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