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github-actions.yml
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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'