Mavlink gimbal support #5488
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| name: Build firmware | |
| # Don't enable CI on push, just on PR. If you | |
| # are working on the main repo and want to trigger | |
| # a CI build submit a draft PR. | |
| on: | |
| pull_request: | |
| paths: | |
| - 'src/**' | |
| - '.github/**' | |
| - 'cmake/**' | |
| - 'lib/**' | |
| - 'docs/Settings.md' | |
| - 'CMakeLists.txt' | |
| - '*.sh' | |
| jobs: | |
| build: | |
| runs-on: ubuntu-latest | |
| strategy: | |
| matrix: | |
| id: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15] | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Install dependencies | |
| run: sudo apt-get update && sudo apt-get -y install ninja-build | |
| - name: Setup environment | |
| env: | |
| ACTIONS_ALLOW_UNSECURE_COMMANDS: true | |
| run: | | |
| # This is the hash of the commit for the PR | |
| # when the action is triggered by PR, empty otherwise | |
| COMMIT_ID=${{ github.event.pull_request.head.sha }} | |
| # This is the hash of the commit when triggered by push | |
| # but the hash of refs/pull/<n>/merge, which is different | |
| # from the hash of the latest commit in the PR, that's | |
| # why we try github.event.pull_request.head.sha first | |
| COMMIT_ID=${COMMIT_ID:-${{ github.sha }}} | |
| BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID}) | |
| VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }') | |
| echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV | |
| echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV | |
| echo "NUM_CORES=$(grep processor /proc/cpuinfo | wc -l)" >> $GITHUB_ENV | |
| - uses: actions/cache@v4 | |
| with: | |
| path: downloads | |
| key: ${{ runner.os }}-downloads-${{ hashFiles('CMakeLists.txt') }}-${{ hashFiles('**/cmake/*')}} | |
| - name: Build targets (${{ matrix.id }}) | |
| run: mkdir -p build && cd build && cmake -DWARNINGS_AS_ERRORS=ON -DCI_JOB_INDEX=${{ matrix.id }} -DCI_JOB_COUNT=${{ strategy.job-total }} -DBUILD_SUFFIX=${{ env.BUILD_SUFFIX }} -DMAIN_COMPILE_OPTIONS=-pipe -G Ninja .. && ninja -j${{ env.NUM_CORES }} ci | |
| - name: Upload artifacts | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: matrix-${{ env.BUILD_NAME }}.${{ matrix.id }} | |
| path: ./build/*.hex | |
| retention-days: 1 | |
| upload-artifacts: | |
| runs-on: ubuntu-latest | |
| needs: [build] | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Setup environment | |
| env: | |
| ACTIONS_ALLOW_UNSECURE_COMMANDS: true | |
| run: | | |
| # This is the hash of the commit for the PR | |
| # when the action is triggered by PR, empty otherwise | |
| COMMIT_ID=${{ github.event.pull_request.head.sha }} | |
| # This is the hash of the commit when triggered by push | |
| # but the hash of refs/pull/<n>/merge, which is different | |
| # from the hash of the latest commit in the PR, that's | |
| # why we try github.event.pull_request.head.sha first | |
| COMMIT_ID=${COMMIT_ID:-${{ github.sha }}} | |
| BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID}) | |
| VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }') | |
| echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV | |
| echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV | |
| echo "NUM_CORES=$(grep processor /proc/cpuinfo | wc -l)" >> $GITHUB_ENV | |
| - name: Download artifacts | |
| uses: actions/download-artifact@v4 | |
| with: | |
| pattern: matrix-inav-* | |
| merge-multiple: true | |
| path: binaries | |
| - name: Build target list | |
| run: | | |
| ls -1 binaries/*.hex | cut -d/ -f2 > targets.txt | |
| - name: Upload firmware images | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: ${{ env.BUILD_NAME }} | |
| path: binaries/*.hex | |
| - name: Upload firmware images | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: targets | |
| path: targets.txt | |
| build-SITL-Linux: | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Install dependencies | |
| run: sudo apt-get update && sudo apt-get -y install ninja-build | |
| - name: Setup environment | |
| env: | |
| ACTIONS_ALLOW_UNSECURE_COMMANDS: true | |
| run: | | |
| # This is the hash of the commit for the PR | |
| # when the action is triggered by PR, empty otherwise | |
| COMMIT_ID=${{ github.event.pull_request.head.sha }} | |
| # This is the hash of the commit when triggered by push | |
| # but the hash of refs/pull/<n>/merge, which is different | |
| # from the hash of the latest commit in the PR, that's | |
| # why we try github.event.pull_request.head.sha first | |
| COMMIT_ID=${COMMIT_ID:-${{ github.sha }}} | |
| BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID}) | |
| VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }') | |
| echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV | |
| echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV | |
| echo "NUM_CORES=$(grep processor /proc/cpuinfo | wc -l)" >> $GITHUB_ENV | |
| - name: Build SITL | |
| run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja -j${{ env.NUM_CORES }} | |
| - name: Upload artifacts | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: ${{ env.BUILD_NAME }}_SITL-Linux | |
| path: ./build_SITL/*_SITL | |
| build-SITL-Mac: | |
| runs-on: macos-latest | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Install dependencies | |
| run: | | |
| brew install cmake ninja ruby | |
| - name: Setup environment | |
| env: | |
| ACTIONS_ALLOW_UNSECURE_COMMANDS: true | |
| run: | | |
| # This is the hash of the commit for the PR | |
| # when the action is triggered by PR, empty otherwise | |
| COMMIT_ID=${{ github.event.pull_request.head.sha }} | |
| # This is the hash of the commit when triggered by push | |
| # but the hash of refs/pull/<n>/merge, which is different | |
| # from the hash of the latest commit in the PR, that's | |
| # why we try github.event.pull_request.head.sha first | |
| COMMIT_ID=${COMMIT_ID:-${{ github.sha }}} | |
| BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID}) | |
| VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }') | |
| echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV | |
| echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV | |
| echo "NUM_CORES=$(grep processor /proc/cpuinfo | wc -l)" >> $GITHUB_ENV | |
| - name: Build SITL | |
| run: | | |
| mkdir -p build_SITL && cd build_SITL | |
| cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -DCMAKE_OSX_ARCHITECTURES="arm64;x86_64" -G Ninja .. | |
| ninja -j4 | |
| - name: Upload artifacts | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: ${{ env.BUILD_NAME }}_SITL-MacOS | |
| path: ./build_SITL/*_SITL | |
| build-SITL-Windows: | |
| runs-on: windows-latest | |
| defaults: | |
| run: | |
| shell: C:\tools\cygwin\bin\bash.exe -o igncr '{0}' | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Setup Cygwin | |
| uses: egor-tensin/setup-cygwin@v4 | |
| with: | |
| packages: cmake ruby ninja gcc-g++ | |
| - name: Setup environment | |
| env: | |
| ACTIONS_ALLOW_UNSECURE_COMMANDS: true | |
| run: | | |
| # This is the hash of the commit for the PR | |
| # when the action is triggered by PR, empty otherwise | |
| COMMIT_ID=${{ github.event.pull_request.head.sha }} | |
| # This is the hash of the commit when triggered by push | |
| # but the hash of refs/pull/<n>/merge, which is different | |
| # from the hash of the latest commit in the PR, that's | |
| # why we try github.event.pull_request.head.sha first | |
| COMMIT_ID=${COMMIT_ID:-${{ github.sha }}} | |
| BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID}) | |
| VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }') | |
| echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV | |
| echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV | |
| - name: Build SITL | |
| run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja -j4 | |
| - name: Upload artifacts | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: ${{ env.BUILD_NAME }}_SITL-WIN | |
| path: ./build_SITL/*.exe | |
| test: | |
| #needs: [build] | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Install dependencies | |
| run: sudo apt-get update && sudo apt-get -y install ninja-build | |
| - name: Run Tests | |
| run: mkdir -p build && cd build && cmake -DTOOLCHAIN=none -G Ninja .. && ninja check |