Tests #58
Workflow file for this run
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| name: Tests | |
| on: | |
| pull_request: | |
| branches: [master, devel] | |
| push: | |
| branches: [master, devel] | |
| tags: ['fw-v*'] | |
| jobs: | |
| compile: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: [ubuntu-latest, windows-latest, macOS-latest] | |
| board_version: [v3.6-56V] | |
| debug: [true] | |
| include: | |
| - {os: ubuntu-latest, board_version: v3.2, debug: false} | |
| - {os: ubuntu-latest, board_version: v3.3, debug: false} | |
| - {os: ubuntu-latest, board_version: v3.4-24V, debug: false} | |
| - {os: ubuntu-latest, board_version: v3.4-48V, debug: false} | |
| - {os: ubuntu-latest, board_version: v3.5-24V, debug: false} | |
| - {os: ubuntu-latest, board_version: v3.5-48V, debug: false} | |
| - {os: ubuntu-latest, board_version: v3.6-24V, debug: false} | |
| - {os: ubuntu-latest, board_version: v3.6-56V, debug: false} | |
| runs-on: ${{ matrix.os }} | |
| outputs: | |
| channel: ${{ steps.release-info.outputs.channel }} | |
| version: ${{ steps.release-info.outputs.version }} | |
| steps: | |
| - uses: actions/checkout@v2 | |
| with: | |
| fetch-depth: 0 # fetch entire history to get version information | |
| - name: Get release name and channel | |
| id: release-info | |
| shell: python | |
| run: | | |
| if "${{ github.event_name == 'push' && startsWith(github.ref, 'refs/tags/fw-v0.5.') }}" == "true": | |
| channel = "master" | |
| version = "${{ github.ref }}"[len("refs/tags/fw-v"):] | |
| else: | |
| channel = "none" | |
| version = "${{ github.sha }}" | |
| print("::set-output name=channel::" + channel) | |
| print("::set-output name=version::" + version) | |
| - name: Install prerequisites (Debian) | |
| if: startsWith(matrix.os, 'ubuntu-') | |
| run: | | |
| DEBIAN_VERSION="$(lsb_release --release --short)" | |
| echo Debian version: $DEBIAN_VERSION | |
| if [ "$DEBIAN_VERSION" == "16.04" ]; then | |
| # Ubuntu 16.04 (Debian 9) is on ARM GCC 4.9 which is too old for us | |
| sudo add-apt-repository ppa:team-gcc-arm-embedded/ppa | |
| sudo apt-get update | |
| sudo apt-get install gcc-arm-embedded | |
| else | |
| sudo apt-get install gcc-arm-none-eabi | |
| fi | |
| if ! (apt-cache search tup | grep "^tup - "); then | |
| sudo add-apt-repository ppa:jonathonf/tup | |
| sudo apt-get update | |
| fi | |
| sudo apt-get install tup | |
| sudo apt install python3 python3-yaml python3-jinja2 python3-jsonschema | |
| - name: Install prerequisites (macOS) | |
| if: startsWith(matrix.os, 'macOS-') | |
| run: | | |
| brew install armmbed/formulae/arm-none-eabi-gcc | |
| # See https://github.com/osxfuse/osxfuse/issues/801#issuecomment-833419942 | |
| brew install --cask macfuse | |
| brew install gromgit/fuse/tup-mac | |
| pip3 install PyYAML Jinja2 jsonschema | |
| - name: Cache chocolatey | |
| uses: actions/cache@v2 | |
| if: startsWith(matrix.os, 'windows-') | |
| with: | |
| path: C:\Users\runneradmin\AppData\Local\Temp\chocolatey\gcc-arm-embedded | |
| key: ${{ runner.os }}-gcc-arm-embedded | |
| restore-keys: | | |
| ${{ runner.os }}-gcc-arm-embedded | |
| - name: Install prerequisites (Windows) | |
| if: startsWith(matrix.os, 'windows-') | |
| run: | | |
| Invoke-WebRequest -Uri "http://gittup.org/tup/win32/tup-latest.zip" -OutFile ".\tup-latest.zip" | |
| Expand-Archive ".\tup-latest.zip" -DestinationPath ".\tup-latest" -Force | |
| echo "$(Resolve-Path .)\tup-latest" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append | |
| choco install gcc-arm-embedded # downloads https://developer.arm.com/-/media/Files/downloads/gnu-rm/9-2019q4/gcc-arm-none-eabi-9-2019-q4-major-win32.zip | |
| pip install PyYAML Jinja2 jsonschema | |
| - name: Prepare Compilation | |
| run: | | |
| # for debugging | |
| arm-none-eabi-gcc --version | |
| python --version | |
| cd ${{ github.workspace }}/Firmware | |
| echo "CONFIG_BOARD_VERSION=${{ matrix.board_version }}" >> tup.config | |
| echo "CONFIG_STRICT=true" >> tup.config | |
| echo "CONFIG_DEBUG=${{ matrix.debug }}" >> tup.config | |
| mkdir -p autogen | |
| python ../tools/odrive/version.py --output autogen/version.c | |
| cat autogen/version.c | |
| tup init | |
| tup generate ./tup_build.sh | |
| - name: Compile (Unix) | |
| if: "!startsWith(matrix.os, 'windows-')" | |
| run: | | |
| cd ${{ github.workspace }}/Firmware | |
| bash -xe ./tup_build.sh | |
| - name: Compile (Windows) | |
| if: startsWith(matrix.os, 'windows-') | |
| run: | | |
| cd ${{ github.workspace }}/Firmware | |
| mv tup_build.sh tup_build.bat # in reality this is a .bat script on windows | |
| .\tup_build.bat | |
| - name: Upload binary as artifact | |
| if: ${{ matrix.os == 'ubuntu-latest' && matrix.debug == false }} | |
| uses: actions/upload-artifact@v2 | |
| with: | |
| name: firmware-${{ matrix.board_version }} | |
| path: | | |
| Firmware/build/ODriveFirmware.elf | |
| Firmware/build/ODriveFirmware.bin | |
| Firmware/build/ODriveFirmware.hex | |
| - name: Copy firmware to temp folder | |
| run: | | |
| mkdir ${{ github.workspace }}/out | |
| cp ${{ github.workspace }}/Firmware/build/ODriveFirmware.elf ${{ github.workspace }}/out/firmware.elf | |
| - name: Parse and format matrix.board_version | |
| id: format-board-version | |
| run: | | |
| formatted_version=$(echo "${{ matrix.board_version }}" | sed 's/v\([0-9]\+\)\.\([0-9]\+\)-\([0-9]\+\)V/\1.\2.\3/') | |
| echo "Formatted board version: $formatted_version" | |
| echo "::set-output name=formatted_board_version::$formatted_version" | |
| - name: Upload firmware to ODrive release system | |
| if: ${{ steps.release-info.outputs.channel == 'master' && matrix.os == 'ubuntu-latest' && matrix.debug == false && (startsWith(matrix.board_version, 'v3.5-') || startsWith(matrix.board_version, 'v3.6-')) }} | |
| uses: ./.github/actions/upload-release | |
| with: | |
| release_type: firmware | |
| version: ${{ steps.release-info.outputs.version }} | |
| src_dir: out | |
| do_access_key: ${{ secrets.DIGITALOCEAN_ACCESS_KEY }} | |
| do_secret_key: ${{ secrets.DIGITALOCEAN_SECRET_KEY }} | |
| odrive_api_key: ${{ secrets.ODRIVE_API_KEY }} | |
| board: ${{ steps.format-board-version.outputs.formatted_board_version }} | |
| app: default | |
| variant: public | |
| make-release: | |
| needs: [compile] # require all builds to succeed before we actually make the release | |
| if: needs.compile.outputs.channel == 'master' | |
| strategy: | |
| fail-fast: false | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: Checkout git repository | |
| uses: actions/checkout@v2 | |
| - name: Install Python dependencies | |
| run: pip install aiohttp appdirs | |
| - name: Add version to release channel | |
| uses: ./.github/actions/add-version-to-channel | |
| with: | |
| release_type: firmware | |
| channel: ${{ needs.compile.outputs.channel }} | |
| version: ${{ needs.compile.outputs.version }} | |
| odrive_api_key: ${{ secrets.ODRIVE_API_KEY }} | |
| code-checks: | |
| strategy: | |
| fail-fast: false | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v2 | |
| - name: Check that we're not using std::isnan | |
| run: | | |
| cd ${{ github.workspace }}/Firmware | |
| if grep 'std::isnan' -R .; then | |
| echo "Don't use std::isnan because it's not compatible with '-ffast-math'. Use is_nan() instead." | |
| return 1; | |
| fi | |
| # TODO: | |
| # - check if enums.py is consistent with yaml | |
| # - clang-format check | |
| # - check if interface_generator outputs the same thing with Python 3.5 and Python 3.8 |