+          git config --global --add credential.helper store # enable the local store credential helper
+          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
+          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
+          mkdir -p coverage
+          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
     - name: Upload coverage information to Codecov
+      if: ${{matrix.config.build_type}} == 'Coverage'
       uses: codecov/codecov-action@v1
       with:
         token: ${{ secrets.CODECOV_TOKEN }}

test/mavsdk_tests/configs/sitl.json

@@ -16,12 +16,6 @@
             "test_filter": "[multicopter][offboard][nogps]",
             "timeout_min": 10
         },
-        {
-            "model": "iris_dual_gps",
-            "vehicle": "iris_dual_gps",
-            "test_filter": "[multicopter]",
-            "timeout_min": 10
-        },
         {
             "model": "standard_vtol",
             "vehicle": "standard_vtol",