tiiuae-sitl-tests.yml

name: SITL Tests

on:
  push:
    branches: [ main ]
  pull_request:
    branches: [ main ]
  # Allows you to run this workflow manually from the Actions tab
  workflow_dispatch:

permissions:
  contents: read
  packages: write

jobs:
  build:
    runs-on: ubuntu-latest
    strategy:
      fail-fast: false
      matrix:
        config:
          - {model: "iris",          latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo" } # Alaska
    container:
      image: ghcr.io/tiiuae/px4-firmware-builder-base:latest
      credentials:
        username: ${{ github.actor }}
        password: ${{ secrets.GITHUB_TOKEN }}
    steps:
    - uses: actions/checkout@v4
      with:
        token: ${{ secrets.GH_REPO_TOKEN }}
        fetch-depth: 0
    - name: Install dependencies
      run: |
        apt update -y && apt install -y --no-install-recommends wget
        pip3 install requests
        git config --global --add safe.directory '*'
    - name: Download MAVSDK
      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
    - name: Install MAVSDK
      run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
    - name: check environment
      env:
        PX4_HOME_LAT: ${{matrix.config.latitude}}
        PX4_HOME_LON: ${{matrix.config.longitude}}
        PX4_HOME_ALT: ${{matrix.config.altitude}}
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
      run: |
          export
    - name: Build PX4
      env:
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
      run: make px4_sitl_default
    - name: Build SITL Gazebo
      env:
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
      run: |
        . /opt/ros/humble/setup.sh
        make px4_sitl_default sitl_gazebo-classic
    - name: Build MAVSDK tests
      env:
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
        DONT_RUN: 1
      run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests
    - name: Run SITL tests
      env:
        PX4_HOME_LAT: ${{matrix.config.latitude}}
        PX4_HOME_LON: ${{matrix.config.longitude}}
        PX4_HOME_ALT: ${{matrix.config.altitude}}
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
      timeout-minutes: 45