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.github: simulink support for ArduCopter
Glue code to enable Simulink-generated controller with ArduCopter
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‎.github/workflows/test_sitl_copter_simulink.yml‎

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name: test copter Simulink
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on:
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push:
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paths-ignore:
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# remove other vehicles
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- 'AntennaTracker/**'
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- 'ArduPlane/**'
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- 'ArduSub/**'
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- 'Blimp/**'
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- 'Rover/**'
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# remove non SITL HAL
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- 'libraries/AP_HAL_ChibiOS/**'
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- 'libraries/AP_HAL_ESP32/**'
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- 'libraries/AP_HAL_QURT/**'
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# remove non SITL directories
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- 'Tools/AP_Bootloader/**'
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- 'Tools/AP_Periph/**'
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- 'Tools/bootloaders/**'
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- 'Tools/CHDK-Script/**'
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- 'Tools/CodeStyle/**'
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- 'Tools/completion/**'
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- 'Tools/CPUInfo/**'
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- 'Tools/debug/**'
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- 'Tools/environment_install/**'
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- 'Tools/FilterTestTool/**'
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- 'Tools/Frame_params/**'
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- 'Tools/geotag/**'
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- 'Tools/GIT_Test/**'
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- 'Tools/gittools/**'
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- 'Tools/Hello/**'
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- 'Tools/IO_Firmware/**'
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- 'Tools/Linux_HAL_Essentials/**'
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- 'Tools/Pozyx/**'
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- 'Tools/PrintVersion.py'
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- 'Tools/simulink/**'
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- 'Tools/UDP_Proxy/**'
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- 'Tools/vagrant/**'
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- 'Tools/Vicon/**'
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# Discard python file from Tools/scripts as not used
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- 'Tools/scripts/**.py'
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- 'Tools/scripts/build_sizes/**'
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- 'Tools/scripts/build_tests/**'
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- 'Tools/scripts/CAN/**'
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- 'Tools/scripts/signing/**'
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# Remove other vehicles autotest
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- 'Tools/autotest/antennatracker.py'
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- 'Tools/autotest/arduplane.py'
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- 'Tools/autotest/ardusub.py'
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- 'Tools/autotest/balancebot.py'
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- 'Tools/autotest/location.txt'
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- 'Tools/autotest/quadplane.py'
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- 'Tools/autotest/rover.py'
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- 'Tools/autotest/sailboat.py'
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- 'Tools/autotest/swarminit.txt'
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# Remove markdown files as irrelevant
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- '**.md'
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# Remove dotfile at root directory
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- './.dir-locals.el'
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- './.dockerignore'
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- './.editorconfig'
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- './.flake8'
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- './.gitattributes'
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- './.github'
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- './.gitignore'
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- './.pre-commit-config.yaml'
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- './.pydevproject'
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- './.valgrind-suppressions'
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- './.valgrindrc'
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- 'Dockerfile'
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- 'Vagrantfile'
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- 'Makefile'
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# Remove some directories check
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- '.vscode/**'
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- '.github/ISSUE_TEMPLATE/**'
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# Remove change on other workflows
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- '.github/workflows/test_environment.yml'
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pull_request:
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paths-ignore:
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# remove other vehicles
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- 'AntennaTracker/**'
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- 'ArduPlane/**'
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- 'ArduSub/**'
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- 'Blimp/**'
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- 'Rover/**'
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# remove non SITL HAL
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- 'libraries/AP_HAL_ChibiOS/**'
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- 'libraries/AP_HAL_ESP32/**'
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- 'libraries/AP_HAL_QURT/**'
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# remove non SITL directories
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- 'Tools/AP_Bootloader/**'
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- 'Tools/AP_Periph/**'
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- 'Tools/bootloaders/**'
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- 'Tools/CHDK-Script/**'
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- 'Tools/CodeStyle/**'
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- 'Tools/completion/**'
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- 'Tools/CPUInfo/**'
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- 'Tools/debug/**'
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- 'Tools/environment_install/**'
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- 'Tools/FilterTestTool/**'
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- 'Tools/Frame_params/**'
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- 'Tools/geotag/**'
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- 'Tools/GIT_Test/**'
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- 'Tools/gittools/**'
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- 'Tools/Hello/**'
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- 'Tools/IO_Firmware/**'
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- 'Tools/Linux_HAL_Essentials/**'
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- 'Tools/LogAnalyzer/**'
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- 'Tools/Pozyx/**'
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- 'Tools/PrintVersion.py'
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- 'Tools/simulink/**'
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- 'Tools/UDP_Proxy/**'
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- 'Tools/vagrant/**'
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- 'Tools/Vicon/**'
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# Discard python file from Tools/scripts as not used
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- 'Tools/scripts/**.py'
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- 'Tools/scripts/build_sizes/**'
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- 'Tools/scripts/build_tests/**'
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- 'Tools/scripts/CAN/**'
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- 'Tools/scripts/signing/**'
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# Remove other vehicles autotest
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- 'Tools/autotest/antennatracker.py'
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- 'Tools/autotest/arduplane.py'
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- 'Tools/autotest/ardusub.py'
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- 'Tools/autotest/balancebot.py'
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- 'Tools/autotest/location.txt'
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- 'Tools/autotest/quadplane.py'
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- 'Tools/autotest/rover.py'
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- 'Tools/autotest/sailboat.py'
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- 'Tools/autotest/swarminit.txt'
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# Remove markdown files as irrelevant
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- '**.md'
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# Remove dotfile at root directory
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- './.dir-locals.el'
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- './.dockerignore'
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- './.editorconfig'
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- './.flake8'
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- './.gitattributes'
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- './.github'
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- './.gitignore'
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- './.pre-commit-config.yaml'
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- './.pydevproject'
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- './.valgrind-suppressions'
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- './.valgrindrc'
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- 'Dockerfile'
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- 'Vagrantfile'
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- 'Makefile'
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# Remove some directories check
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- '.vscode/**'
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- '.github/ISSUE_TEMPLATE/**'
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# Remove change on other workflows
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- '.github/workflows/test_environment.yml'
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workflow_dispatch:
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concurrency:
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group: ci-${{github.workflow}}-${{ github.ref }}
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cancel-in-progress: true
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jobs:
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build:
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runs-on: ubuntu-22.04
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container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.3
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strategy:
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fail-fast: false # don't cancel if a job from the matrix fails
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matrix:
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toolchain: [
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base, # GCC
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clang,
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]
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steps:
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# git checkout the PR
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- uses: actions/checkout@v4
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with:
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submodules: 'recursive'
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# Put ccache into github cache for faster build
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- name: Prepare ccache timestamp
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id: ccache_cache_timestamp
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run: |
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NOW=$(date -u +"%F-%T")
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echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
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- name: ccache cache files
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uses: actions/cache@v4
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with:
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path: ~/.ccache
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key: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}
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restore-keys: ${{github.workflow}}-ccache-${{ matrix.toolchain }}- # restore ccache from either previous build on this branch or on master
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- name: setup ccache
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run: |
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. .github/workflows/ccache.env
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- name: build copter ${{ matrix.toolchain }}
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shell: bash
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run: |
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git config --global --add safe.directory ${GITHUB_WORKSPACE}
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if [[ ${{ matrix.toolchain }} == "clang" ]]; then
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export CC=clang
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export CXX=clang++
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fi
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PATH="/github/home/.local/bin:$PATH"
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./waf configure --board sitl --debug --enable-simulink-app
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./waf build --target bin/arducopter
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ccache -s
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ccache -z
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autotest:
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needs: build # don't try to launch the tests matrix if it doesn't build first, profit from caching for fast build
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runs-on: ubuntu-22.04
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container:
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image: ardupilot/ardupilot-dev-base:v0.1.3
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options: --privileged --cap-add=SYS_PTRACE --security-opt apparmor=unconfined --security-opt seccomp=unconfined
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strategy:
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fail-fast: false # don't cancel if a job from the matrix fails
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matrix:
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config: [
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sitltest-copter-tests1a,
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sitltest-copter-tests1b,
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sitltest-copter-tests1c,
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sitltest-copter-tests1d,
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sitltest-copter-tests1e,
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sitltest-copter-tests2a,
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sitltest-copter-tests2b,
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]
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steps:
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# git checkout the PR
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- uses: actions/checkout@v4
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with:
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submodules: 'recursive'
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- name: Register gcc problem matcher
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run: echo "::add-matcher::.github/problem-matchers/gcc.json"
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- name: Register python problem matcher
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run: echo "::add-matcher::.github/problem-matchers/python.json"
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- name: Register autotest warn matcher
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run: echo "::add-matcher::.github/problem-matchers/autotestwarn.json"
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- name: Register autotest fail matcher
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run: echo "::add-matcher::.github/problem-matchers/autotestfail.json"
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# Put ccache into github cache for faster build
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- name: Prepare ccache timestamp
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id: ccache_cache_timestamp
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run: |
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NOW=$(date -u +"%F-%T")
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echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
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- name: ccache cache files
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uses: actions/cache/restore@v4
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with:
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path: ~/.ccache
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key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}
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restore-keys: ${{github.workflow}}-ccache-base- # restore ccache from either previous build on this branch or on master
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- name: setup ccache
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run: |
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. .github/workflows/ccache.env
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- name: test ${{matrix.config}}
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env:
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CI_BUILD_TARGET: ${{matrix.config}}
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shell: bash
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run: |
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git config --global --add safe.directory ${GITHUB_WORKSPACE}
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PATH="/github/home/.local/bin:$PATH"
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Tools/scripts/build_ci.sh
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- name: Archive buildlog artifacts
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uses: actions/upload-artifact@v4
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if: failure()
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with:
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name: fail-${{matrix.config}}
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path: |
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/tmp/buildlogs
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/__w/ardupilot/ardupilot/logs
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/__w/ardupilot/ardupilot/ap-*.core
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/__w/ardupilot/ardupilot/core.*
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/__w/ardupilot/ardupilot/dumpstack.sh_*
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/__w/ardupilot/ardupilot/dumpcore.sh_*
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retention-days: 14
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- name: Archive .bin artifacts
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uses: actions/upload-artifact@v4
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with:
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name: BIN-${{matrix.config}}
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path: /__w/ardupilot/ardupilot/logs
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retention-days: 7
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build-gcc-heli:
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runs-on: ubuntu-22.04
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container:
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image: ardupilot/ardupilot-dev-base:v0.1.3
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options: --privileged --cap-add=SYS_PTRACE --security-opt apparmor=unconfined --security-opt seccomp=unconfined
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steps:
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# git checkout the PR
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- uses: actions/checkout@v4
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with:
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submodules: 'recursive'
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# Put ccache into github cache for faster build
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- name: Prepare ccache timestamp
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id: ccache_cache_timestamp
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run: |
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NOW=$(date -u +"%F-%T")
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echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
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- name: ccache cache files
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uses: actions/cache@v4
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with:
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path: ~/.ccache
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key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}
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restore-keys: ${{github.workflow}}-ccache-base- # restore ccache from either previous build on this branch or on master
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- name: setup ccache
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run: |
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. .github/workflows/ccache.env
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- name: build heli
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shell: bash
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run: |
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git config --global --add safe.directory ${GITHUB_WORKSPACE}
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PATH="/github/home/.local/bin:$PATH"
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./waf configure --board sitl --enable-simulink-app
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./waf build --target bin/arducopter-heli
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ccache -s
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ccache -z
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autotest-heli:
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needs: build-gcc-heli # don't try to launch the tests matrix if it doesn't build first, profit from caching for fast build
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runs-on: ubuntu-22.04
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container: ardupilot/ardupilot-dev-base:v0.1.3
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strategy:
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fail-fast: false # don't cancel if a job from the matrix fails
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matrix:
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config: [
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sitltest-heli,
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]
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steps:
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# git checkout the PR
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- uses: actions/checkout@v4
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with:
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submodules: 'recursive'
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# Put ccache into github cache for faster build
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- name: Prepare ccache timestamp
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id: ccache_cache_timestamp
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run: |
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NOW=$(date -u +"%F-%T")
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echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
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- name: ccache cache files
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uses: actions/cache/restore@v4
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with:
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path: ~/.ccache
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key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}
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restore-keys: ${{github.workflow}}-ccache-base- # restore ccache from either previous build on this branch or on master
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- name: setup ccache
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run: |
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. .github/workflows/ccache.env
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- name: test ${{matrix.config}}
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env:
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CI_BUILD_TARGET: ${{matrix.config}}
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shell: bash
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run: |
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git config --global --add safe.directory ${GITHUB_WORKSPACE}
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PATH="/github/home/.local/bin:$PATH"
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Tools/scripts/build_ci.sh
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- name: Archive buildlog artifacts
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uses: actions/upload-artifact@v4
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if: failure()
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with:
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name: fail-${{matrix.config}}
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path: |
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/tmp/buildlogs
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/__w/ardupilot/ardupilot/logs
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/__w/ardupilot/ardupilot/ap-*.core
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/__w/ardupilot/ardupilot/core.*
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/__w/ardupilot/ardupilot/dumpstack.sh_*
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/__w/ardupilot/ardupilot/dumpcore.sh_*
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retention-days: 14
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- name: Archive .bin artifacts
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uses: actions/upload-artifact@v4
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with:
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name: BIN-${{matrix.config}}
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path: /__w/ardupilot/ardupilot/logs
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retention-days: 7

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