Build #18
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| # This is a workflow for the VxWorks ROS 2 build. | |
| # It builds a ROS 2 VxWorks port against the VxWorks SDK | |
| name: 'VxWorks ROS 2 build' | |
| run-name: Build ${{ inputs.ros_distro }} ${{ inputs.vxworks }} ${{ inputs.sdk }} | |
| on: | |
| workflow_dispatch: | |
| inputs: | |
| ros_distro: | |
| description: 'ROS 2 Distribution' | |
| required: true | |
| default: 'humble' | |
| vxworks: | |
| description: 'VxWorks Release' | |
| required: true | |
| default: '24.03' | |
| sdk: | |
| description: 'SDK Name' | |
| required: true | |
| default: 'qemu' | |
| test: | |
| description: 'Run tests' | |
| required: false | |
| default: false | |
| debug: | |
| description: 'Debug' | |
| required: false | |
| default: false | |
| schedule: | |
| - cron: '0 0 * * 0' # Runs at 00:00 UTC every Sunday | |
| jobs: | |
| build: | |
| runs-on: ubuntu-22.04 | |
| services: | |
| registry: | |
| image: registry:2 | |
| ports: | |
| - 5000:5000 | |
| outputs: | |
| sdk: ${{ steps.set_outputs.outputs.sdk }} | |
| ros_distro: ${{ steps.set_outputs.outputs.ros_distro }} | |
| env: | |
| # Check if input variables exist, otherwise set defaults for scheduled runs | |
| ros_distro: ${{ github.event.inputs.ros_distro || 'humble' }} | |
| vxworks: ${{ github.event.inputs.vxworks || '24.03' }} | |
| sdk: ${{ github.event.inputs.sdk || 'qemu' }} | |
| debug: ${{ github.event.inputs.debug || 'false' }} | |
| steps: | |
| - name: Checks-out a branch ${{ github.ref }} | |
| uses: actions/checkout@v4 | |
| with: | |
| ref: ${{ github.ref }} | |
| - name: Use Download SDK action | |
| uses: ./.github/actions/setup-wrsdk | |
| with: | |
| sdks_list: wrsdks.json | |
| sdk: ${{ env.sdk }} | |
| vxworks: ${{ env.vxworks }} | |
| directory: /tmp | |
| sdkenv: false | |
| - name: store runners uid and gid | |
| run: | | |
| echo "`id -u`" > /tmp/wrsdk/uid | |
| echo "`id -g`" > /tmp/wrsdk/gid | |
| - name: Set up Docker Buildx | |
| uses: docker/setup-buildx-action@v3 | |
| with: | |
| driver-opts: network=host | |
| - name: Build vxbuild docker image | |
| uses: docker/build-push-action@v6 | |
| with: | |
| context: Docker/22.04/vxbuild/. | |
| push: true | |
| tags: localhost:5000/local/vxbuild:22.04 | |
| cache-from: type=gha | |
| cache-to: type=gha,mode=max | |
| env: | |
| DOCKER_BUILD_SUMMARY: false | |
| DOCKER_BUILD_RECORD_UPLOAD: false | |
| - name: Inspect | |
| run: | | |
| docker buildx imagetools inspect localhost:5000/local/vxbuild:22.04 | |
| - name: Build vxros2build docker image | |
| uses: docker/build-push-action@v6 | |
| with: | |
| context: Docker/22.04/vxros2build/. | |
| push: false | |
| load: true | |
| build-args: | | |
| ROS_DISTRO=${{ env.ros_distro }} | |
| BASE_IMAGE=localhost:5000/local/vxbuild:22.04 | |
| tags: vxros2build:${{ env.ros_distro }} | |
| cache-from: type=gha | |
| cache-to: type=gha,mode=max | |
| env: | |
| DOCKER_BUILD_SUMMARY: false | |
| DOCKER_BUILD_RECORD_UPLOAD: false | |
| - name: Verify Docker vxros2build:${{ env.ros_distro }} image | |
| run: | | |
| docker images vxros2build:${{ env.ros_distro }} | |
| - name: Build ROS 2 ${{ env.ros_distro }} against VxWorks ${{ env.vxworks }} ${{ env.sdk }} | |
| uses: addnab/docker-run-action@v3 | |
| with: | |
| image: vxros2build:${{ env.ros_distro }} | |
| options: -v ${{ github.workspace }}:/work -v /tmp/wrsdk:/wrsdk | |
| run: | | |
| groupadd -g "`cat /wrsdk/gid`" wruser | |
| useradd -u "`cat /wrsdk/uid`" -m wruser -g wruser | |
| su wruser -c 'source /wrsdk/sdkenv.sh && make -C /work' | |
| - name: Create an SROS2 script | |
| run: | | |
| cat << 'EOF' > /tmp/sros2_script.sh | |
| #!/bin/bash | |
| . /opt/ros/humble/setup.sh | |
| ros2 security create_keystore demo_keystore | |
| ros2 security create_enclave demo_keystore /talker_listener/talker | |
| ros2 security create_enclave demo_keystore /talker_listener/listener | |
| EOF | |
| chmod +x /tmp/sros2_script.sh | |
| - name: Generate a keystore, keys, and certificates for the talker and listener nodes | |
| uses: addnab/docker-run-action@v3 | |
| with: | |
| image: vxros2build:${{ env.ros_distro }} | |
| options: -v ${{ github.workspace }}:/work -v /tmp/sros2_script.sh:/tmp/sros2_script.sh | |
| run: | | |
| cd /tmp | |
| /tmp/sros2_script.sh | |
| mv /tmp/demo_keystore /work/output/export/deploy/. | |
| - name: Create an HDD image | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install -y dosfstools | |
| cd ${{ github.workspace }} | |
| dd if=/dev/zero of=ros2.img count=2048 bs=1M | |
| mkfs.vfat -F 32 ./ros2.img | |
| mkdir -p /tmp/mount | |
| sudo mount -o loop -t vfat ./ros2.img /tmp/mount | |
| sudo cp -r -L ./output/export/deploy/* /tmp/mount/. | |
| df -h /tmp/mount/ | |
| sudo umount /tmp/mount | |
| - name: Copy VxWorks image | |
| run: | | |
| cp /tmp/wrsdk/vxsdk/bsps/*/*xWorks* ${{ github.workspace }} | |
| - name: Upload VxWorks and the HDD image | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: HDD image ${{ env.sdk }} ${{ env.ros_distro }} | |
| path: | | |
| ${{ github.workspace }}/ros2.img | |
| ${{ github.workspace }}/*xWorks* | |
| - name: Setup tmate session | |
| if: ${{ env.debug == 'true' }} | |
| uses: mxschmitt/action-tmate@v3 | |
| - name: Set outputs for sdk and ros_distro | |
| id: set_outputs | |
| run: | | |
| echo "sdk=${{ env.sdk }}" >> $GITHUB_OUTPUT | |
| echo "ros_distro=${{ env.ros_distro }}" >> $GITHUB_OUTPUT | |
| test: | |
| runs-on: ubuntu-22.04 | |
| needs: build | |
| if: ${{ github.event.inputs.test != 'false' && (github.event.inputs.test || 'false') == 'true' }} | |
| steps: | |
| - name: Checkout repository | |
| uses: actions/checkout@v4 | |
| with: | |
| ref: ${{ github.ref }} | |
| - name: Use SDK and ROS Distro from build job | |
| run: | | |
| echo "SDK: ${{ needs.build.outputs.sdk }}" | |
| echo "ROS Distro: ${{ needs.build.outputs.ros_distro }}" | |
| - name: Download HDD image and VxWorks artifacts | |
| uses: actions/download-artifact@v4 | |
| with: | |
| name: HDD image ${{ needs.build.outputs.sdk }} ${{ needs.build.outputs.ros_distro }} | |
| - name: Install QEMU and expect | |
| run: | | |
| # Update apt and install dependencies | |
| sudo apt-get update | |
| sudo apt-get install -y qemu-system-x86 expect | |
| # Add user to kvm group | |
| sudo usermod -aG kvm $USER | |
| # Setup tun | |
| sudo apt-get install uml-utilities | |
| sudo tunctl -u $USER -t tap0 | |
| sudo ifconfig tap0 192.168.200.254 up | |
| - name: Run Tests with QEMU and expect | |
| run: | | |
| # Change directory to GitHub workspace | |
| cd ${{ github.workspace }} | |
| # Run tests | |
| echo "Running tests..." | |
| ./tests/main_script.exp |