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tiiuae-pixhawk-and-saluki.yaml
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name: tiiuae-pixhawk-and-saluki
on:
push:
branches: [ main ]
tags:
- 'v1.14.0-*'
pull_request:
branches: [ main ]
# Allows you to run this workflow manually from the Actions tab
workflow_dispatch:
inputs:
jfrog-upload:
description: 'upload to Artifactory'
required: false
default: true
type: boolean
saluki-v2-manual-fpga-version:
description: 'saluki-v2 optional fpga version (e.g. sha-3b85ccc)'
required: false
default: ''
type: string
saluki-v3-manual-fpga-version:
description: 'saluki-v3 optional fpga version (e.g. sha-3b85ccc)'
required: false
default: ''
type: string
saluki-pi-manual-fpga-version:
description: 'saluki-pi optional fpga version (e.g. sha-cd7bb6b)'
required: false
default: ''
type: string
permissions:
contents: read
packages: write
env:
saluki_pi_fpga_version: "sha-4230961"
saluki_v2_fpga_version: "sha-4230961"
saluki_v3_fpga_version: "sha-4230961"
jobs:
fc_matrix:
strategy:
fail-fast: false
matrix:
product: [pixhawk, saluki-v2_default, saluki-v2_amp, saluki-v2_protected, saluki-v2_kernel, saluki-pi_default, saluki-pi_amp, saluki-pi_protected, saluki-v3_default, saluki-v3_amp]
include:
- product: saluki-v2_custom_keys
keys: Tools/saluki-sec-scripts/custom_keys/saluki-v2/px4_bin_ed25519_private.pem
- product: saluki-v3_custom_keys
keys: Tools/saluki-sec-scripts/custom_keys/saluki-v3/px4_bin_ed25519_private.pem
- product: saluki-pi_custom_keys
keys: Tools/saluki-sec-scripts/custom_keys/saluki-pi/px4_bin_ed25519_private.pem
uses: ./.github/workflows/tiiuae-pixhawk-and-saluki-builder.yaml
with:
product: ${{ matrix.product }}
keys: ${{ matrix.keys }}
# old workflow had condition to run only if PR is done to current repo (or triggered with other event)
enabled: ${{ github.event.pull_request.head.repo.full_name == github.repository || github.event_name == 'push' || github.event_name == 'workflow_dispatch' }}
secrets: inherit
variables:
runs-on: ubuntu-latest
outputs:
jfrog_upload: ${{ steps.variables.outputs.jfrog_upload }}
saluki_v2_fpga_version: ${{ steps.variables.outputs.saluki_v2_fpga_version }}
saluki_v3_fpga_version: ${{ steps.variables.outputs.saluki_v3_fpga_version }}
saluki_pi_fpga_version: ${{ steps.variables.outputs.saluki_pi_fpga_version }}
steps:
- name: Print input variables
id: variables
run: |
# use saluki-v2-fpga default version if custom is not provided
saluki_v2_fpga_version=${{ env.saluki_v2_fpga_version }}
if [ -n "${{ github.event.inputs.saluki-v2-manual-fpga-version }}" ]; then
saluki_v2_fpga_version=${{ github.event.inputs.saluki-v2-manual-fpga-version }}
fi
# use saluki-v3-fpga default version if custom is not provided
saluki_v3_fpga_version=${{ env.saluki_v3_fpga_version }}
if [ -n "${{ github.event.inputs.saluki-v3-manual-fpga-version }}" ]; then
saluki_v3_fpga_version=${{ github.event.inputs.saluki-v3-manual-fpga-version }}
fi
# use saluki-pi-fpga default version if custom is not provided
saluki_pi_fpga_version=${{ env.saluki_pi_fpga_version }}
if [ -n "${{ github.event.inputs.saluki-pi-manual-fpga-version }}" ]; then
saluki_pi_fpga_version=${{ github.event.inputs.saluki-pi-manual-fpga-version }}
fi
echo "saluki_v2_fpga_version=${saluki_v2_fpga_version}" >> $GITHUB_OUTPUT
echo "saluki_v3_fpga_version=${saluki_v3_fpga_version}" >> $GITHUB_OUTPUT
echo "saluki_pi_fpga_version=${saluki_pi_fpga_version}" >> $GITHUB_OUTPUT
echo "jfrog_upload=${{ github.event.inputs.jfrog-upload }}" >> $GITHUB_OUTPUT
echo "saluki_v2_fpga_version: ${saluki_v2_fpga_version}"
echo "saluki_v3_fpga_version: ${saluki_v3_fpga_version}"
echo "saluki_pi_fpga_version: ${saluki_pi_fpga_version}"
echo "jfrog_upload: ${{ github.event.inputs.jfrog-upload }}"
px4fwupdater:
name: build px4fwupdater
runs-on: ubuntu-latest
needs:
- fc_matrix
steps:
- name: Checkout px4-firmware
uses: actions/checkout@v3
with:
path: px4-firmware
fetch-depth: 0
- name: Download pixhawk artifacts
uses: actions/download-artifact@v3
with:
name: pixhawk
path: bin
- name: Run px4-firmware px4fwupdater build
run: |
set -eux
mkdir -p bin
cd px4-firmware/
./clone_public.sh
./build.sh ../bin/ px4fwupdater
ls ../bin
- name: Upload px4fwupdater to tmp storage
uses: actions/[email protected]
with:
name: pixhawk
path: bin/
retention-days: 1
upload-px4fwupdater:
name: upload px4fwupdater to docker registry
runs-on: ubuntu-latest
needs:
- px4fwupdater
- variables
steps:
- name: Checkout px4-firmware
uses: actions/checkout@v3
with:
path: px4-firmware
fetch-depth: 0
- name: Download pixhawk artifacts
uses: actions/download-artifact@v3
with:
name: pixhawk
path: bin
- name: Firmware flasher - Container metadata
id: containermeta # referenced from later step
uses: docker/metadata-action@v4
with:
images: ghcr.io/tiiuae/px4-firmware
tags: |
type=ref,event=branch
type=ref,event=pr
type=semver,pattern={{version}}
type=sha
- name: Login to GitHub Container Registry
uses: docker/login-action@v3
with:
registry: ghcr.io
username: ${{ github.actor }}
password: ${{ secrets.GITHUB_TOKEN }}
- name: Firmware flasher - Build and push
uses: docker/build-push-action@v3
with:
push: true
context: .
file: px4-firmware/Tools/px_uploader.Dockerfile
tags: ${{ steps.containermeta.outputs.tags }}
labels: ${{ steps.containermeta.outputs.labels }}
build-args: |
"saluki_pi_fpga_version=${{ needs.variables.outputs.saluki_pi_fpga_version }}"
"saluki_v2_fpga_version=${{ needs.variables.outputs.saluki_v2_fpga_version }}"
"saluki_v3_fpga_version=${{ needs.variables.outputs.saluki_v3_fpga_version }}"
- name: Build overview
run: |
echo "### Build overview:" >> $GITHUB_STEP_SUMMARY
echo "Build version: ${{ steps.containermeta.outputs.tags }}"
echo "Build labels: ${{ steps.containermeta.outputs.labels }}"
echo "Build args:"
echo " saluki_pi_fpga_version: ${{ needs.variables.outputs.saluki_pi_fpga_version }}"
echo " saluki_v2_fpga_version: ${{ needs.variables.outputs.saluki_v2_fpga_version }}"
echo " saluki_v3_fpga_version: ${{ needs.variables.outputs.saluki_v3_fpga_version }}"
# in case more than one tag is generated, use the one which mentions commit sha
if (( $(echo "${{ steps.containermeta.outputs.tags }}" | wc -l) > 1 )); then
container_name=$(echo "${{ steps.containermeta.outputs.tags }}" | grep ':sha-' | head -n 1)
else
container_name="${{ steps.containermeta.outputs.tags }}"
fi
echo "Container name: $container_name"
# display mermaid flowchart
echo '```mermaid' >> $GITHUB_STEP_SUMMARY
echo "flowchart LR" >> $GITHUB_STEP_SUMMARY
# inputs
echo "FPGA-V2[(${{ needs.variables.outputs.saluki_v2_fpga_version }})]" >> $GITHUB_STEP_SUMMARY
echo "FPGA-V3[(${{ needs.variables.outputs.saluki_v3_fpga_version }})]" >> $GITHUB_STEP_SUMMARY
echo "FPGA-PI[(${{ needs.variables.outputs.saluki_pi_fpga_version }})]" >> $GITHUB_STEP_SUMMARY
echo "PX4-SHA[saluki-fpga\n$GITHUB_REF]" >> $GITHUB_STEP_SUMMARY
# build
echo "BUILD[]" >> $GITHUB_STEP_SUMMARY
# outputs
echo "OUTPUT[(${container_name})]" >> $GITHUB_STEP_SUMMARY
# links
echo "FPGA-V2 --> BUILD" >> $GITHUB_STEP_SUMMARY
echo "FPGA-V3 --> BUILD" >> $GITHUB_STEP_SUMMARY
echo "FPGA-PI --> BUILD" >> $GITHUB_STEP_SUMMARY
echo "BUILD --> OUTPUT" >> $GITHUB_STEP_SUMMARY
# end mermaid flowchart
echo '```' >> $GITHUB_STEP_SUMMARY
upload-px4fwupdater-uae:
name: upload px4fwupdater to UAE docker registry
runs-on: ubuntu-latest
needs:
- px4fwupdater
- variables
steps:
- name: Checkout px4-firmware
uses: actions/checkout@v3
with:
path: px4-firmware
fetch-depth: 0
- name: Download pixhawk artifacts
uses: actions/download-artifact@v3
with:
name: pixhawk
path: bin
- name: Firmware flasher - Container metadata
id: containermeta # referenced from later step
uses: docker/metadata-action@v4
with:
images: artifactory.ssrcdevops.tii.ae/tiiuae/px4-firmware
tags: |
type=ref,event=branch
type=ref,event=pr
type=semver,pattern={{version}}
type=sha
- name: Login to SSRC JFrog Container Registry
uses: docker/login-action@v3
with:
registry: artifactory.ssrcdevops.tii.ae
username: ${{ secrets.UAE_RT_USER }}
password: ${{ secrets.UAE_RT_APIKEY }}
# have to login to ghcr as well to download fpga and BL
- name: Login to GitHub Container Registry
uses: docker/login-action@v3
with:
registry: ghcr.io
username: ${{ github.actor }}
password: ${{ secrets.GITHUB_TOKEN }}
- name: Firmware flasher - Build and push
uses: docker/build-push-action@v3
with:
push: true
context: .
file: px4-firmware/Tools/px_uploader.Dockerfile
tags: ${{ steps.containermeta.outputs.tags }}
labels: ${{ steps.containermeta.outputs.labels }}
build-args: |
"saluki_pi_fpga_version=${{ needs.variables.outputs.saluki_pi_fpga_version }}"
"saluki_v2_fpga_version=${{ needs.variables.outputs.saluki_v2_fpga_version }}"
"saluki_v3_fpga_version=${{ needs.variables.outputs.saluki_v3_fpga_version }}"
artifactory:
name: upload builds to artifactory
if: ${{ github.event_name != 'workflow_dispatch' || inputs.jfrog-upload == true }}
runs-on: ubuntu-latest
needs:
- px4fwupdater
- fc_matrix
steps:
- name: Download pixhawk artifacts
uses: actions/download-artifact@v3
with:
name: pixhawk
path: bin
- uses: jfrog/setup-jfrog-cli@v3
env:
JF_ENV_1: ${{ secrets.ARTIFACTORY_CLOUD_TOKEN }}
- name: Upload px4-firmware build to Artifactory
env:
ARTIFACTORY_GEN_REPO: ssrc-gen-private-local
BUILD_NAME_PX4: px4-firmware
CI: true
run: |
set -exu
pr_or_empty=""
latest_link=""
if [ ${{ github.event_name }} == 'pull_request' ]; then
latest_link="pr/"
pr_or_empty="pr/${{ github.head_ref || github.ref_name }}/"
fi
newline=$'\n'
artifactory_links="| target | link |
|--------|------|"
artifactory_base_url="https://ssrc.jfrog.io/artifactory/"
for pkg in $(find bin -type f|sort); do
file_name=$(basename $pkg)
ext="${file_name##*.}"
target_path=""
pkg_name=$(echo $file_name | sed -r -e 's/-[0-9]+\.[0-9]+\.[0-9]+-.*//g')
if [[ $file_name = px4_fmu* ]]; then
target_path="pixhawk"
elif [[ $file_name = ssrc_saluki* ]]; then
target_path="saluki"
else
echo "$pkg ignored"
continue
fi
artifactory_path=$ARTIFACTORY_GEN_REPO/builds/px4-firmware/${target_path}/${pr_or_empty}
artifactory_latest_path=$ARTIFACTORY_GEN_REPO/builds/px4-firmware/${target_path}/${latest_link}latest/${pkg_name}.${ext}
jfrog rt u --target-props COMMIT="$GITHUB_SHA" \
--build-name "$BUILD_NAME_PX4" \
--build-number "$GITHUB_SHA" \
"$pkg" \
"${artifactory_path}$file_name"
# link to latest
jfrog rt cp --flat \
"${artifactory_path}$file_name" \
"${artifactory_latest_path}"
# append every file to artifactory_links
artifactory_links+="${newline}| ${pkg_name} | ${artifactory_base_url}${artifactory_path}${file_name} |"
done
jfrog rt build-publish "$BUILD_NAME_PX4" "$GITHUB_SHA"
jfrog rt bpr "$BUILD_NAME_PX4" "$GITHUB_SHA" "$ARTIFACTORY_GEN_REPO" \
--status dev \
--comment "development build"
# save upload path to output for later use
echo "### Cloud Artifactory links:" >> $GITHUB_STEP_SUMMARY
echo "${artifactory_links}" >> $GITHUB_STEP_SUMMARY
artifactory-uae:
name: upload builds to UAE artifactory
if: ${{ github.event_name != 'workflow_dispatch' || inputs.jfrog-upload == true }}
runs-on: ubuntu-latest
needs:
- px4fwupdater
- fc_matrix
steps:
- name: Download pixhawk artifacts
uses: actions/download-artifact@v3
with:
name: pixhawk
path: bin
- uses: jfrog/setup-jfrog-cli@v3
env:
JF_ENV_1: ${{ secrets.UAE_ARTIFACTORY_TOKEN }}
- name: Upload px4-firmware build to Artifactory
env:
ARTIFACTORY_GEN_REPO: gen-public-local
BUILD_NAME_PX4: px4-firmware
CI: true
run: |
set -exu
pr_or_empty=""
latest_link=""
if [ ${{ github.event_name }} == 'pull_request' ]; then
latest_link="pr/"
pr_or_empty="pr/${{ github.head_ref || github.ref_name }}/"
fi
newline=$'\n'
artifactory_links="| target | link |
|--------|------|"
artifactory_base_url="https://artifactory.ssrcdevops.tii.ae/artifactory/"
for pkg in $(find bin -type f|sort); do
file_name=$(basename $pkg)
ext="${file_name##*.}"
target_path=""
pkg_name=$(echo $file_name | sed -r -e 's/-[0-9]+\.[0-9]+\.[0-9]+-.*//g')
if [[ $file_name = px4_fmu* ]]; then
target_path="pixhawk"
elif [[ $file_name = ssrc_saluki* ]]; then
target_path="saluki"
else
echo "$pkg ignored"
continue
fi
artifactory_path=$ARTIFACTORY_GEN_REPO/builds/px4-firmware/${target_path}/${pr_or_empty}
artifactory_latest_path=$ARTIFACTORY_GEN_REPO/builds/px4-firmware/${target_path}/${latest_link}latest/${pkg_name}.${ext}
jfrog rt u --target-props COMMIT="$GITHUB_SHA" \
--build-name "$BUILD_NAME_PX4" \
--build-number "$GITHUB_SHA" \
"$pkg" \
"${artifactory_path}$file_name"
# link to latest
jfrog rt cp --flat \
"${artifactory_path}$file_name" \
"${artifactory_latest_path}"
# append every file to artifactory_links
artifactory_links+="${newline}| ${pkg_name} | ${artifactory_base_url}${artifactory_path}${file_name} |"
done
jfrog rt build-publish "$BUILD_NAME_PX4" "$GITHUB_SHA"
jfrog rt bpr "$BUILD_NAME_PX4" "$GITHUB_SHA" "$ARTIFACTORY_GEN_REPO" \
--status dev \
--comment "development build"
# export artifactory linds as gh step summary
echo "### UAE Artifactory links:" >> $GITHUB_STEP_SUMMARY
echo "${artifactory_links}" >> $GITHUB_STEP_SUMMARY
- name: Upload px4-fwupdater build to Artifactory
env:
ARTIFACTORY_DEB_REPO: debian-public-local
DISTRIBUTION: focal
COMPONENT: fog-sw
ARCHITECTURE: amd64
BUILD_NAME_DEB: px4-fwupdater
CI: true
run: |
set -exu
pkg=$(find bin -name 'px4fwupdater*.deb')
pkg_name=$(basename $pkg)
jfrog rt u --deb "$DISTRIBUTION/$COMPONENT/$ARCHITECTURE" \
--target-props COMMIT="$GITHUB_SHA" \
--build-name "$BUILD_NAME_DEB" \
--build-number "$GITHUB_SHA" \
"$pkg" \
"$ARTIFACTORY_DEB_REPO/$pkg_name"
jfrog rt build-publish "$BUILD_NAME_DEB" "$GITHUB_SHA"
jfrog rt bpr "$BUILD_NAME_DEB" "$GITHUB_SHA" "$ARTIFACTORY_DEB_REPO" \
--status dev \
--comment "development build"