firmware_build_test.yml

name: Firmware Build and SITL Tests

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

jobs:
  Firmware-build:
    runs-on: ubuntu-latest
    strategy:
      fail-fast: false
      matrix:
        model:
          - "iris"
          - "standard_vtol"
    container:
      image: px4io/px4-dev-simulation-focal:2021-05-31
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - name: Checkout Firmware main
      uses: actions/checkout@v2.3.1
      with:
        repository: PX4/Firmware
        ref: main
        path: Firmware
        fetch-depth: 0
        submodules: recurvise
    - name: Checkout matching branch on PX4/Firmware if possible
      run: |
        git checkout ${{github.head_ref}} || echo "Firmware branch: ${{github.head_ref}} not found, using main instead"
        git submodule update --init --recursive
      working-directory: Firmware
    - name: Configure Firmware to include current sitl_gazebo version
      working-directory: Firmware/Tools/sitl_gazebo
      run: |
        git fetch origin pull/${{github.event.pull_request.number}}/head:${{github.head_ref}} || echo "Couldn't find the feature branch of the pull request, using default branch"
        git checkout ${{github.head_ref}}
    - name: Download MAVSDK
      working-directory: Firmware
      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
    - name: Install MAVSDK
      working-directory: Firmware
      run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
      shell: cmake -P {0}
      run: |
        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
        message("::set-output name=timestamp::${current_date}")
    - name: ccache cache files
      uses: actions/cache@v2
      with:
        path: ~/.ccache
        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
    - name: setup ccache
      run: |
          mkdir -p ~/.ccache
          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
          echo "compression = true" >> ~/.ccache/ccache.conf
          echo "compression_level = 6" >> ~/.ccache/ccache.conf
          echo "max_size = 400M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z
    - name: Build Firmware
      working-directory: Firmware
      env:
        DONT_RUN: 1
        GIT_SUBMODULES_ARE_EVIL: 1
      run: make px4_sitl_default gazebo
    - name: ccache post-run px4/firmware
      run: ccache -s
    - name: Build MAVSDK tests
      working-directory: Firmware
      env:
        DONT_RUN: 1
        GIT_SUBMODULES_ARE_EVIL: 1
      run: make px4_sitl_default gazebo mavsdk_tests
    - name: ccache post-run mavsdk_tests
      run: ccache -s
    - name: Run SITL tests
      working-directory: Firmware
      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.model}} test/mavsdk_tests/configs/sitl.json