Submodule update: #2111
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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 UAE Artifactory' | |
| required: false | |
| default: false | |
| 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 | |
| saluki-fmu2-manual-fpga-version: | |
| description: 'saluki-fmu2 optional fpga version (e.g. sha-cd7bb6b)' | |
| required: false | |
| default: '' | |
| type: string | |
| permissions: | |
| contents: read | |
| packages: write | |
| env: | |
| saluki_fpga_repo: "ghcr.io/tiiuae/saluki-fpga" | |
| saluki_pi_fpga_version: "4.16.0" | |
| saluki_v2_fpga_version: "4.16.0" | |
| saluki_v3_fpga_version: "4.16.0" | |
| saluki_fmu2_fpga_version: "4.16.0" | |
| jobs: | |
| fc_matrix: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| product: [saluki-v2_default, saluki-v2_amp, saluki-v2_flat, saluki-pi_default, saluki-pi_amp, saluki-pi_flat, saluki-v3_default, saluki-v3_amp, saluki-v3_flat, saluki-nxp93_flat, saluki-nxp93_default] | |
| 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 }} | |
| saluki_fmu2_fpga_version: ${{ steps.variables.outputs.saluki_fmu2_fpga_version }} | |
| steps: | |
| - name: Print input variables | |
| id: variables | |
| run: | | |
| # use saluki-v2-fpga default version if custom is not provided | |
| saluki_v2_fpga_version=${{ 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 | |
| # use saluki-fmu2-fpga default version if custom is not provided | |
| saluki_fmu2_fpga_version=${{ env.saluki_fmu2_fpga_version }} | |
| if [ -n "${{ github.event.inputs.saluki-fmu2-manual-fpga-version }}" ]; then | |
| saluki_fmu2_fpga_version=${{ github.event.inputs.saluki-fmu2-manual-fpga-version }} | |
| fi | |
| echo "saluki_v2_fpga_version=${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}" >> $GITHUB_OUTPUT | |
| echo "saluki_fmu2_fpga_version=${saluki_fmu2_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 "saluki_fmu2_fpga_version: ${saluki_fmu2_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@v4 | |
| with: | |
| path: px4-firmware | |
| fetch-depth: 0 | |
| - name: Download pixhawk artifacts | |
| uses: actions/download-artifact@v4 | |
| with: | |
| pattern: saluki-* | |
| path: bin | |
| merge-multiple: true | |
| - 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/upload-artifact@v4 | |
| with: | |
| name: pixhawk | |
| path: bin/ | |
| retention-days: 1 | |
| overwrite: true | |
| upload-px4fwupdater: | |
| name: upload px4fwupdater to docker registry | |
| runs-on: ubuntu-latest | |
| env: | |
| FPGA_DIR: fpga | |
| needs: | |
| - px4fwupdater | |
| - variables | |
| steps: | |
| - name: Checkout px4-firmware | |
| uses: actions/checkout@v4 | |
| with: | |
| path: px4-firmware | |
| fetch-depth: 0 | |
| - name: Set up QEMU | |
| uses: docker/setup-qemu-action@v3 | |
| with: | |
| platforms: arm64 | |
| - name: Set up Docker Buildx | |
| uses: docker/setup-buildx-action@v3 | |
| - name: Download pixhawk artifacts | |
| uses: actions/download-artifact@v4 | |
| with: | |
| path: bin | |
| pattern: saluki-* | |
| merge-multiple: true | |
| - name: Firmware flasher - Container metadata | |
| id: containermeta # referenced from later step | |
| uses: docker/metadata-action@v5 | |
| 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: fetch fpga files | |
| run: | | |
| echo "fetching fpga files from ${{ env.saluki_fpga_repo }}" | |
| px4-firmware/Tools/fetch-fpga-files.sh ${{ env.saluki_fpga_repo }}:${{ needs.variables.outputs.saluki_v2_fpga_version }} saluki_v2 ${{ env.FPGA_DIR }}/saluki-v2 | |
| px4-firmware/Tools/fetch-fpga-files.sh ${{ env.saluki_fpga_repo }}:${{ needs.variables.outputs.saluki_v3_fpga_version }} saluki_v3 ${{ env.FPGA_DIR }}/saluki-v3 | |
| px4-firmware/Tools/fetch-fpga-files.sh ${{ env.saluki_fpga_repo }}:${{ needs.variables.outputs.saluki_pi_fpga_version }} saluki_pi ${{ env.FPGA_DIR }}/saluki-pi | |
| px4-firmware/Tools/fetch-fpga-files.sh ${{ env.saluki_fpga_repo }}:${{ needs.variables.outputs.saluki_fmu2_fpga_version }} saluki_fmu2 ${{ env.FPGA_DIR }}/saluki-fmu2 | |
| # combine fpga json files to one file | |
| python px4-firmware/Tools/collect_json_files.py ${{ env.FPGA_DIR }} ${{ env.FPGA_DIR }}/fpga-file-info.json | |
| # generate saluki file info json with project basic info | |
| # fetched info from git so has to be ran inside the repo | |
| pushd px4-firmware | |
| Tools/generate_basic_build_info.sh ../build_basic_info.json | |
| popd | |
| # combine saluki file info json with fpga json and px4 json files to one file | |
| python px4-firmware/Tools/compile_px4_build_info.py saluki_file_info.json bin ${{ env.FPGA_DIR }}/fpga-file-info.json build_basic_info.json | |
| - name: Firmware flasher - Build and push | |
| uses: docker/build-push-action@v5 | |
| with: | |
| push: true | |
| context: . | |
| # build for x86 and arm64 | |
| platforms: linux/amd64,linux/arm64 | |
| file: px4-firmware/Tools/px_uploader.Dockerfile | |
| tags: ${{ steps.containermeta.outputs.tags }} | |
| labels: ${{ steps.containermeta.outputs.labels }} | |
| build-args: | | |
| "saluki_fpga_directory=${{ env.FPGA_DIR }}" | |
| - 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 }}" | |
| echo " saluki_fmu2_fpga_version: ${{ needs.variables.outputs.saluki_fmu2_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" >> $GITHUB_STEP_SUMMARY | |
| # inputs | |
| echo "FPGA-V2[(Saluki-v2 FPGA<br>${{ needs.variables.outputs.saluki_v2_fpga_version }})]" >> $GITHUB_STEP_SUMMARY | |
| echo "FPGA-V3[(Saluki-v3 FPGA<br>${{ needs.variables.outputs.saluki_v3_fpga_version }})]" >> $GITHUB_STEP_SUMMARY | |
| echo "FPGA-PI[(Saluki-pi FPGA<br>${{ needs.variables.outputs.saluki_pi_fpga_version }})]" >> $GITHUB_STEP_SUMMARY | |
| echo "FPGA-FMU2[(Saluki-fmu2 FPGA<br>${{ needs.variables.outputs.saluki_fmu2_fpga_version }})]" >> $GITHUB_STEP_SUMMARY | |
| echo "PX4-SHA[${{ github.repository }}<br>$GITHUB_REF]" >> $GITHUB_STEP_SUMMARY | |
| # build | |
| echo "BUILD[build PX4 fwupdater]" >> $GITHUB_STEP_SUMMARY | |
| # output | |
| echo "OUTPUT[($(echo ${container_name}|sed 's/:/<br>/'))]" >> $GITHUB_STEP_SUMMARY | |
| # links | |
| echo "PX4-SHA --> BUILD" >> $GITHUB_STEP_SUMMARY | |
| echo "FPGA-V2 --> BUILD" >> $GITHUB_STEP_SUMMARY | |
| echo "FPGA-V3 --> BUILD" >> $GITHUB_STEP_SUMMARY | |
| echo "FPGA-PI --> BUILD" >> $GITHUB_STEP_SUMMARY | |
| echo "FPGA-FMU2 --> BUILD" >> $GITHUB_STEP_SUMMARY | |
| echo "BUILD --> OUTPUT" >> $GITHUB_STEP_SUMMARY | |
| # end mermaid flowchart | |
| echo '```' >> $GITHUB_STEP_SUMMARY | |
| # set variables for container name and date | |
| CONTAINER_DATE=$(date +%s) | |
| PX4_TMP_CONTAINER_NAME="tmp_px4_container_$CONTAINER_DATE" | |
| px4_github_sha=$(echo "${{ github.sha }}" | cut -c1-7) | |
| echo "# Flashing this package to your Saluki" >> $GITHUB_STEP_SUMMARY | |
| echo "## Get these px4 firmware files to your computer" >> $GITHUB_STEP_SUMMARY | |
| echo "To get these files to you computer, you can use the following command" >> $GITHUB_STEP_SUMMARY | |
| echo "The command will create a temporary \`$PX4_TMP_CONTAINER_NAME\` container, copy the firmware files to directory \`px4-firmware_${px4_github_sha}\` and remove the temporary container" >> $GITHUB_STEP_SUMMARY | |
| # compose docker cp command | |
| docker_cp_cmd='docker cp $(docker create --name ' | |
| docker_cp_cmd+="$PX4_TMP_CONTAINER_NAME $container_name" | |
| docker_cp_cmd+='):/firmware ' | |
| docker_cp_cmd+=px4-firmware_${px4_github_sha} | |
| docker_cp_cmd+=' && docker rm ' | |
| docker_cp_cmd+=$PX4_TMP_CONTAINER_NAME | |
| # echo docker cp command to summary | |
| echo '```shell' >> $GITHUB_STEP_SUMMARY | |
| echo "${docker_cp_cmd}" >> $GITHUB_STEP_SUMMARY | |
| echo '```' >> $GITHUB_STEP_SUMMARY | |
| # separator | |
| echo '---' >> $GITHUB_STEP_SUMMARY | |
| echo "## Flash this px4 firmware to your Saluki by using fpga-flashing tool" >> $GITHUB_STEP_SUMMARY | |
| echo "fpga-flashing is separate tool: https://github.com/tiiuae/fpga-flashing/" >> $GITHUB_STEP_SUMMARY | |
| echo "### Flash px4 firmware" >> $GITHUB_STEP_SUMMARY | |
| echo "To flash this px4 firmware and FPGA to your Saluki with fpga-flashing, you can use the following command:" >> $GITHUB_STEP_SUMMARY | |
| flash_tool_cmd='./flash.sh --update-package ' | |
| flash_tool_cmd+=$container_name | |
| flash_tool_cmd+=' --px4' | |
| echo '```shell' >> $GITHUB_STEP_SUMMARY | |
| echo "${flash_tool_cmd}" >> $GITHUB_STEP_SUMMARY | |
| echo '```' >> $GITHUB_STEP_SUMMARY | |
| # separator | |
| echo '---' >> $GITHUB_STEP_SUMMARY | |
| echo "### Zeroize and flash FPGA and PX4" >> $GITHUB_STEP_SUMMARY | |
| echo "To zeroize the device as new and flash px4 firmware, FPGA and RD certificate to your Saluki with fpga-flashing -tool, you can use the following command:" >> $GITHUB_STEP_SUMMARY | |
| echo "please notice that FPGA flashing needs FlashPro connected" >> $GITHUB_STEP_SUMMARY | |
| flash_tool_cmd='./flash.sh --update-package ' | |
| flash_tool_cmd+=$container_name | |
| flash_tool_cmd+=' --zeroize --fpga --px4 --rdc' | |
| echo '```shell' >> $GITHUB_STEP_SUMMARY | |
| echo "${flash_tool_cmd}" >> $GITHUB_STEP_SUMMARY | |
| echo '```' >> $GITHUB_STEP_SUMMARY | |
| echo 'For more info please see: https://github.com/tiiuae/fpga-flashing/#usage' >> $GITHUB_STEP_SUMMARY | |
| upload-px4fwupdater-uae: | |
| name: upload px4fwupdater to UAE docker registry | |
| # temporarily disabled until we get new token from UAR | |
| if: false | |
| runs-on: ubuntu-latest | |
| needs: | |
| - px4fwupdater | |
| - variables | |
| steps: | |
| - name: Checkout px4-firmware | |
| uses: actions/checkout@v4 | |
| with: | |
| path: px4-firmware | |
| fetch-depth: 0 | |
| - name: Download pixhawk artifacts | |
| uses: actions/download-artifact@v4 | |
| with: | |
| pattern: pixhawk | |
| path: bin | |
| - name: Firmware flasher - Container metadata | |
| id: containermeta # referenced from later step | |
| uses: docker/metadata-action@v5 | |
| 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@v5 | |
| 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 }}" | |
| "saluki_fmu2_fpga_version=${{ needs.variables.outputs.saluki_fmu2_fpga_version }}" | |
| 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@v4 | |
| with: | |
| path: bin | |
| merge-multiple: true | |
| - uses: jfrog/setup-jfrog-cli@v4 | |
| 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 | |
| # export artifactory linds as gh step summary | |
| echo "### UAE Artifactory links:" >> $GITHUB_STEP_SUMMARY | |
| echo "${artifactory_links}" >> $GITHUB_STEP_SUMMARY | |
| - name: Upload px4-fwupdater build to Artifactory | |
| # disabled as token doesnt allow deb upload | |
| if: false | |
| env: | |
| ARTIFACTORY_DEB_REPO: debian-public-local | |
| DISTRIBUTION: focal | |
| COMPONENT: fog-sw | |
| ARCHITECTURE: amd64 | |
| BUILD_NAME_DEB: px4-fwupdater | |
| CI: true | |
| run: | | |
| set -exu | |
| pkg=$(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" |