From 3c67b019e9848fbea5249023a0994e675b2893d8 Mon Sep 17 00:00:00 2001
From: Ramon Roche <mrpollo@gmail.com>
Date: Wed, 30 Oct 2024 09:31:08 -0700
Subject: [PATCH] ci: test ubuntu 22.04 in ci

* missing and updated dependencies
* setup: install zeromq for ubuntu 24.04
* cleans up ubuntu script
---
 .github/workflows/compile_ubuntu.yml | 36 +++++++++++++++
 CMakeLists.txt                       |  8 +++-
 Tools/setup/ubuntu.sh                | 68 +++++-----------------------
 3 files changed, 54 insertions(+), 58 deletions(-)
 create mode 100644 .github/workflows/compile_ubuntu.yml

diff --git a/.github/workflows/compile_ubuntu.yml b/.github/workflows/compile_ubuntu.yml
new file mode 100644
index 000000000000..47bcc28211d6
--- /dev/null
+++ b/.github/workflows/compile_ubuntu.yml
@@ -0,0 +1,36 @@
+name: Ubuntu environment build
+
+on:
+  push:
+    branches:
+      - 'main'
+      - 'stable'
+      - 'beta'
+      - 'release/**'
+  pull_request:
+    branches:
+      - '*'
+
+jobs:
+  build_and_test:
+    name: Build and Test Ubuntu
+    # strategy:
+    #   fail-fast: false
+    #   matrix:
+    #     version: [ubuntu22, ubuntu24]
+    runs-on: [runs-on,runner=8cpu-linux-x64,"image=ubuntu22-full-x64","run-id=${{ github.run_id }}"]
+    steps:
+
+      - uses: actions/checkout@v4
+
+      - name: Install Dependencies
+        run: |
+          ./Tools/setup/ubuntu.sh
+
+      - name: Make Quick Check
+        run: |
+          make quick_check
+
+      # - name: Debug
+      #   if: ${{ failure() }}
+      #   uses: mxschmitt/action-tmate@v3
diff --git a/CMakeLists.txt b/CMakeLists.txt
index b63a44dfe9ed..01dac0c061a0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -408,8 +408,14 @@ include(px4_add_gtest)
 if(BUILD_TESTING)
 	include(gtest)
 
+	set(TESTFILTERARG "")
+
+	if(TESTFILTER)
+		set(TESTFILTERARG "-R ${TESTFILTER}")
+	endif()
+
 	add_custom_target(test_results
-			COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test -R ${TESTFILTER} USES_TERMINAL
+			COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test ${TESTFILTERARG}
 			DEPENDS
 				px4
 				examples__dyn_hello
diff --git a/Tools/setup/ubuntu.sh b/Tools/setup/ubuntu.sh
index 48e23709fb84..d7b537071dcf 100755
--- a/Tools/setup/ubuntu.sh
+++ b/Tools/setup/ubuntu.sh
@@ -2,7 +2,7 @@
 
 set -e
 
-## Bash script to setup PX4 development environment on Ubuntu LTS (22.04, 20.04, 18.04).
+## Bash script to setup PX4 development environment on Ubuntu LTS (24.04, 22.04).
 ## Can also be used in docker.
 ##
 ## Installs:
@@ -53,23 +53,7 @@ fi
 # check ubuntu version
 # otherwise warn and point to docker?
 UBUNTU_RELEASE="`lsb_release -rs`"
-
-if [[ "${UBUNTU_RELEASE}" == "14.04" ]]; then
-	echo "Ubuntu 14.04 is no longer supported"
-	exit 1
-elif [[ "${UBUNTU_RELEASE}" == "16.04" ]]; then
-	echo "Ubuntu 16.04 is no longer supported"
-	exit 1
-elif [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
-	echo "Ubuntu 18.04"
-elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
-	echo "Ubuntu 20.04"
-elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
-	echo "Ubuntu 22.04"
-elif [[ "${UBUNTU_RELEASE}" == "21.3" ]]; then
-	echo "Linux Mint 21.3"
-fi
-
+echo "Ubuntu ${UBUNTU_RELEASE}"
 
 echo
 echo "Installing PX4 general dependencies"
@@ -86,7 +70,7 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
 	gdb \
 	git \
 	lcov \
-	libfuse2 \
+	libssl-dev \
 	libxml2-dev \
 	libxml2-utils \
 	make \
@@ -126,21 +110,26 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		build-essential \
 		flex \
 		g++-multilib \
+		gcc-arm-none-eabi \
 		gcc-multilib \
 		gdb-multiarch \
 		genromfs \
 		gettext \
 		gperf \
+		kconfig-frontends \
 		libelf-dev \
 		libexpat-dev \
 		libgmp-dev \
 		libisl-dev \
 		libmpc-dev \
 		libmpfr-dev \
-		libncurses5 \
-		libncurses5-dev \
-		libncursesw5-dev \
+		libncurses-dev \
+		libncurses6 \
+		libncursesw6 \
+		libnewlib-arm-none-eabi \
+		libstdc++-arm-none-eabi-newlib \
 		libtool \
+		libunwind-dev \
 		pkg-config \
 		screen \
 		texinfo \
@@ -148,46 +137,11 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		util-linux \
 		vim-common \
 		;
-	if [[ "${UBUNTU_RELEASE}" == "20.04" || "${UBUNTU_RELEASE}" == "22.04" || "${UBUNTU_RELEASE}" == "21.3" ]]; then
-		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-		kconfig-frontends \
-		;
-	fi
-
 
 	if [ -n "$USER" ]; then
 		# add user to dialout group (serial port access)
 		sudo usermod -aG dialout $USER
 	fi
-
-	# arm-none-eabi-gcc
-	NUTTX_GCC_VERSION="9-2020-q2-update"
-	NUTTX_GCC_VERSION_SHORT="9-2020q2"
-
-	source $HOME/.profile # load changed path for the case the script is reran before relogin
-	if [ $(which arm-none-eabi-gcc) ]; then
-		GCC_VER_STR=$(arm-none-eabi-gcc --version)
-		GCC_FOUND_VER=$(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}" || true)
-	fi
-
-	if [[ "$GCC_FOUND_VER" == "1" ]]; then
-		echo "arm-none-eabi-gcc-${NUTTX_GCC_VERSION} found, skipping installation"
-
-	else
-		echo "Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
-		wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-${INSTALL_ARCH}-linux.tar.bz2 && \
-			sudo tar -jxf /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 -C /opt/;
-
-		# add arm-none-eabi-gcc to user's PATH
-		exportline="export PATH=/opt/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}/bin:\$PATH"
-
-		if grep -Fxq "$exportline" $HOME/.profile; then
-			echo "${NUTTX_GCC_VERSION} path already set.";
-		else
-			echo $exportline >> $HOME/.profile;
-			source $HOME/.profile; # Allows to directly build NuttX targets in the same terminal
-		fi
-	fi
 fi
 
 # Simulation tools