test_size.yml

name: test size

on:
  pull_request:
    paths-ignore:  # ignore autotest stuffs
      - 'Tools/autotest/**'
      # Remove markdown files as irrelevant
      - '**.md'
      # Remove dotfile at root directory
      - './.dir-locals.el'
      - './.dockerignore'
      - './.editorconfig'
      - './.flake8'
      - './.gitattributes'
      - './.github'
      - './.gitignore'
      - './.pre-commit-config.yaml'
      - './.pydevproject'
      - './.valgrind-suppressions'
      - './.valgrindrc'
      - 'Dockerfile'
      - 'Vagrantfile'
      - 'Makefile'
      # Remove some directories check
      - '.vscode/**'
      - '.github/ISSUE_TEMPLATE/**'
      # Remove generic tools
      - 'Tools/CHDK-Script/**'
      - 'Tools/CodeStyle/**'
      - 'Tools/completion/**'
      - 'Tools/CPUInfo/**'
      - 'Tools/debug/**'
      - 'Tools/environment_install/**'
      - 'Tools/FilterTestTool/**'
      - 'Tools/geotag/**'
      - 'Tools/GIT_Test/**'
      - 'Tools/gittools/**'
      - 'Tools/Hello/**'
      - 'Tools/Linux_HAL_Essentials/**'
      - 'Tools/mavproxy_modules/**'
      - 'Tools/Pozyx/**'
      - 'Tools/PrintVersion.py'
      - 'Tools/simulink/**'
      - 'Tools/UDP_Proxy/**'
      - 'Tools/vagrant/**'
      - 'Tools/Vicon/**'
      # remove non CHIBIOS HAL
      - 'libraries/AP_HAL_SITL/**'
      - 'libraries/AP_HAL_ESP32/**'
      - 'libraries/AP_HAL_Linux/**'
      # Remove change on other workflows
      - '.github/workflows/test_environment.yml'
  workflow_dispatch:


concurrency:
  group: ci-${{github.workflow}}-${{ github.ref }}
  cancel-in-progress: true

jobs:
  build:
    runs-on: ubuntu-22.04
    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.3
    strategy:
      fail-fast: false  # don't cancel if a job from the matrix fails
      matrix:
        toolchain: [
            chibios,
        ]
        config: [
            Durandal,
            MatekF405,
            KakuteF7,
            MatekH743-bdshot,
            Pixhawk1-1M,
            MatekF405-CAN,  # see special "build bootloader" code below
            DrotekP3Pro,  # see special "build bootloader" code below
            Hitec-Airspeed,  # see special code for Periph below (3 places!)
            f103-GPS  # see special code for Periph below (3 places!)
        ]
        include:
          - config: disco
            toolchain: armhf
        exclude:
          - config: disco
            toolchain: chibios
    steps:
      - uses: actions/checkout@v4
        with:
          ref: ${{ github.event.pull_request.base.ref }}
          path: base_branch
          submodules: 'recursive'
      # Put ccache into github cache for faster build
      - name: Prepare ccache timestamp
        id: ccache_cache_timestamp
        run: |
          NOW=$(date -u +"%F-%T")
          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
      - name: ccache cache files
        uses: actions/cache@v4
        with:
          path: ~/.ccache
          key: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}
          restore-keys: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-  # restore ccache from either previous build on this branch or on base branch
      - name: setup ccache
        run: |
          . base_branch/.github/workflows/ccache.env
      - name: Build ${{ github.event.pull_request.base.ref }} ${{matrix.config}} ${{ matrix.toolchain }}
        env:
          CI_BUILD_TARGET: ${{matrix.config}}
        shell: bash
        run: |
          set -ex
          # set up some variables based on what sort of build we're doing:
          BOOTLOADER=0
          AP_PERIPH=0
          if [ "${{matrix.config}}" = "Hitec-Airspeed" ] ||
             [ "${{matrix.config}}" = "f103-GPS" ]; then
            AP_PERIPH=1
          elif [ "${{matrix.config}}" = "MatekF405-CAN" ] ||
               [ "${{matrix.config}}" = "DrotekP3Pro" ]; then
            BOOTLOADER=1
          fi
          if [ $BOOTLOADER -eq 1 ]; then
             BIN_SRC="build/${{matrix.config}}/bootloader"
          else
             BIN_SRC="build/${{matrix.config}}/bin"
          fi

          git config --global --add safe.directory ${GITHUB_WORKSPACE}
          PATH="/github/home/.local/bin:$PATH"

          # build the base branch
          cd base_branch
          # configure:
          if [ $BOOTLOADER -eq 1 ]; then
            ./waf configure --board ${{matrix.config}} --bootloader
          else
            ./waf configure --board ${{matrix.config}}
          fi
          # build:
          if [ $AP_PERIPH -eq 1 ]; then
            ./waf AP_Periph
          elif [ $BOOTLOADER -eq 1 ]; then
            ./waf bootloader
          else
            ./waf
          fi
          mkdir -p $GITHUB_WORKSPACE/base_branch_bin

          cp -r $BIN_SRC/* $GITHUB_WORKSPACE/base_branch_bin/

          # build a set of binaries without symbols so we can check if
          #  the binaries have changed.
          echo [`date`] Building ${{ github.event.pull_request.base.ref }} with no versions

          NO_VERSIONS_DIR="$GITHUB_WORKSPACE/base_branch_bin_no_versions"
          mkdir "$NO_VERSIONS_DIR"

          # export some environment variables designed to get
          #            repeatable builds from the same source:
          export CHIBIOS_GIT_VERSION="12345678"
          export GIT_VERSION="abcdef"
          export GIT_VERSION_INT="15"

          if [ $AP_PERIPH -eq 1 ]; then
            ./waf AP_Periph
          elif [ $BOOTLOADER -eq 1 ]; then
            ./waf bootloader
          else
            ./waf
          fi
          cp -r $BIN_SRC/* "$NO_VERSIONS_DIR"

          echo [`date`] Built ${{ github.event.pull_request.base.ref }} with no versions

      - uses: actions/checkout@v4
        with:
          fetch-depth: 0
          path: 'pr'

      - name: Build PR rebased ${{matrix.config}} ${{ matrix.toolchain }}
        env:
          CI_BUILD_TARGET: ${{matrix.config}}
        shell: bash
        run: |
          set -ex
          # set up some variables based on what sort of build we're doing:
          BOOTLOADER=0
          AP_PERIPH=0
          if [ "${{matrix.config}}" = "Hitec-Airspeed" ] ||
             [ "${{matrix.config}}" = "f103-GPS" ]; then
            AP_PERIPH=1
          elif [ "${{matrix.config}}" = "MatekF405-CAN" ] ||
               [ "${{matrix.config}}" = "DrotekP3Pro" ]; then
            BOOTLOADER=1
          fi
          if [ $BOOTLOADER -eq 1 ]; then
             BIN_SRC="build/${{matrix.config}}/bootloader"
          else
             BIN_SRC="build/${{matrix.config}}/bin"
          fi
          git config --global --add safe.directory ${GITHUB_WORKSPACE}
          PATH="/github/home/.local/bin:$PATH"
          cd pr/
          git config user.email "ardupilot-ci@ardupilot.org"
          git config user.name "ArduPilot CI"
          git remote add target_repo https://github.com/${{github.event.pull_request.base.repo.full_name}}
          git fetch --no-tags --prune --progress target_repo ${{ github.event.pull_request.base.ref }}
          git rebase target_repo/${{ github.event.pull_request.base.ref }}
          git submodule update --init --recursive --depth=1
          # configure
          if [ $BOOTLOADER -eq 1 ]; then
            ./waf configure --board ${{matrix.config}} --bootloader
          else
            ./waf configure --board ${{matrix.config}}
          fi
          # build
          if [ $AP_PERIPH -eq 1 ]; then
            ./waf AP_Periph
          elif [ $BOOTLOADER -eq 1 ]; then
            ./waf bootloader
          else
            ./waf
          fi
          mkdir $GITHUB_WORKSPACE/pr_bin
          cp -r $BIN_SRC/* $GITHUB_WORKSPACE/pr_bin/

          # build a set of binaries without symbols so we can check if
          #  the binaries have changed.
          echo [`date`] Building PR with no versions

          NO_VERSIONS_DIR="$GITHUB_WORKSPACE/pr_bin_no_versions"
          mkdir "$NO_VERSIONS_DIR"

          # export some environment variables designed to get
          #            repeatable builds from the same source:
          export CHIBIOS_GIT_VERSION="12345678"
          export GIT_VERSION="abcdef"
          export GIT_VERSION_INT="15"

          if [ $AP_PERIPH -eq 1 ]; then
            ./waf AP_Periph
          elif [ $BOOTLOADER -eq 1 ]; then
            ./waf bootloader
          else
            ./waf
          fi
          cp -r $BIN_SRC/* "$NO_VERSIONS_DIR"

          echo [`date`] Built PR with no versions

          # build MatekF405 Plane without quadplane
          if [ "${{matrix.config}}" = "MatekF405" ]; then
            PLANE_BINARY="build/MatekF405/bin/arduplane.bin"
            echo "normal size"
            ls -l "$PLANE_BINARY"
            EXTRA_HWDEF="/tmp/extra-options.def"
            echo "define HAL_QUADPLANE_ENABLED 0" >"$EXTRA_HWDEF"
            ./waf configure --board ${{matrix.config}} --extra-hwdef="$EXTRA_HWDEF"
            ./waf plane
            rm "$EXTRA_HWDEF"
            echo "non-quadplane size:"
            ls -l "$PLANE_BINARY"
          fi

      - name: Full size compare with base branch
        shell: bash
        run: |
          cd pr/
          Tools/scripts/build_tests/pretty_diff_size.py -m $GITHUB_WORKSPACE/base_branch_bin -s $GITHUB_WORKSPACE/pr_bin

      - name: Feature compare with  ${{ github.event.pull_request.base.ref }}
        shell: bash
        run: |
          set -ex
          cd pr/
          BIN_PREFIX="arm-none-eabi-"
          if [ "${{matrix.toolchain}}" = "armhf" ]; then
             BIN_PREFIX="arm-linux-gnueabihf-"
          fi
          BOOTLOADER=0
          AP_PERIPH=0
          if [ "${{matrix.config}}" = "Hitec-Airspeed" ] ||
             [ "${{matrix.config}}" = "f103-GPS" ]; then
            AP_PERIPH=1
          elif [ "${{matrix.config}}" = "MatekF405-CAN" ] ||
               [ "${{matrix.config}}" = "DrotekP3Pro" ]; then
            BOOTLOADER=1
          fi
          if [ $AP_PERIPH -eq 1 ]; then
              EF_BINARY_NAME="AP_Periph"
          elif [ $BOOTLOADER -eq 1 ]; then
              EF_BINARY_NAME="AP_Bootloader"
          else
              EF_BINARY_NAME="arduplane"
          fi
          EF_BASE_BRANCH_BINARY="$GITHUB_WORKSPACE/base_branch_bin/$EF_BINARY_NAME"
          EF_PR_BRANCH_BINARY="$GITHUB_WORKSPACE/pr_bin/$EF_BINARY_NAME"

          Tools/scripts/extract_features.py "$EF_BASE_BRANCH_BINARY" -nm "${BIN_PREFIX}nm" >features-base_branch.txt
          Tools/scripts/extract_features.py "$EF_PR_BRANCH_BINARY" -nm "${BIN_PREFIX}nm" >features-pr.txt
          diff -u features-base_branch.txt features-pr.txt || true
          diff_output=$(diff -u features-base_branch.txt features-pr.txt || true)
          echo "### Features Diff Output" >> $GITHUB_STEP_SUMMARY
          if [ -n "$diff_output" ]; then
            echo '```diff' >> $GITHUB_STEP_SUMMARY
            echo "$diff_output" >> $GITHUB_STEP_SUMMARY
            echo '```' >> $GITHUB_STEP_SUMMARY
          else
            echo "No differences found." >> $GITHUB_STEP_SUMMARY
          fi

      - name: Checksum compare with ${{ github.event.pull_request.base.ref }}
        shell: bash
        run: |
          diff -r $GITHUB_WORKSPACE/base_branch_bin_no_versions $GITHUB_WORKSPACE/pr_bin_no_versions --exclude=*.elf --exclude=*.apj || true
          diff_output=$(diff -r $GITHUB_WORKSPACE/base_branch_bin_no_versions $GITHUB_WORKSPACE/pr_bin_no_versions --exclude=*.elf --exclude=*.apj || true || true)
          echo "### Checksum Diff Output" >> $GITHUB_STEP_SUMMARY
          if [ -n "$diff_output" ]; then
            echo '```diff' >> $GITHUB_STEP_SUMMARY
            echo "$diff_output" >> $GITHUB_STEP_SUMMARY
            echo '```' >> $GITHUB_STEP_SUMMARY
          else
            echo "No differences found." >> $GITHUB_STEP_SUMMARY
          fi