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| # This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git). | ||
| # For troubleshooting, see README (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst) | ||
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| name: CI Industrial | ||
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| on: # this determines when this workflow is run | ||
| on: | ||
| push: | ||
| # branches: [ master, melodic-devel ] # when master or melodic-devel branch is pushed to | ||
| pull_request: | ||
| # branches: [ master ] # when there is a pull request against master | ||
| # schedule: # uncomment to run periodically | ||
| # - cron: '0 4 * * *' # every day at 4 AM (UTC) | ||
| workflow_dispatch: # allow manually starting this workflow | ||
| workflow_dispatch: | ||
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| jobs: | ||
| industrial_ci: | ||
| name: ROS ${{ matrix.ROS_DISTRO }} (${{ matrix.ROS_REPO }}) | ||
| runs-on: ubuntu-latest | ||
| strategy: | ||
| # fail-fast: false # uncomment if failing jobs should not cancel the others immediately | ||
| matrix: # matrix is the product of entries | ||
| matrix: | ||
| ROS_DISTRO: [humble, rolling] | ||
| ROS_REPO: [main] | ||
| # exclude: # specific configuration can be excludes | ||
| # - {ROS_DISTRO: melodic, ROS_REPO: testing} | ||
| # include: # add additional configurations | ||
| # - {ROS_DISTRO: kinetic, ROS_REPO: testing} | ||
| env: | ||
| CCACHE_DIR: "${{ github.workspace }}/.ccache" # directory for ccache (and how we enable ccache in industrial_ci) | ||
| CCACHE_DIR: "${{ github.workspace }}/.ccache" | ||
| steps: | ||
| - name: Set current directory | ||
| run: echo "CURRENT_DIR=$(pwd)" >> $GITHUB_ENV | ||
| - name: Install pigpio library | ||
| run: | | ||
| cd ~ | ||
| wget https://github.com/joan2937/pigpio/archive/master.zip | ||
| unzip master.zip | ||
| cd pigpio-master | ||
| make | ||
| sudo make install | ||
| pwd | ||
| ls -la | ||
| sudo pigpiod # start daemon | ||
| ./x_pigpiod_if2 # check C I/F to daemon | ||
| ./x_pigs # check pigs I/F to daemon | ||
| ./x_pipe # check pipe I/F to daemon | ||
| # - name: Go back to prev directory | ||
| # run: cd $CURRENT_DIR | ||
| # - uses: actions/checkout@v3 # clone target repository | ||
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| # - uses: actions/cache@v2 # fetch/store the directory used by ccache before/after the ci run | ||
| # with: | ||
| # path: ${{ env.CCACHE_DIR }} | ||
| # # This configuration will always create a new ccache cache starting off from the previous one (if any). | ||
| # # In this simple version it will be shared between all builds of the same ROS_REPO and ROS_REPO | ||
| # # and might need some fine-tuning to match the use case | ||
| # key: ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-${{github.run_id}} | ||
| # restore-keys: | | ||
| # ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}- | ||
| # - uses: 'ros-industrial/industrial_ci@master' # run industrial_ci | ||
| # env: # either pass all entries explicitly | ||
| # ROS_DISTRO: ${{ matrix.ROS_DISTRO }} | ||
| # ROS_REPO: ${{ matrix.ROS_REPO }} | ||
| # # with: # or pass the full matrix as config | ||
| # # config: ${{toJSON(matrix)}} | ||
| - name: Set current directory | ||
| run: echo "CURRENT_DIR=$(pwd)" >> $GITHUB_ENV | ||
| - name: Emulate Raspberry Pi 3B with Ubuntu 22.04 using QEMU | ||
| run: | | ||
| wget https://cdimage.ubuntu.com/releases/22.04/release/ubuntu-22.04.2-preinstalled-desktop-arm64+raspi.img.xz | ||
| xz -d ubuntu-22.04-preinstalled-server-arm64+raspi.img.xz | ||
| qemu-img resize ubuntu-22.04-preinstalled-server-arm64+raspi.img +8G | ||
| qemu-system-aarch64 -machine type=raspi3 -m 1024 -kernel vmlinux -initrd initramfs -drive file=ubuntu-22.04-preinstalled-server-arm64+raspi.img,format=raw -append "root=/dev/mmcblk0p2 rw rootwait console=ttyAMA0,115200 console=tty1 selinux=0 plymouth.enable=0 smsc95xx.macaddr=DC:A6:32:01:5C:B7 vc_mem.mem_base=0x3ec00000 vc_mem.mem_size=0x40000000 dwc_otg.lpm_enable=0" | ||
| - name: Install pigpio library on the emulated Pi | ||
| run: | | ||
| echo '#!/bin/bash' > install_pigpio.sh | ||
| echo 'cd ~' >> install_pigpio.sh | ||
| echo 'wget https://github.com/joan2937/pigpio/archive/master.zip' >> install_pigpio.sh | ||
| echo 'unzip master.zip' >> install_pigpio.sh | ||
| echo 'cd pigpio-master' >> install_pigpio.sh | ||
| echo 'make' >> install_pigpio.sh | ||
| echo 'sudo make install' >> install_pigpio.sh | ||
| echo 'sudo ./x_pigpio # check C I/F' >> install_pigpio.sh | ||
| echo 'sudo pigpiod # start daemon' >> install_pigpio.sh | ||
| echo './x_pigpiod_if2 # check C I/F to daemon' >> install_pigpio.sh | ||
| echo './x_pigpio.py # check Python I/F to daemon' >> install_pigpio.sh | ||
| echo './x_pigs # check pigs I/F to daemon' >> install_pigpio.sh | ||
| echo './x_pipe # check pipe I/F to daemon' >> install_pigpio.sh | ||
| chmod +x install_pigpio.sh | ||
| qemu-system-aarch64 -machine type=raspi3 -m 1024 -kernel vmlinux -initrd initramfs -init /home/user/install_pigpio.sh | ||
| - uses: actions/checkout@v3 # clone target repository | ||
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| - uses: actions/cache@v2 # fetch/store the directory used by ccache before/after the ci run | ||
| with: | ||
| path: ${{ env.CCACHE_DIR }} | ||
| # This configuration will always create a new ccache cache starting off from the previous one (if any). | ||
| # In this simple version it will be shared between all builds of the same ROS_REPO and ROS_REPO | ||
| # and might need some fine-tuning to match the use case | ||
| key: ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-${{github.run_id}} | ||
| restore-keys: | | ||
| ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}- | ||
| - uses: 'ros-industrial/industrial_ci@master' # run industrial_ci | ||
| env: # either pass all entries explicitly | ||
| ROS_DISTRO: ${{ matrix.ROS_DISTRO }} | ||
| ROS_REPO: ${{ matrix.ROS_REPO }} | ||
| # with: # or pass the full matrix as config | ||
| # config: ${{toJSON(matrix)}} |