diff --git a/.github/workflows/sitl_tests.yml b/.github/workflows/sitl_tests.yml index a3d4f3d712..d1de808706 100644 --- a/.github/workflows/sitl_tests.yml +++ b/.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 }} diff --git a/test/mavsdk_tests/configs/sitl.json b/test/mavsdk_tests/configs/sitl.json index d08834cd4e..c347bac4b1 100644 --- a/test/mavsdk_tests/configs/sitl.json +++ b/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",