WIP. Add CI.

.github/workflows/ci.yaml

@@ -0,0 +1,51 @@
+name: Build obc-fixedwing-sitl
+on:
+  push:
+    branches:
+      - '*'
+  pull_request:
+    branches:
+      - develop
+
+jobs:
+  build:
+    runs-on: ${{matrix.os}}
+    strategy:
+      matrix:
+        os: [ubuntu-18.04, ubuntu-latest]
+    steps:
+      - uses: actions/checkout@v2
+      - name: Install Python 3
+        uses: actions/setup-python@v1
+        with:
+          python-version: 3.6
+      - name: Install dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y libdwarf-dev
+          sudo apt-get install -y libelf-dev
+          sudo apt-get install -y libsqlite3-dev
+          sudo apt-get install -y g++
+          sudo apt-get install -y libgazebo9-dev
+          sudo apt-get install -y libboost-all-dev
+          sudo apt-get install -y python3-opencv
+          sudo apt-get install -y libopencv-dev
+          sudo apt-get install -y libgstreamer-plugins-base1.0-dev
+          sudo apt-get install -y default-jre
+          sudo apt-get install -y openjdk-8-jdk
+          sudo apt-get install -y gcc-multilib
+          sudo apt-get install -y g++-multilib
+          sudo apt-get install -y cmake
+          sudo apt-get install -y libeigen3-dev
+          sudo apt-get install -y librxtx-java
+          python3 -m pip install --upgrade pip
+          pip3 install virtualenv
+      - name: Checkout submodules
+        run: |
+          git submodule update --init --recursive
+      - name: Build gemini2-sitl
+        run: |
+          make python-env
+          source venv/bin/activate
+          make gemini2-sitl
+

Makefile

@@ -144,8 +144,8 @@ quad-workspace::
 	@echo 'Generating CPD ground tools data.'
 	@make -C build/multirotor/quad/cpd/target ground-tools
 	@echo 'Adding XTCE configuration to registries.'
-	@yaml-merge  core/base/tools/commander/xtce_config.yaml build/multirotor/quad/cpd/target/wh_defs.yaml --overwrite build/multirotor/quad/cpd/target/wh_defs.yaml
-	@yaml-merge  core/base/tools/commander/xtce_config.yaml build/multirotor/quad/ppd/target/wh_defs.yaml --overwrite build/multirotor/quad/ppd/target/wh_defs.yaml
+	@yaml-merge  core/base/tools/commander/xtce_config.yaml build/multirotor/quad/cpd/target/wh_defs.yaml --nostdin --overwrite build/multirotor/quad/cpd/target/wh_defs.yaml
+	@yaml-merge  core/base/tools/commander/xtce_config.yaml build/multirotor/quad/ppd/target/wh_defs.yaml --nostdin --overwrite build/multirotor/quad/ppd/target/wh_defs.yaml
 	@echo 'Generating combined registry.'
 	@rm -Rf build/multirotor/quad/commander_workspace >/dev/null
 	@mkdir -p build/multirotor/quad/commander_workspace/etc
@@ -164,8 +164,8 @@ gemini2-workspace::
 	@echo 'Generating CPD ground tools data.'
 	@make -C build/fixedwing/gemini2/cpd/target ground-tools
 	@echo 'Adding XTCE configuration to registries.'
-	@yaml-merge  core/base/tools/commander/xtce_config.yaml build/fixedwing/gemini2/cpd/target/wh_defs.yaml --overwrite build/fixedwing/gemini2/cpd/target/wh_defs.yaml
-	@yaml-merge  core/base/tools/commander/xtce_config.yaml build/fixedwing/gemini2/ppd/target/wh_defs.yaml --overwrite build/fixedwing/gemini2/ppd/target/wh_defs.yaml
+	@yaml-merge  core/base/tools/commander/xtce_config.yaml build/fixedwing/gemini2/cpd/target/wh_defs.yaml --nostdin --overwrite build/fixedwing/gemini2/cpd/target/wh_defs.yaml
+	@yaml-merge  core/base/tools/commander/xtce_config.yaml build/fixedwing/gemini2/ppd/target/wh_defs.yaml --nostdin --overwrite build/fixedwing/gemini2/ppd/target/wh_defs.yaml
 	@echo 'Generating combined registry.'
 	@rm -Rf build/fixedwing/gemini2/commander_workspace >/dev/null
 	@mkdir -p build/fixedwing/gemini2/commander_workspace/etc
@@ -187,9 +187,9 @@ workspace-quad-sitl::
 	@echo 'Generating Simlink ground tools data.'
 	@make -C build/multirotor/quad/simlink/target ground-tools
 	@echo 'Adding XTCE configuration to registries.'
-	@yaml-merge  core/base/tools/commander/xtce_config.yaml build/multirotor/quad/cpd/sitl/target/wh_defs.yaml --overwrite build/multirotor/quad/cpd/sitl/target/wh_defs.yaml
-	@yaml-merge  core/base/tools/commander/xtce_config.yaml build/multirotor/quad/ppd/sitl/target/wh_defs.yaml --overwrite build/multirotor/quad/ppd/sitl/target/wh_defs.yaml
-	@yaml-merge  core/base/tools/commander/xtce_config.yaml build/multirotor/quad/simlink/target/wh_defs.yaml --overwrite build/multirotor/quad/simlink/target/wh_defs.yaml
+	@yaml-merge  core/base/tools/commander/xtce_config.yaml build/multirotor/quad/cpd/sitl/target/wh_defs.yaml --nostdin --overwrite build/multirotor/quad/cpd/sitl/target/wh_defs.yaml
+	@yaml-merge  core/base/tools/commander/xtce_config.yaml build/multirotor/quad/ppd/sitl/target/wh_defs.yaml --nostdin --overwrite build/multirotor/quad/ppd/sitl/target/wh_defs.yaml
+	@yaml-merge  core/base/tools/commander/xtce_config.yaml build/multirotor/quad/simlink/target/wh_defs.yaml --nostdin --overwrite build/multirotor/quad/simlink/target/wh_defs.yaml
 	@echo 'Generating combined registry.'
 	@rm -Rf build/multirotor/quad/sitl_commander_workspace >/dev/null
 	@mkdir -p build/multirotor/quad/sitl_commander_workspace/etc
@@ -213,9 +213,9 @@ gemini2-sitl-workspace::
 	@echo 'Generating Simlink ground tools data.'
 	@make -C build/fixedwing/gemini2/simlink/target ground-tools
 	@echo 'Adding XTCE configuration to registries.'
-	@yaml-merge  core/base/tools/commander/xtce_config.yaml build/fixedwing/gemini2/cpd/sitl/target/wh_defs.yaml --overwrite build/fixedwing/gemini2/cpd/sitl/target/wh_defs.yaml
-	@yaml-merge  core/base/tools/commander/xtce_config.yaml build/fixedwing/gemini2/ppd/sitl/target/wh_defs.yaml --overwrite build/fixedwing/gemini2/ppd/sitl/target/wh_defs.yaml
-	@yaml-merge  core/base/tools/commander/xtce_config.yaml build/fixedwing/gemini2/simlink/target/wh_defs.yaml --overwrite build/fixedwing/gemini2/simlink/target/wh_defs.yaml
+	@yaml-merge  core/base/tools/commander/xtce_config.yaml build/fixedwing/gemini2/cpd/sitl/target/wh_defs.yaml --nostdin --overwrite build/fixedwing/gemini2/cpd/sitl/target/wh_defs.yaml
+	@yaml-merge  core/base/tools/commander/xtce_config.yaml build/fixedwing/gemini2/ppd/sitl/target/wh_defs.yaml --nostdin --overwrite build/fixedwing/gemini2/ppd/sitl/target/wh_defs.yaml
+	@yaml-merge  core/base/tools/commander/xtce_config.yaml build/fixedwing/gemini2/simlink/target/wh_defs.yaml --nostdin --overwrite build/fixedwing/gemini2/simlink/target/wh_defs.yaml
 	@echo 'Generating combined registry.'
 	@rm -Rf build/fixedwing/gemini2/sitl_commander_workspace >/dev/null
 	@mkdir -p build/fixedwing/gemini2/sitl_commander_workspace/etc

config/fixedwing/gemini2/simlink/host/CMakeLists.txt

@@ -13,15 +13,15 @@ buildliner_build_cfe_host_tools(
 
 
 
-#add_subdirectory(${PROJECT_SOURCE_DIR}/tools/sitl_gazebo gazebo)
-#set(GAZEBO_PLUGIN_BUILD_DIR ${CMAKE_CURRENT_BINARY_DIR}/gazebo)
-#set(GAZEBO_WORLDS_DIR ${PROJECT_SOURCE_DIR}/tools/sitl_gazebo/worlds)
-#set(GAZEBO_MODELS_DIR ${PROJECT_SOURCE_DIR}/tools/sitl_gazebo/models)
-#set(JMAVSIM_DIR ${PROJECT_SOURCE_DIR}/tools/jMAVSim)
-#target_include_directories(gazebo_gst_camera_plugin PRIVATE "/usr/include/gstreamer-1.0")
-#target_include_directories(gazebo_gst_camera_plugin PRIVATE "/usr/include/glib-2.0")
-#target_include_directories(gazebo_gst_camera_plugin PRIVATE "/usr/lib/x86_64-linux-gnu/glib-2.0/include")
-#target_include_directories(gazebo_gst_camera_plugin PRIVATE "/usr/lib/x86_64-linux-gnu/gstreamer-1.0/include")
-#
-#configure_file(${CMAKE_CURRENT_SOURCE_DIR}/start-gazebo.in ${CMAKE_CURRENT_BINARY_DIR}/start-gazebo @ONLY)
-#configure_file(${CMAKE_CURRENT_SOURCE_DIR}/start-jmavsim.in ${CMAKE_CURRENT_BINARY_DIR}/start-jmavsim @ONLY)
+add_subdirectory(${PROJECT_SOURCE_DIR}/tools/sitl_gazebo gazebo)
+set(GAZEBO_PLUGIN_BUILD_DIR ${CMAKE_CURRENT_BINARY_DIR}/gazebo)
+set(GAZEBO_WORLDS_DIR ${PROJECT_SOURCE_DIR}/tools/sitl_gazebo/worlds)
+set(GAZEBO_MODELS_DIR ${PROJECT_SOURCE_DIR}/tools/sitl_gazebo/models)
+set(JMAVSIM_DIR ${PROJECT_SOURCE_DIR}/tools/jMAVSim)
+target_include_directories(gazebo_gst_camera_plugin PRIVATE "/usr/include/gstreamer-1.0")
+target_include_directories(gazebo_gst_camera_plugin PRIVATE "/usr/include/glib-2.0")
+target_include_directories(gazebo_gst_camera_plugin PRIVATE "/usr/lib/x86_64-linux-gnu/glib-2.0/include")
+target_include_directories(gazebo_gst_camera_plugin PRIVATE "/usr/lib/x86_64-linux-gnu/gstreamer-1.0/include")
+
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/start-gazebo.in ${CMAKE_CURRENT_BINARY_DIR}/start-gazebo @ONLY)
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/start-jmavsim.in ${CMAKE_CURRENT_BINARY_DIR}/start-jmavsim @ONLY)

core/base/psp/make/build-functions.cmake

@@ -245,12 +245,12 @@ function(psp_add_executable)
         target_link_libraries(${TARGET_BINARY} PUBLIC ${PARSED_ARGS_LIBS})
     endif()
 
-    if(PARSED_ARGS_COMPILE_FLAGS)
+    if(COMPILE_FLAGS OR PARSED_ARGS_COMPILE_FLAGS)
         set_target_properties(${TARGET_BINARY_WITHOUT_SYMTAB} PROPERTIES COMPILE_FLAGS "${COMPILE_FLAGS} ${PARSED_ARGS_COMPILE_FLAGS}")
         set_target_properties(${TARGET_BINARY} PROPERTIES COMPILE_FLAGS "${COMPILE_FLAGS} ${PARSED_ARGS_COMPILE_FLAGS}")
     endif()
-    
-    if(PARSED_ARGS_LINK_FLAGS)
+
+    if(LINK_FLAGS OR PARSED_ARGS_LINK_FLAGS)
         set_target_properties(${TARGET_BINARY_WITHOUT_SYMTAB} PROPERTIES LINK_FLAGS "${LINK_FLAGS} ${PARSED_ARGS_LINK_FLAGS}")
         set_target_properties(${TARGET_BINARY} PROPERTIES LINK_FLAGS "${LINK_FLAGS} ${PARSED_ARGS_LINK_FLAGS}")
     endif()
@@ -281,17 +281,6 @@ function(psp_add_executable)
     set_target_properties(${TARGET_BINARY_WITHOUT_SYMTAB} PROPERTIES ENABLE_EXPORTS TRUE)
     set_target_properties(${TARGET_BINARY}                PROPERTIES ENABLE_EXPORTS TRUE)
 
-    # Add in the various flags also supplied by the PSP.
-    if(COMPILE_FLAGS)
-        set_target_properties(${TARGET_BINARY_WITHOUT_SYMTAB} PROPERTIES COMPILE_FLAGS ${COMPILE_FLAGS})
-        set_target_properties(${TARGET_BINARY}                PROPERTIES COMPILE_FLAGS ${COMPILE_FLAGS})
-    endif()
-    if(LINK_FLAGS)
-        set_target_properties(${TARGET_BINARY_WITHOUT_SYMTAB} PROPERTIES LINK_FLAGS ${LINK_FLAGS})
-        set_target_properties(${TARGET_BINARY_WITH_SYMTAB}    PROPERTIES LINK_FLAGS ${LINK_FLAGS})
-        set_target_properties(${TARGET_BINARY}                PROPERTIES LINK_FLAGS ${LINK_FLAGS})
-    endif()
-
     # Link in the various libraries specified by the PSP
     target_link_libraries(${TARGET_BINARY_WITHOUT_SYMTAB} PUBLIC ${LINK_FLAGS} ${PSP_LIBS})
     target_link_libraries(${TARGET_BINARY}                PUBLIC ${LINK_FLAGS} ${PSP_LIBS})
@@ -718,6 +707,7 @@ function(psp_buildliner_add_app_unit_test)
     )
 
     if(${GCOV_SUPPORTED})
+
         psp_add_executable(${PARSED_ARGS_TARGET}-gcov
             EXCLUDE_FROM_ALL
 

core/base/tools/ci/generate_coverage.sh

@@ -0,0 +1,8 @@
+#!/bin/bash
+#Example: software/airliner/public/core/base/tools/ci/generate_coverage.sh software/airliner/public/build/fixedwing/gemini2/cpd/sitl/target
+DIR="$1"
+lcov -c -i -b $DIR -d $DIR -o Coverage.baseline
+lcov -c -d $DIR -b $DIR -o Coverage.out
+lcov -a Coverage.baseline -a Coverage.out -o Coverage.txt
+lcov -r Coverage.txt /usr/include/\* -o Coverage.txt
+genhtml Coverage.txt -o HTML