name: SITL Tests

on:
  push:
    branches:
    - 'master'
  pull_request:
    branches:
    - '*'

jobs:
  build:
    runs-on: ubuntu-latest
    strategy:
      matrix:
        ubuntu_release: [
          bionic,
          focal
          ]
    container:
      image: px4io/px4-dev-simulation-${{ matrix.ubuntu_release }}:2020-04-01
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
      with:
        token: ${{ secrets.ACCESS_TOKEN }}
    - name: Download MAVSDK
      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.24.0/mavsdk_0.24.0_ubuntu18.04_amd64.deb
    - name: Install MAVSDK
      run: dpkg -i mavsdk_0.24.0_ubuntu18.04_amd64.deb
    - uses: actions/cache@v1.1.0
      id: ccache-persistence
      with:
        path: ~/.ccache
        key: ccache-sitl-tests
        restore-keys: |
          ccache-sitl-tests
    - name: setup ccache
      run: mkdir -p ~/.ccache && echo "max_size = 1G" > ~/.ccache/ccache.conf && ccache -z && ccache -s
    - 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
      run: ccache -s && ccache -z
    - name: Core dump settings
      run: |
          ulimit -c unlimited
          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
    - 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 px4 coredump
      if: failure()
      uses: actions/upload-artifact@v2-preview
      with:
        name: coredump
        path: px4.core
    - name: Upload px4 binary
      if: failure()
      uses: actions/upload-artifact@v2-preview
      with:
        name: binary
        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
      run: |
        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
      uses: codecov/codecov-action@v1
      with:
        token: ${{ secrets.CODECOV_TOKEN }}
        flags: mavsdk
        file: coverage/lcov.info