Merge branch 'master' into precland_adaptive

.dockerignore

@@ -26,4 +26,6 @@ mav.*
 
 # include the setup script and completion
 !Tools/environment_install/install-prereqs-ubuntu.sh
+!Tools/environment_install/install-prereqs-arch.sh
 !Tools/completion
+autotest_result_*_junit.xml

.editorconfig

@@ -13,8 +13,9 @@ indent_style = space
 indent_size = 4
 end_of_line = lf
 charset = utf-8
-trim_trailing_whitespace = false # These are the correct rules for APM coding standards, but fixing up old files causes git spam
-insert_final_newline = false
+# These are the correct rules for APM coding standards, but fixing up old files causes git spam
+trim_trailing_whitespace = false
+insert_final_newline = true
 
 [*.mk]
 indent_style = tab

.flake8

@@ -1,5 +1,5 @@
 [flake8]
-ignore =
+extend-ignore =
     # H301: one import per line
     H301,
     # H306: imports not in alphabetical order (time, os)
@@ -15,4 +15,9 @@ ignore =
     # E221 multiple spaces before operator
     E221
 
+extend-exclude =
+    build,
+    modules,
+    .git
+
 max-line-length = 127

.git-blame-ignore-revs

@@ -0,0 +1,6 @@
+# This file allows ignoring commits in git blame view on Github.
+# For more info, see here:
+# https://docs.github.com/en/repositories/working-with-files/using-files/viewing-a-file#ignore-commits-in-the-blame-view
+
+# Tools: ros2: Run ament_black on all files
+85172b56467668bee9fa0e68081027b13bc18c4a

.github/problem-matchers/autotestfail.json

@@ -0,0 +1,17 @@
+{
+    "__comment": "by buzz try to match common autotest warnings and errors that arent caught by gcc.json or python.json",
+    "problemMatcher": [
+        {
+            "owner": "autotest-fail-matcher",
+            "severity": "error",
+            "pattern": [
+                {
+                    "regexp": "^(.*)(TIMEOUT|Build failed|FAILED STEP):(.*)$",
+                    "column": 1,
+                    "code": 2,
+                    "message": 3
+                }
+            ]
+        }
+    ]
+}

.github/problem-matchers/autotestwarn.json

@@ -0,0 +1,17 @@
+{
+    "__comment": "by buzz try to match common autotest warnings and errors that arent caught by gcc.json or python.json",
+    "problemMatcher": [
+        {
+            "owner": "autotest-warn-matcher",
+            "severity": "warning",
+            "pattern": [
+                {
+                    "regexp": "^(.*)(WARN|WARNING):(.*)$",
+                    "column": 1,
+                    "code": 2,
+                    "message": 3
+                }
+            ]
+        }
+    ]
+}

.github/problem-matchers/gcc.json

@@ -0,0 +1,18 @@
+{
+    "__comment": "Taken from vscode-cpptools's Extension/package.json gcc rule",
+    "problemMatcher": [
+        {
+            "owner": "gcc-problem-matcher",
+            "pattern": [
+                {
+                    "regexp": "^(.*):(\\d+):(\\d+):\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
+                    "file": 1,
+                    "line": 2,
+                    "column": 3,
+                    "severity": 4,
+                    "message": 5
+                }
+            ]
+        }
+    ]
+}

.github/problem-matchers/python.json

@@ -0,0 +1,22 @@
+{
+    "__comment": "inspired by https://github.com/microsoft/vscode-python/issues/3828#issuecomment-575439587",
+    "problemMatcher": [
+        {
+            "owner": "python-problem-matcher",
+            "pattern": [
+                {
+                    "regexp": "^.*File \\\"([^\\\"]|.*)\\\", line (\\d+).*",
+                    "file": 1,
+                    "line": 2
+                },
+                {
+                    "regexp": "^.*raise.*$"
+                },
+                {
+                    "regexp": "^\\s*(.*)\\s*$",
+                    "message": 1
+                }
+            ]
+        }
+    ]
+}

.github/workflows/cache_cleanup.yml

@@ -0,0 +1,39 @@
+name: cleanup caches by a branch
+on:
+  pull_request:
+    types:
+      - closed
+  workflow_dispatch:
+
+jobs:
+  cleanup:
+    runs-on: ubuntu-22.04
+    permissions:
+      # `actions:write` permission is required to delete caches
+      #   See also: https://docs.github.com/en/rest/actions/cache?apiVersion=2022-11-28#delete-a-github-actions-cache-for-a-repository-using-a-cache-id
+      actions: write
+      contents: read
+    steps:
+      - name: Check out code
+        uses: actions/checkout@v4
+
+      - name: Cleanup
+        run: |
+          gh extension install actions/gh-actions-cache
+
+          REPO=${{ github.repository }}
+          BRANCH=refs/pull/${{ github.event.pull_request.number }}/merge
+
+          echo "Fetching list of cache key"
+          cacheKeysForPR=$(gh actions-cache list -R $REPO -B $BRANCH | cut -f 1 )
+
+          ## Setting this to not fail the workflow while deleting cache keys.
+          set +e
+          echo "Deleting caches..."
+          for cacheKey in $cacheKeysForPR
+          do
+              gh actions-cache delete $cacheKey -R $REPO -B $BRANCH --confirm
+          done
+          echo "Done"
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/ccache.env

@@ -0,0 +1,10 @@
+# common ccache env vars for CI
+export CCACHE_SLOPPINESS=file_stat_matches
+
+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

.github/workflows/colcon.yml

@@ -0,0 +1,206 @@
+name: colcon build/test
+
+on:
+  push:
+    paths-ignore:
+      # remove not tests vehicles
+      - 'AntennaTracker/**'
+      - 'ArduSub/**'
+      - 'Blimp/**'
+      - 'Rover/**'
+      # remove esp32 HAL
+      - 'libraries/AP_HAL_ESP32/**'
+      # remove non SITL directories
+      - 'Tools/AP_Bootloader/**'
+      - 'Tools/bootloaders/**'
+      - 'Tools/CHDK-Script/**'
+      - 'Tools/CodeStyle/**'
+      - 'Tools/completion/**'
+      - 'Tools/CPUInfo/**'
+      - 'Tools/debug/**'
+      - 'Tools/environment_install/**'
+      - 'Tools/FilterTestTool/**'
+      - 'Tools/Frame_params/**'
+      - 'Tools/geotag/**'
+      - 'Tools/GIT_Test/**'
+      - 'Tools/gittools/**'
+      - 'Tools/Hello/**'
+      - 'Tools/IO_Firmware/**'
+      - 'Tools/LogAnalyzer/**'
+      - 'Tools/mavproxy_modules/**'
+      - 'Tools/Pozyx/**'
+      - 'Tools/PrintVersion.py'
+      - 'Tools/Replay/**'
+      - 'Tools/simulink/**'
+      - 'Tools/UDP_Proxy/**'
+      - 'Tools/vagrant/**'
+      - 'Tools/Vicon/**'
+      # Discard python file from Tools/scripts as not used
+      - 'Tools/scripts/**.py'
+      - 'Tools/scripts/build_sizes/**'
+      - 'Tools/scripts/build_tests/**'
+      - 'Tools/scripts/CAN/**'
+      - 'Tools/scripts/signing/**'
+      # Remove autotests stuff
+      - 'Tools/autotest/**'
+      # Remove markdown files as irrelevant
+      - '**.md'
+      # Remove dotfile at root directory
+      - './.dir-locals.el'
+      - './.dockerignore'
+      - './.editorconfig'
+      - './.flake8'
+      - './.gitattributes'
+      - './.github'
+      - './.gitignore'
+      - './.pre-commit-config.yaml'
+      - './.pydevproject'
+      - './.valgrind-suppressions'
+      - './.valgrindrc'
+      - 'Dockerfile'
+      - 'Vagrantfile'
+      - 'Makefile'
+      # Remove some directories check
+      - '.vscode/**'
+      - '.github/ISSUE_TEMPLATE/**'
+      # Remove change on other workflows
+      - '.github/workflows/test_environment.yml'
+
+  pull_request:
+    paths-ignore:
+      # remove not tests vehicles
+      - 'AntennaTracker/**'
+      - 'ArduSub/**'
+      - 'Rover/**'
+      - 'Blimp/**'
+      # remove esp32 HAL
+      - 'libraries/AP_HAL_ESP32/**'
+      # remove non SITL directories
+      - 'Tools/AP_Bootloader/**'
+      - 'Tools/CHDK-Script/**'
+      - 'Tools/CPUInfo/**'
+      - 'Tools/CodeStyle/**'
+      - 'Tools/FilterTestTool/**'
+      - 'Tools/Frame_params/**'
+      - 'Tools/GIT_Test/**'
+      - 'Tools/Hello/**'
+      - 'Tools/IO_Firmware/**'
+      - 'Tools/LogAnalyzer/**'
+      - 'Tools/Pozyx/**'
+      - 'Tools/PrintVersion.py'
+      - 'Tools/Replay/**'
+      - 'Tools/UDP_Proxy/**'
+      - 'Tools/Vicon/**'
+      - 'Tools/bootloaders/**'
+      - 'Tools/completion/**'
+      - 'Tools/debug/**'
+      - 'Tools/environment_install/**'
+      - 'Tools/geotag/**'
+      - 'Tools/gittools/**'
+      - 'Tools/mavproxy_modules/**'
+      - 'Tools/simulink/**'
+      - 'Tools/vagrant/**'
+      # Discard python file from Tools/scripts as not used
+      - 'Tools/scripts/**.py'
+      - 'Tools/scripts/build_sizes/**'
+      - 'Tools/scripts/build_tests/**'
+      - 'Tools/scripts/CAN/**'
+      - 'Tools/scripts/signing/**'
+      # Remove autotests stuff
+      - 'Tools/autotest/**'
+      # Remove markdown files as irrelevant
+      - '**.md'
+      # Remove dotfile at root directory
+      - './.dir-locals.el'
+      - './.dockerignore'
+      - './.editorconfig'
+      - './.flake8'
+      - './.gitattributes'
+      - './.github'
+      - './.gitignore'
+      - './.pre-commit-config.yaml'
+      - './.pydevproject'
+      - './.valgrind-suppressions'
+      - './.valgrindrc'
+      - 'Dockerfile'
+      - 'Vagrantfile'
+      - 'Makefile'
+      # Remove some directories check
+      - '.vscode/**'
+      - '.github/ISSUE_TEMPLATE/**'
+      # Remove change on other workflows
+      - '.github/workflows/test_environment.yml'
+
+  workflow_dispatch:
+
+concurrency:
+  group: ci-${{github.workflow}}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  build-test:
+    runs-on: ubuntu-22.04
+    container:
+      image: ardupilot/ardupilot-dev-ros:latest
+    strategy:
+      fail-fast: false  # don't cancel if a job from the matrix fails
+    steps:
+      # git checkout the PR
+      - uses: actions/checkout@v4
+        with:
+          submodules: 'recursive'
+          path: src/ardupilot
+      # Put ccache into github cache for faster build
+      - name: Prepare ccache timestamp
+        id: ccache_cache_timestamp
+        run: |
+          NOW=$(date -u +"%F-%T")
+          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
+      - name: ccache cache files
+        uses: actions/cache@v3
+        with:
+          path: ~/.ccache
+          key: ${{github.workflow}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+          restore-keys: ${{github.workflow}}-ccache-  # restore ccache from either previous build on this branch or on master
+      - name: setup ccache
+        run: |
+          . src/ardupilot/.github/workflows/ccache.env
+      # https://ardupilot.org/dev/docs/ros2.html#installation-ubuntu
+      - name: Pull in repos with vcs
+        run: |
+          cd src
+          wget --progress=dot:giga https://raw.githubusercontent.com/ArduPilot/ardupilot/master/Tools/ros2/ros2.repos
+          vcs import --recursive --debug --shallow --skip-existing < ros2.repos
+      - name: Install rosdep dependencies
+        shell: 'bash'
+        run: |
+          apt update
+          rosdep update
+          # Workaround for flake8 attribute error
+          # https://github.com/ArduPilot/ardupilot/pull/24277#issuecomment-1632833433
+          python -m pip install flake8==3.7.9
+          source /opt/ros/humble/setup.bash
+          rosdep install --from-paths src --ignore-src --default-yes
+      - name: Install MAVProxy
+        run: |
+          # Install this specific version just to prevent rolling updates.
+          # These are the latest available
+          python3 -m pip install MAVProxy==1.8.67
+      - name: Install local pymavlink
+        working-directory: ./src/ardupilot/modules/mavlink/pymavlink
+        run: |
+          pip install . -U --user
+      - name: Build with colcon
+        shell: 'bash'
+        run: |
+          source /opt/ros/humble/setup.bash
+          colcon build --packages-up-to ardupilot_dds_tests --cmake-args -DBUILD_TESTING=ON
+      - name: Test with colcon
+        shell: 'bash'
+        run: |
+          source install/setup.bash
+          colcon test --packages-select ardupilot_dds_tests --event-handlers=console_cohesion+
+      - name: Report colcon test results
+        run: |
+          colcon test-result --all --verbose
+