Core: AutoPilot Manager: Split autopilot in platforms (Serial PX4 support part 5) #5477

Workflow file for this run

.github/workflows/test-and-deploy.yml at d251959

	name: Test, Build and Deploy Images

	env:
	DOCKER_USERNAME: ${{ secrets.DOCKER_USERNAME }}

	on:
	workflow_dispatch:
	pull_request:
	push:
	schedule:
	# Run every 6 days to keep our caches alive
	- cron: '0 0 /6 *'

	jobs:
	python-tests:
	runs-on: ubuntu-latest

	env:
	python-version: 3.11 # Our base image has Python 3.11

	steps:
	- name: Checkout
	uses: actions/checkout@v4

	- name: Set up Python ${{ env.python-version }}
	uses: actions/setup-python@v5
	with:
	python-version: ${{ env.python-version }}

	- name: Install dependencies
	run: \|
	sudo apt-get install --no-install-recommends --assume-yes shellcheck parallel
	python -m pip install --upgrade pip
	pip install poetry

	- name: Run tests
	run: \|
	.hooks/pre-push

	- name: Upload coverage
	uses: actions/upload-artifact@v4
	with:
	name: coverage
	path: htmlcov


	frontend-tests:
	runs-on: ubuntu-latest
	steps:
	- name: Checkout
	uses: actions/checkout@v4
	with:
	submodules: recursive

	- uses: oven-sh/setup-bun@v1
	with:
	bun-version: 1.0.3

	- name: Bun install
	run: bun install --cwd ./core/frontend

	- name: Bun lint
	run: bun --cwd ./core/frontend lint

	- name: Bun build
	run: bun run --cwd ./core/frontend build

	deploy-docker-images:
	runs-on: ubuntu-latest
	needs: [frontend-tests, python-tests]
	strategy:
	fail-fast: false
	matrix:
	docker: [bootstrap, core]
	project: [blueos]
	platforms: ["linux/arm/v7,linux/arm64/v8,linux/amd64"]
	steps:
	- name: Free Disk Space (Ubuntu)
	uses: jlumbroso/free-disk-space@main
	with:
	android: true
	dotnet: true
	haskell: true
	large-packages: false
	docker-images: false
	swap-storage: true

	- name: Checkout
	uses: actions/checkout@v4
	with:
	fetch-depth: 0 #Number of commits to fetch. 0 indicates all history for all branches and tags.
	submodules: recursive

	- name: Prepare
	id: prepare
	run: \|
	# Deploy image with the name of the branch, if the build is a git tag, replace tag with the tag name.
	# If git tag matches semver, append latest tag to the push.
	DOCKER_IMAGE=${DOCKER_USERNAME:-bluerobotics}/${{ matrix.project }}-${{ matrix.docker }}
	VERSION=${GITHUB_REF##*/}

	if [[ $GITHUB_REF == refs/tags/* ]]; then
	VERSION=${GITHUB_REF#refs/tags/}
	fi

	TAGS="--tag ${DOCKER_IMAGE}:${VERSION}"
	if [[ $VERSION =~ ^[0-9]{1,3}\.[0-9]{1,3}\.[0-9]{1,3}$ ]]; then
	TAGS="$TAGS --tag ${DOCKER_IMAGE}:latest"
	fi

	echo "docker_image=${DOCKER_IMAGE}" >> $GITHUB_OUTPUT
	echo "version=${VERSION}" >> $GITHUB_OUTPUT
	echo "buildx_args=\
	--build-arg GIT_DESCRIBE_TAGS=$(git describe --tags --long --always) \
	--build-arg VITE_APP_GIT_DESCRIBE=$(git describe --long --always --dirty --all) \
	--cache-from 'type=local,src=/tmp/.buildx-cache' \
	--cache-to 'type=local,dest=/tmp/.buildx-cache' \
	${TAGS} \
	--file ${{ matrix.docker }}/Dockerfile ./${{ matrix.docker }}" >> $GITHUB_OUTPUT

	- name: Set up QEMU
	uses: docker/setup-qemu-action@v3
	with:
	platforms: all

	- name: Set up Docker Buildx
	uses: docker/setup-buildx-action@v3
	with:
	version: latest

	- name: Cache Docker layers
	uses: actions/cache@v4
	id: cache
	with:
	path: /tmp/.buildx-cache
	key: ${{ runner.os }}-buildx-${{ matrix.docker }}-${{ hashFiles(format('{0}/Dockerfile', matrix.docker)) }}
	restore-keys: \|
	${{ runner.os }}-buildx-${{ matrix.docker }}-${{ hashFiles(format('{0}/Dockerfile', matrix.docker)) }}
	${{ runner.os }}-buildx-${{ matrix.docker }}

	- name: Docker Buildx (build)
	run: \|
	# Pull latest version of image to help with build speed
	for platform in $(echo ${{ matrix.platforms }} \| tr ',' '\n'); do
	docker pull --platform ${platform} ${DOCKER_USERNAME:-bluerobotics}/${{ matrix.project }}-${{ matrix.docker }}:master \|\| true
	done
	docker buildx build \
	--output "type=image,push=false" \
	--platform ${{ matrix.platforms }} \
	${{ steps.prepare.outputs.buildx_args }}

	- name: Check core size
	if: ${{ matrix.docker == 'core' }}
	run: \|
	# Check if the image size is lower than our limit
	docker image list
	IMAGE_ID=$(docker images -q ${DOCKER_USERNAME:-bluerobotics}/${{ matrix.project }} \| head -n 1)
	LIMIT_SIZE_MB=700
	IMAGE_SIZE_MB=$(( $(docker inspect $IMAGE_ID --format {{.Size}})/(2**20) ))
	echo "Core size is: $IMAGE_SIZE_MB MB"
	((IMAGE_SIZE_MB < LIMIT_SIZE_MB))

	- name: Login to DockerHub
	if: success() && github.event_name != 'pull_request'
	uses: docker/login-action@v3
	with:
	username: ${{ secrets.DOCKER_USERNAME }}
	password: ${{ secrets.DOCKER_PASSWORD }}

	- name: Docker Buildx (push)
	if: success() && github.event_name != 'pull_request'
	run: \|
	docker buildx build \
	--output "type=image,push=true" \
	--platform ${{ matrix.platforms }} \
	${{ steps.prepare.outputs.buildx_args }}

	- name: Inspect image
	if: always() && github.event_name != 'pull_request'
	run: \|
	docker buildx imagetools \
	inspect ${{ steps.prepare.outputs.docker_image }}:${{ steps.prepare.outputs.version }}

	- name: Create image artifact
	if: success() && matrix.docker == 'core'
	run: \|
	DOCKER_IMAGE=${DOCKER_USERNAME:-bluerobotics}/${{ matrix.project }}-${{ matrix.docker }}
	GIT_HASH_SHORT=$(git rev-parse --short "$GITHUB_SHA")
	docker buildx build \
	${{ steps.prepare.outputs.buildx_args }} \
	--platform "linux/arm64/v8" \
	--tag ${DOCKER_IMAGE}:${GIT_HASH_SHORT} \
	--output "type=docker,dest=BlueOs-core-docker-image-${GIT_HASH_SHORT}-arm64-v8.tar" \

	- name: Upload artifact arm64-v8
	uses: actions/upload-artifact@v4
	if: success() && matrix.docker == 'core'
	with:
	name: BlueOS-core-docker-image-arm64-v8
	path: '*arm64-v8.tar'

	- name: Create image artifact
	if: success() && matrix.docker == 'core'
	run: \|
	DOCKER_IMAGE=${DOCKER_USERNAME:-bluerobotics}/${{ matrix.project }}-${{ matrix.docker }}
	GIT_HASH_SHORT=$(git rev-parse --short "$GITHUB_SHA")
	docker buildx build \
	${{ steps.prepare.outputs.buildx_args }} \
	--platform "linux/arm/v7" \
	--tag ${DOCKER_IMAGE}:${GIT_HASH_SHORT} \
	--output "type=docker,dest=BlueOs-core-docker-image-${GIT_HASH_SHORT}-arm-v7.tar" \

	- name: Upload artifact arm-v7
	uses: actions/upload-artifact@v4
	if: success() && matrix.docker == 'core'
	with:
	name: BlueOS-core-docker-image-arm-v7
	path: '*arm-v7.tar'

	- name: Create image artifact
	if: success() && matrix.docker == 'core'
	run: \|
	DOCKER_IMAGE=${DOCKER_USERNAME:-bluerobotics}/${{ matrix.project }}-${{ matrix.docker }}
	GIT_HASH_SHORT=$(git rev-parse --short "$GITHUB_SHA")
	docker buildx build \
	${{ steps.prepare.outputs.buildx_args }} \
	--platform "linux/amd64" \
	--tag ${DOCKER_IMAGE}:${GIT_HASH_SHORT} \
	--output "type=docker,dest=BlueOs-core-docker-image-${GIT_HASH_SHORT}-amd64.tar" \

	- name: Upload artifact amd64
	uses: actions/upload-artifact@v4
	if: success() && matrix.docker == 'core'
	with:
	name: BlueOS-core-docker-image-amd64
	path: '*amd64.tar'

	- name: Upload docker image for release
	uses: svenstaro/upload-release-action@v2
	if: startsWith(github.ref, 'refs/tags/') && success() && matrix.docker == 'core'
	with:
	repo_token: ${{ secrets.GITHUB_TOKEN }}
	file: '*.tar'
	tag: ${{ github.ref }}
	overwrite: true
	prerelease: true
	file_glob: true

	deploy-raspberry-image:
	needs: deploy-docker-images
	if: github.event_name != 'pull_request' && github.repository_owner == 'bluerobotics'
	timeout-minutes: 180 # Detect if it gets into an infinite loop or some unexpected state
	strategy:
	fail-fast: false
	matrix:
	include:
	- runner: blueos-ci
	platform: "linux/arm/v7"
	os: "bookworm"
	image: "raspios_lite_armhf/images/raspios_lite_armhf-2024-07-04/2024-07-04-raspios-bookworm-armhf-lite.img.xz"
	- runner: pi4-builder2
	platform: "linux/arm/v7"
	os: "bullseye"
	image: "raspios_lite_armhf/images/raspios_lite_armhf-2022-01-28/2022-01-28-raspios-bullseye-armhf-lite.zip"
	- runner: pi5-builder
	platform: "linux/arm64/v8"
	os: "bookworm"
	image: "raspios_lite_arm64/images/raspios_lite_arm64-2024-07-04/2024-07-04-raspios-bookworm-arm64-lite.img.xz"

	runs-on: ${{ matrix.runner }}
	# The runners for this job are:
	# - pi4-builders: A Raspberry Pi OS Bullseye (32-bit).
	# - pi5-builder: A Raspberry Pi OS Bookworm lite 64-bit.
	# For pi5-ci, install docker (curl -sSL https://get.docker.com/ \| sh) and follow the instructions for setting up a new runner in
	# https://github.com/bluerobotics/BlueOS-docker/settings/actions/runners/new

	steps:
	- name: Install git
	run: sudo apt install -y git

	- name: Checkout
	uses: actions/checkout@v4
	with:
	submodules: recursive

	# We use our own pimod as upstream doesn't provide armv7 images
	- name: Pimod Build
	run: \|
	VERSION=$GITHUB_REPOSITORY
	VERSION=${VERSION:-master}
	wget https://raw.githubusercontent.com//Nature40/pimod/master/pimod.sh && chmod +x pimod.sh
	docker run --rm --privileged \
	-v $PWD:/files \
	-e PATH=/pimod:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin \
	-e GITHUB_REPOSITORY=$GITHUB_REPOSITORY \
	-e VERSION=$GITHUB_REF_NAME \
	-e BASE_IMAGE=${{ matrix.image }} \
	--workdir=/files \
	--platform ${{ matrix.platform }} nature40/pimod:latest pimod.sh deploy/pimod/blueos.Pifile

	- name: Add /boot additions
	run: \|
	sudo apt-get update && sudo apt-get install -y parted kpartx
	# Create mount point if it doesn't exist
	sudo mkdir -p /mnt/piboot
	# Map the image file
	LOOP_DEVICE=$(sudo kpartx -avs deploy/pimod/blueos.img \| sed -E 's/.(loop[0-9]+)p[0-9]+./\1/g' \| head -1)
	# Mount the boot partition
	sudo mount "/dev/mapper/${LOOP_DEVICE}p1" /mnt/piboot
	# Create ssh and userconf files
	sudo cp install/boards/config.toml /mnt/piboot/custom.toml
	sudo umount /mnt/piboot
	sudo kpartx -d deploy/pimod/blueos.img
	echo "Boot partition updated successfully."

	- name: Sanitize platform name
	run: echo "SANITIZED_PLATFORM=$(echo ${{ matrix.platform }} \| tr '/' '-')" >> $GITHUB_ENV

	- name: Zip image
	if: startsWith(github.ref, 'refs/tags/')
	run: \|
	sudo apt install zip
	zip BlueOS-raspberry-${{ env.SANITIZED_PLATFORM }}-${{ matrix.os }}.zip deploy/pimod/blueos.img

	- name: Upload artifact
	uses: actions/upload-artifact@v4
	timeout-minutes: 120
	with:
	name: BlueOS-raspberry-${{ env.GITHUB_REF_NAME }}${{ env.SANITIZED_PLATFORM }}-${{ matrix.os }}
	path: deploy/pimod/blueos.img
	if-no-files-found: error
	retention-days: 7

	- name: Upload raspberry image for release
	uses: svenstaro/upload-release-action@v2
	if: startsWith(github.ref, 'refs/tags/')
	with:
	repo_token: ${{ secrets.GITHUB_TOKEN }}
	file: BlueOS-raspberry-${{ env.SANITIZED_PLATFORM }}-${{ matrix.os }}.zip
	tag: ${{ github.ref }}
	overwrite: true
	prerelease: true

	# This is required because docker has root permissions, which means the runner is unable to clear this cache normally
	- name: Cleanup
	if: ${{ always() }}
	run: sudo rm -rf .cache

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Core: AutoPilot Manager: Split autopilot in platforms (Serial PX4 support part 5) #5477

Workflow file

Core: AutoPilot Manager: Split autopilot in platforms (Serial PX4 support part 5) #5477

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