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build px4 custom signed binaries #584

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merged 1 commit into from
Dec 14, 2023
Merged

build px4 custom signed binaries #584

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6 changes: 6 additions & 0 deletions .github/workflows/tiiuae-pixhawk-and-saluki-builder.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,9 @@ on:
product:
required: true
type: string
keys:
required: true
type: string
enabled:
required: false
type: boolean
Expand All @@ -27,6 +30,9 @@ jobs:
- name: Run px4-firmware ${{ inputs.product }} build
run: |
set -eux
if [ -n ${{ inputs.keys }} ]; then
export SIGNING_ARGS=${{ inputs.keys }}
fi
mkdir -p bin
cd px4-firmware/
# run clone_public.sh if clone_public flag is provided
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19 changes: 13 additions & 6 deletions .github/workflows/tiiuae-pixhawk-and-saluki.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,8 @@ 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
Expand All @@ -19,21 +21,28 @@ permissions:
packages: write

env:
saluki_pi_fpga_version: "sha-6dc384d"
saluki_v2_fpga_version: "sha-6dc384d"
saluki_v3_fpga_version: "sha-6dc384d"
bootloader_v2_version: "master"
saluki_pi_fpga_version: "sha-d4ab4c3"
saluki_v2_fpga_version: "sha-d4ab4c3"
saluki_v3_fpga_version: "sha-d4ab4c3"

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: ${{ github.event.pull_request.head.repo.full_name == github.repository || github.event_name == 'push' || github.event_name == 'workflow_dispatch' }}
secrets: inherit
Expand Down Expand Up @@ -113,7 +122,6 @@ jobs:
"saluki_pi_fpga_version=${{ env.saluki_pi_fpga_version }}"
"saluki_v2_fpga_version=${{ env.saluki_v2_fpga_version }}"
"saluki_v3_fpga_version=${{ env.saluki_v3_fpga_version }}"
"bootloader_v2_version=${{ env.bootloader_v2_version }}"

upload-px4fwupdater-uae:
name: upload px4fwupdater to UAE docker registry
Expand Down Expand Up @@ -166,7 +174,6 @@ jobs:
"saluki_pi_fpga_version=${{ env.saluki_pi_fpga_version }}"
"saluki_v2_fpga_version=${{ env.saluki_v2_fpga_version }}"
"saluki_v3_fpga_version=${{ env.saluki_v3_fpga_version }}"
"bootloader_v2_version=${{ env.bootloader_v2_version }}"

artifactory:
name: upload builds to artifactory
Expand Down
3 changes: 0 additions & 3 deletions Tools/px_uploader.Dockerfile
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Original file line number Diff line number Diff line change
@@ -1,12 +1,10 @@
ARG saluki_pi_fpga_version
ARG saluki_v2_fpga_version
ARG saluki_v3_fpga_version
ARG bootloader_v2_version

FROM ghcr.io/tiiuae/saluki-pi-fpga:$saluki_pi_fpga_version AS SALUKI_PI
FROM ghcr.io/tiiuae/saluki-pi-fpga:$saluki_v2_fpga_version AS SALUKI_V2
FROM ghcr.io/tiiuae/saluki-pi-fpga:$saluki_v3_fpga_version AS SALUKI_V3
FROM ghcr.io/tiiuae/saluki_bootloader_v2:$bootloader_v2_version AS BOOTLOADER_V2

FROM python:alpine3.14

Expand All @@ -30,7 +28,6 @@ FROM python:alpine3.14
COPY --from=SALUKI_PI /firmware/saluki_pi-fpga /firmware/fpga/saluki_pi
COPY --from=SALUKI_V2 /firmware/saluki_v2-fpga /firmware/fpga/saluki_v2
COPY --from=SALUKI_V3 /firmware/saluki_v3-fpga /firmware/fpga/saluki_v3
COPY --from=BOOTLOADER_V2 firmware/bootloader_v2 /firmware/bootloader_v2

WORKDIR /firmware

Expand Down
24 changes: 23 additions & 1 deletion build.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,11 @@ usage() {
echo
exit 1
}
if [ -z ${SIGNING_ARGS+x} ]; then
SIGNING_ARGS=""
else
echo "using custom signing keys: ${SIGNING_ARGS}"
fi

dest_dir="${1:-}"
target="${2:-}"
Expand All @@ -40,7 +45,7 @@ mkdir -p ${dest_dir}
pushd ${script_dir}

build_env="docker build --build-arg UID=$(id -u) --build-arg GID=$(id -g) --pull -f ./packaging/Dockerfile.build_env -t ${iname_env} ."
build_cmd_fw="docker run --rm -v ${script_dir}:/px4-firmware/sources ${iname_env} ./packaging/build_px4fw.sh"
build_cmd_fw="docker run --rm -e SIGNING_ARGS=${SIGNING_ARGS} -v ${script_dir}:/px4-firmware/sources ${iname_env} ./packaging/build_px4fw.sh"
build_cmd_px4fwupdater="${script_dir}/packaging/build_px4fwupdater.sh -v ${version} -i ${dest_dir}"

# Generate build_env
Expand Down Expand Up @@ -86,6 +91,12 @@ case $target in
cp ${script_dir}/build/ssrc_saluki-v2_kernel/ssrc_saluki-v2_kernel.bin ${dest_dir}/ssrc_saluki-v2_kernel-${version}.bin
cp ${script_dir}/build/ssrc_saluki-v2_kernel/ssrc_saluki-v2_kernel_kernel.elf ${dest_dir}/ssrc_saluki-v2_kernel-${version}.elf
;;
"saluki-v2_custom_keys")
# on custom keys case we build _default target but SIGNING_ARGS env variable is set above in build_cmd_fw
$build_cmd_fw ssrc_saluki-v2_default
cp ${script_dir}/build/ssrc_saluki-v2_default/ssrc_saluki-v2_default.px4 ${dest_dir}/ssrc_saluki-v2_custom_keys-${version}.px4
;;

"saluki-v3_default")
$build_cmd_fw ssrc_saluki-v3_default
cp ${script_dir}/build/ssrc_saluki-v3_default/ssrc_saluki-v3_default.px4 ${dest_dir}/ssrc_saluki-v3_default-${version}.px4
Expand All @@ -94,6 +105,11 @@ case $target in
$build_cmd_fw ssrc_saluki-v3_amp
cp ${script_dir}/build/ssrc_saluki-v3_amp/ssrc_saluki-v3_amp.bin ${dest_dir}/ssrc_saluki-v3_amp-${version}.bin
;;
"saluki-v3_custom_keys")
# on custom keys case we build _default target but SIGNING_ARGS env variable is set above in build_cmd_fw
$build_cmd_fw ssrc_saluki-v3_default
cp ${script_dir}/build/ssrc_saluki-v3_default/ssrc_saluki-v3_default.px4 ${dest_dir}/ssrc_saluki-v3_custom_keys-${version}.px4
;;
"saluki-pi_default")
$build_cmd_fw ssrc_saluki-pi_default
cp ${script_dir}/build/ssrc_saluki-pi_default/ssrc_saluki-pi_default.px4 ${dest_dir}/ssrc_saluki-pi_default-${version}.px4
Expand All @@ -106,6 +122,12 @@ case $target in
$build_cmd_fw ssrc_saluki-pi_amp
cp ${script_dir}/build/ssrc_saluki-pi_amp/ssrc_saluki-pi_amp.bin ${dest_dir}/ssrc_saluki-pi_amp-${version}.bin
;;
"saluki-pi_custom_keys")
# on custom keys case we build _default target but SIGNING_ARGS env variable is set above in build_cmd_fw
$build_cmd_fw ssrc_saluki-pi_default
cp ${script_dir}/build/ssrc_saluki-pi_default/ssrc_saluki-pi_default.px4 ${dest_dir}/ssrc_saluki-pi_custom_keys-${version}.px4
;;

*)
usage
;;
Expand Down