.github/workflows/github-actions.yml #104
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| on: | |
| push: | |
| branches: '**' | |
| tags: '' # Restrict to blank tags | |
| pull_request: | |
| jobs: | |
| # This job may be commented if a new release should not be created... | |
| deploy: | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: softprops/action-gh-release@v1 | |
| id: create_release | |
| env: | |
| GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} | |
| with: | |
| draft: true | |
| tag_name: autotagname-${{ github.sha }} | |
| if: github.event_name != 'pull_request' | |
| matrix: | |
| runs-on: ${{ matrix.cfg.os }} | |
| defaults: | |
| run: | |
| shell: ${{ matrix.cfg.shell }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| cfg: | |
| - { os: ubuntu-22.04, shell: bash, arch: x64, py_arch: x64, py_v_maj: 3, py_v_min: 10, cmake_out: './hardwarex.so', deploy-file: './hardwarex_compat.so', desc: 'Ubuntu 22.04' } | |
| - { os: macos-12, shell: bash, arch: arm64, py_arch: x64, py_v_maj: 3, py_v_min: 10, cmake_out: './hardwarex.dylib', deploy-file: './hardwarex_compat_arm64.dylib', cmake_params_1: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=arm64', desc: 'macOS Monterey arm64' } | |
| - { os: macos-12, shell: bash, arch: x86_64, py_arch: x64, py_v_maj: 3, py_v_min: 10, cmake_out: './hardwarex.dylib', deploy-file: './hardwarex_compat.dylib', desc: 'macOS Monterey x86_64' } | |
| - { os: windows-2019, shell: bash, arch: x64, py_arch: x64, py_v_maj: 3, py_v_min: 10, cmake_out: './Release/hardwarex.dll', deploy-file: './Release/hardwarex_x64_compat.dll', cmake_params_1: '-G "Visual Studio 16" -A x64 -D ENABLE_STATIC=ON', cmake_params_2: '--config Release --target hardwarex', desc: 'Windows Visual Studio 2019 x64 static' } | |
| - { os: windows-2019, shell: bash, arch: x86, py_arch: x86, py_v_maj: 3, py_v_min: 10, cmake_out: './Release/hardwarex.dll', deploy-file: './Release/hardwarex_x86_compat.dll', cmake_params_1: '-G "Visual Studio 16" -A Win32 -D ENABLE_STATIC=ON', cmake_params_2: '--config Release --target hardwarex', desc: 'Windows Visual Studio 2019 x86 static' } | |
| - { os: ubuntu-22.04, shell: bash, arch: x64, py_arch: x64, py_v_maj: 3, py_v_min: 10, cmake_out: './hardwarex.so', deploy-file: './hardwarex.so', cmake_params_1: '-D ENABLE_MAVLINK_SUPPORT=ON -D ENABLE_SBG_SDK_SUPPORT=ON -D ENABLE_RPLIDAR_SDK_SUPPORT=ON', desc: 'Ubuntu 22.04 with 3rd support' } | |
| #- { os: macos-12, shell: bash, arch: arm64, py_arch: x64, py_v_maj: 3, py_v_min: 10, cmake_out: './hardwarex.dylib', deploy-file: './hardwarex_arm64.dylib', cmake_params_1: '-D CMAKE_SYSTEM_NAME=Darwin -D CMAKE_OSX_ARCHITECTURES=arm64 -D ENABLE_MAVLINK_SUPPORT=ON -D ENABLE_SBG_SDK_SUPPORT=ON -D ENABLE_RPLIDAR_SDK_SUPPORT=ON', desc: 'macOS Monterey arm64 with 3rd support' } | |
| - { os: macos-12, shell: bash, arch: x86_64, py_arch: x64, py_v_maj: 3, py_v_min: 10, cmake_out: './hardwarex.dylib', deploy-file: './hardwarex.dylib', cmake_params_1: '-D ENABLE_MAVLINK_SUPPORT=ON -D ENABLE_SBG_SDK_SUPPORT=ON -D ENABLE_RPLIDAR_SDK_SUPPORT=ON', desc: 'macOS Monterey x86_64 with 3rd support' } | |
| - { os: windows-2019, shell: bash, arch: x64, py_arch: x64, py_v_maj: 3, py_v_min: 10, cmake_out: './Release/hardwarex.dll', deploy-file: './Release/hardwarex_x64.dll', cmake_params_1: '-G "Visual Studio 16" -A x64 -D ENABLE_STATIC=ON -D ENABLE_MAVLINK_SUPPORT=ON -D ENABLE_SBG_SDK_SUPPORT=ON -D ENABLE_RPLIDAR_SDK_SUPPORT=ON', cmake_params_2: '--config Release --target hardwarex', desc: 'Windows Visual Studio 2019 x64 static with 3rd support' } | |
| - { os: windows-2019, shell: bash, arch: x86, py_arch: x86, py_v_maj: 3, py_v_min: 10, cmake_out: './Release/hardwarex.dll', deploy-file: './Release/hardwarex_x86.dll', cmake_params_1: '-G "Visual Studio 16" -A Win32 -D ENABLE_STATIC=ON -D ENABLE_MAVLINK_SUPPORT=ON -D ENABLE_SBG_SDK_SUPPORT=ON -D ENABLE_RPLIDAR_SDK_SUPPORT=ON', cmake_params_2: '--config Release --target hardwarex', desc: 'Windows Visual Studio 2019 x86 static with 3rd support' } | |
| name: ${{ matrix.cfg.desc }} | |
| steps: | |
| # Prerequisites | |
| - uses: actions/checkout@v3 | |
| - run: | | |
| (New-Object System.Net.WebClient).DownloadFile("http://www.ensta-bretagne.fr/lebars/Share/windows_extra_tools.zip", "C:\Windows\Temp\windows_extra_tools.zip") | |
| 7z x C:\Windows\Temp\windows_extra_tools.zip -o"C:\Windows" -y | |
| shell: pwsh | |
| if: runner.os == 'Windows' | |
| - uses: actions/setup-python@v4 | |
| with: | |
| python-version: ${{ matrix.cfg.py_v_maj }}.${{ matrix.cfg.py_v_min }} | |
| architecture: ${{ matrix.cfg.py_arch }} | |
| - run: python -c "import sys; print(sys.version)" | |
| # Build | |
| - run: | | |
| cmake ${{ matrix.cfg.cmake_params_1 }} . && cmake --build . ${{ matrix.cfg.cmake_params_2 }} | |
| if [ ! "${{ matrix.cfg.cmake_out }}" = "${{ matrix.cfg.deploy-file }}" ]; then cp -Rf ${{ matrix.cfg.cmake_out }} ${{ matrix.cfg.deploy-file }} ; fi | |
| # Python tests | |
| - run: | | |
| git clone https://github.com/ENSTABretagneRobotics/Hardware-Python && cp -Rf Hardware-Python/*.py ./ | |
| rm -Rf linux_x64 mac x86 x64 | |
| wget https://github.com/ENSTABretagneRobotics/UxVCtrl/releases/download/JD2022/UxVCtrl_JD2022.zip --no-check-certificate -nv | |
| unzip -q -o UxVCtrl_JD2022.zip | |
| perl -i -p0e 's/% bCommandPrompt\r\n1/% bCommandPrompt\r\n0/' UxVCtrl_JD2022/BUGGY_SIMULATOR_WORKSPACE/UxVCtrl.txt | |
| - run: | | |
| sed -i 's/COM6/127.0.0.1:5004/' SSC320.txt | |
| sed -i 's/COM5/127.0.0.1:5007/' RazorAHRS0.txt | |
| sed -i 's/COM14/127.0.0.1:5001/' ublox0.txt | |
| cp -Rf "UxVCtrl_JD2022/Compatibility mode/Ubuntu/UxVCtrl_compat_ubuntu_jammy" UxVCtrl_JD2022/BUGGY_SIMULATOR_WORKSPACE/ | |
| cp -Rf "UxVCtrl_JD2022/Compatibility mode/Ubuntu/"*.so* UxVCtrl_JD2022/BUGGY_SIMULATOR_WORKSPACE/ | |
| sh -c "cd UxVCtrl_JD2022/BUGGY_SIMULATOR_WORKSPACE; chmod +x ./UxVCtrl_compat_ubuntu_jammy; ./UxVCtrl_compat_ubuntu_jammy &" | |
| mkdir -p lib && mv -f ${{ matrix.cfg.cmake_out }} lib/hardwarex.so # Problem when the library is also in the current folder...? | |
| if: runner.os == 'Linux' | |
| - run: | | |
| sed -i "" 's/COM6/127.0.0.1:5004/' SSC320.txt | |
| sed -i "" 's/COM5/127.0.0.1:5007/' RazorAHRS0.txt | |
| sed -i "" 's/COM14/127.0.0.1:5001/' ublox0.txt | |
| cp -Rf "UxVCtrl_JD2022/Compatibility mode/macOS/UxVCtrl_compat_macos_monterey" UxVCtrl_JD2022/BUGGY_SIMULATOR_WORKSPACE/ | |
| sh -c "cd UxVCtrl_JD2022/BUGGY_SIMULATOR_WORKSPACE; chmod +x ./UxVCtrl_compat_macos_monterey; ./UxVCtrl_compat_macos_monterey &" | |
| mkdir -p lib && mv -f ${{ matrix.cfg.cmake_out }} lib/hardwarex.dylib | |
| if: runner.os == 'macOS' | |
| - run: | | |
| wget http://www.ensta-bretagne.fr/lebars/Share/windows_server_core_prereq.zip --no-check-certificate -nv | |
| 7z x windows_server_core_prereq.zip -o"/c/Windows" -y || true # ksuser.dll already on windows-2016...? | |
| sed -i 's/COM6/127.0.0.1:5004/' SSC320.txt | |
| sed -i 's/COM5/127.0.0.1:5007/' RazorAHRS0.txt | |
| sed -i 's/COM14/127.0.0.1:5001/' ublox0.txt | |
| cp -Rf "UxVCtrl_JD2022/Compatibility mode/Windows/UxVCtrl_compat.exe" UxVCtrl_JD2022/BUGGY_SIMULATOR_WORKSPACE/ | |
| cp -Rf "UxVCtrl_JD2022/Compatibility mode/Windows/"*.dll UxVCtrl_JD2022/BUGGY_SIMULATOR_WORKSPACE/ | |
| sh -c "cd UxVCtrl_JD2022/BUGGY_SIMULATOR_WORKSPACE; ./UxVCtrl_compat.exe &" | |
| mkdir -p ${{ matrix.cfg.arch }} && mv -f ${{ matrix.cfg.cmake_out }} ./${{ matrix.cfg.arch }}/hardwarex.dll | |
| if: runner.os == 'Windows' | |
| - run: | | |
| python -c "from hardwarex import *; import time; pSSC32 = CreateSSC32(); ConnectSSC32(pSSC32, 'SSC320.txt'); time.sleep(0.1); result = SetPWMSSC32(pSSC32, 0, 1400); result; time.sleep(0.1); result = SetPWMSSC32(pSSC32, 2, 2000); result; time.sleep(0.5); DisconnectSSC32(pSSC32); DestroySSC32(pSSC32)" | |
| python -c "from hardwarex import *; import time; pRazorAHRS = CreateRazorAHRS(); ConnectRazorAHRS(pRazorAHRS, 'RazorAHRS0.txt'); result = GetLatestDataRazorAHRS(pRazorAHRS); razorahrsdata = result[1]; print('Yaw =',razorahrsdata.Yaw*180.0/3.14,', Pitch =',razorahrsdata.Pitch*180.0/3.14,', Roll =',razorahrsdata.Roll*180.0/3.14,'\n'); time.sleep(1); result = GetLatestDataRazorAHRS(pRazorAHRS); razorahrsdata = result[1]; print('Yaw =',razorahrsdata.Yaw*180.0/3.14,', Pitch =',razorahrsdata.Pitch*180.0/3.14,', Roll =',razorahrsdata.Roll*180.0/3.14,'\n'); DisconnectRazorAHRS(pRazorAHRS); DestroyRazorAHRS(pRazorAHRS)" | |
| python -c "from hardwarex import *; import time; publox = Createublox(); Connectublox(publox, 'ublox0.txt'); result = GetNMEASentenceublox(publox); nmeadata = result[1]; print('(LAT,LON) = (',nmeadata.Latitude,',',nmeadata.Longitude,')\n'); Disconnectublox(publox); Destroyublox(publox)" | |
| if: matrix.cfg.arch != 'arm64' | |
| - run: mv -f lib/hardwarex.so ${{ matrix.cfg.cmake_out }} | |
| if: runner.os == 'Linux' | |
| - run: mv -f lib/hardwarex.dylib ${{ matrix.cfg.cmake_out }} | |
| if: runner.os == 'macOS' | |
| - run: mv -f ./${{ matrix.cfg.arch }}/hardwarex.dll ${{ matrix.cfg.cmake_out }} | |
| if: runner.os == 'Windows' | |
| # Deployment | |
| - uses: xresloader/upload-to-github-release@v1 | |
| env: | |
| GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} | |
| with: | |
| file: '${{ matrix.cfg.deploy-file }}' | |
| overwrite: true | |
| tag_name: autotagname-${{ github.sha }} | |
| if: github.event_name != 'pull_request' |