Adding Ardupilot SITL to MAVSDK CI

.github/workflows/main.yml

@@ -630,3 +630,28 @@ jobs:
       - name: look at core files
         if: failure()
         run: gdb /home/user/Firmware/build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
+
+  apm-sitl-newer:
+    name: APM SITL ${{ matrix.apm_version }} (ubuntu-20.04)
+    runs-on: ubuntu-20.04
+    container: 
+      image: mavsdk/mavsdk-ubuntu-20.04-apm-sitl-${{ matrix.apm_version }}
+      options: --privileged
+      env: 
+        APM_HOME_LAT: 47.397742
+        APM_HOME_LONG: 8.545594
+        APM_HOME_ALT: 488.0
+        APM_HOME_DIR: 180
+        WORKDIR: "/home/user/MAVSDK"
+        FIRMWARE_DIR: /home/user/ArduPilot
+    strategy:
+      matrix:
+        apm_version: [copter-4.1.2]
+      fail-fast: false
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          submodules: recursive
+      - name: test
+        run: APM_VERSION=${{ matrix.apm_version }} tools/run-sitl-tests.sh /home/user/ArduPilot
+        timeout-minutes: 45

docker/Dockerfile-Ubuntu-20.04-APM-SITL-Copter-4.1.2

@@ -0,0 +1,38 @@
+#
+# APM Copter-4.1.2 SITL testing environment for MAVSDK based on Ubuntu 20.04.
+# Author: Yogesh Khedar <yogeshkhedar@gmail.com>
+#
+FROM mavsdk/mavsdk-ubuntu-20.04
+MAINTAINER Yogesh Khedar <yogeshkhedar@gmail.com>
+
+ENV FIRMWARE_DIR ${WORKDIR}../ArduPilot
+
+RUN apt-get update && \
+    DEBIAN_FRONTEND=noninteractive apt-get --quiet -y --no-install-recommends install locales  \
+                                python3 python3-wheel gnupg gcc lcov rsync screen shellcheck psmisc \
+                                && apt-get -y autoremove \
+                                && apt-get clean autoclean \
+                                && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+
+RUN locale-gen en_US.UTF-8
+ENV LANG en_US.UTF-8
+ENV LANGUAGE en_US:en
+ENV LC_ALL en_US.UTF-8
+ENV COPTER_VERSION Copter-4.1.2
+
+RUN git clone https://github.com/ArduPilot/ardupilot.git ${FIRMWARE_DIR}
+RUN git -C ${FIRMWARE_DIR} checkout ${COPTER_VERSION}
+RUN git -C ${FIRMWARE_DIR} submodule update --init --recursive
+
+RUN cd ${FIRMWARE_DIR} && sed -i 's/sudo //' Tools/environment_install/install-prereqs-ubuntu.sh && \
+    sed -i '6,9d' Tools/environment_install/install-prereqs-ubuntu.sh && \
+    sed -i '/usermod -a -G dialout/d' Tools/environment_install/install-prereqs-ubuntu.sh && \
+    sed -i 's/--user//' Tools/environment_install/install-prereqs-ubuntu.sh && \
+    bash Tools/environment_install/install-prereqs-ubuntu.sh -y
+
+ENV APM_VEHICLE ArduCopter
+ENV APM_FRAME quad
+
+RUN cd ${FIRMWARE_DIR} && ./waf distclean && ./waf configure --board sitl && ./waf copter
+
+

docker/Dockerfile-Ubuntu-20.04-APM-SITL-Rover-4.1.2

@@ -0,0 +1,37 @@
+#
+# APM Rover-4.1.2 SITL testing environment for MAVSDK based on Ubuntu 20.04.
+# Author: Yogesh Khedar <yogeshkhedar@gmail.com>
+#
+FROM mavsdk/mavsdk-ubuntu-20.04
+MAINTAINER Yogesh Khedar <yogeshkhedar@gmail.com>
+
+ENV FIRMWARE_DIR ${WORKDIR}../ArduPilot
+
+RUN apt-get update && \
+    DEBIAN_FRONTEND=noninteractive apt-get --quiet -y --no-install-recommends install locales  \
+                                python3 python3-wheel gnupg gcc lcov rsync screen shellcheck psmisc \
+                                && apt-get -y autoremove \
+                                && apt-get clean autoclean \
+                                && rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+
+RUN locale-gen en_US.UTF-8
+ENV LANG en_US.UTF-8
+ENV LANGUAGE en_US:en
+ENV LC_ALL en_US.UTF-8
+ENV ROVER_VERSION Rover-4.1.2
+
+RUN git clone https://github.com/ArduPilot/ardupilot.git ${FIRMWARE_DIR}
+RUN git -C ${FIRMWARE_DIR} checkout ${ROVER_VERSION}
+RUN git -C ${FIRMWARE_DIR} submodule update --init --recursive
+
+RUN cd ${FIRMWARE_DIR} && sed -i 's/sudo //' Tools/environment_install/install-prereqs-ubuntu.sh && \
+    sed -i '6,9d' Tools/environment_install/install-prereqs-ubuntu.sh && \
+    sed -i '/usermod -a -G dialout/d' Tools/environment_install/install-prereqs-ubuntu.sh && \
+    sed -i 's/--user//' Tools/environment_install/install-prereqs-ubuntu.sh && \
+    bash Tools/environment_install/install-prereqs-ubuntu.sh -y
+
+ENV APM_VEHICLE Rover
+ENV APM_FRAME rover-skid
+
+RUN cd ${FIRMWARE_DIR} && ./waf distclean && ./waf configure --board sitl && ./waf rover
+

docker/build_and_push_docker_images.sh

@@ -10,12 +10,13 @@ docker build -f Dockerfile-Ubuntu-20.04-PX4-SITL-v1.12 -t mavsdk/mavsdk-ubuntu-2
 docker build -f Dockerfile.dockcross-linux-armv6-custom -t mavsdk/mavsdk-dockcross-linux-armv6-custom .
 docker build -f Dockerfile.dockcross-linux-armv7-custom -t mavsdk/mavsdk-dockcross-linux-armv7-custom .
 docker build -f Dockerfile.dockcross-linux-arm64-custom -t mavsdk/mavsdk-dockcross-linux-arm64-custom .
+docker build -f Dockerfile-Ubuntu-20.04-APM-SITL-Copter-4.1.2 -t mavsdk/mavsdk-ubuntu-20.04-apm-sitl-copter-4.1.2 .
+docker build -f Dockerfile-Ubuntu-20.04-APM-SITL-Rover-4.1.2 -t mavsdk/mavsdk-ubuntu-20.04-apm-sitl-rover-4.1.2 .
 
 docker push mavsdk/mavsdk-fedora-34:latest
 docker push mavsdk/mavsdk-fedora-35:latest
 docker push mavsdk/mavsdk-ubuntu-20.04:latest
 docker push mavsdk/mavsdk-ubuntu-20.04-px4-sitl-v1.11:latest
 docker push mavsdk/mavsdk-ubuntu-20.04-px4-sitl-v1.12:latest
-docker push mavsdk/mavsdk-dockcross-linux-armv6-custom:latest
-docker push mavsdk/mavsdk-dockcross-linux-armv7-custom:latest
-docker push mavsdk/mavsdk-dockcross-linux-arm64-custom:latest
+docker push mavsdk/mavsdk-ubuntu-20.04-apm-sitl-copter-4.1.2
+docker push mavsdk/mavsdk-ubuntu-20.04-apm-sitl-rover-4.1.2

src/integration_tests/action_goto.cpp

@@ -7,7 +7,7 @@
 
 using namespace mavsdk;
 
-TEST_F(SitlTest, ActionGoto)
+TEST_F(SitlTest, PX4ActionGoto)
 {
     Mavsdk mavsdk;
 

src/integration_tests/action_hold.cpp

@@ -7,7 +7,7 @@
 
 using namespace mavsdk;
 
-TEST_F(SitlTest, ActionHold)
+TEST_F(SitlTest, PX4ActionHold)
 {
     Mavsdk mavsdk;
 

src/integration_tests/action_hover_async.cpp

@@ -7,7 +7,7 @@
 
 using namespace mavsdk;
 
-TEST_F(SitlTest, ActionHoverAsync)
+TEST_F(SitlTest, PX4ActionHoverAsync)
 {
     Mavsdk mavsdk;
 

src/integration_tests/action_hover_sync.cpp

@@ -9,17 +9,17 @@ using namespace mavsdk;
 
 static void takeoff_and_hover_at_altitude(float altitude_m);
 
-TEST_F(SitlTest, ActionHoverSyncDefault)
+TEST_F(SitlTest, PX4ActionHoverSyncDefault)
 {
     takeoff_and_hover_at_altitude(2.5);
 }
 
-TEST_F(SitlTest, ActionHoverSyncHigher)
+TEST_F(SitlTest, PX4ActionHoverSyncHigher)
 {
     takeoff_and_hover_at_altitude(5.0f);
 }
 
-TEST_F(SitlTest, ActionHoverSyncLower)
+TEST_F(SitlTest, PX4ActionHoverSyncLower)
 {
     // TODO: less than 1.0 is currently failing due to a Firmware bug.
     // https://github.com/PX4/Firmware/issues/12471
@@ -59,7 +59,11 @@ void takeoff_and_hover_at_altitude(float altitude_m)
 
     LogInfo() << "Waiting for system to be ready";
     ASSERT_TRUE(poll_condition_with_timeout(
-        [telemetry]() { return telemetry->health_all_ok(); }, std::chrono::seconds(10)));
+        [telemetry]() {
+            LogInfo() << "Waiting for system to be ready";
+            return telemetry->health_all_ok();
+        },
+        std::chrono::seconds(10)));
 
     auto action = std::make_shared<Action>(*system);
 

src/integration_tests/action_takeoff_and_kill.cpp

@@ -6,7 +6,7 @@
 
 using namespace mavsdk;
 
-TEST_F(SitlTest, ActionTakeoffAndKill)
+TEST_F(SitlTest, PX4ActionTakeoffAndKill)
 {
     Mavsdk mavsdk;
     ASSERT_EQ(mavsdk.add_udp_connection(), ConnectionResult::Success);

src/integration_tests/action_transition_multicopter_fixedwing.cpp

@@ -7,7 +7,7 @@
 
 using namespace mavsdk;
 
-TEST_F(SitlTest, ActionTransitionSync_standard_vtol)
+TEST_F(SitlTest, PX4ActionTransitionSync_standard_vtol)
 {
     // Init & connect
     Mavsdk mavsdk;
@@ -34,10 +34,13 @@ TEST_F(SitlTest, ActionTransitionSync_standard_vtol)
     auto action = std::make_shared<Action>(system);
     auto telemetry = std::make_shared<Telemetry>(system);
 
-    while (!telemetry->health_all_ok()) {
-        std::cout << "waiting for system to be ready" << '\n';
-        std::this_thread::sleep_for(std::chrono::seconds(1));
-    }
+    LogInfo() << "Waiting for system to be ready";
+    ASSERT_TRUE(poll_condition_with_timeout(
+        [telemetry]() {
+            LogInfo() << "Waiting for system to be ready";
+            return telemetry->health_all_ok();
+        },
+        std::chrono::seconds(10)));
 
     // We need to takeoff first, otherwise we can't actually transition
     float altitude_m = 10.0f;

src/integration_tests/follow_me.cpp

@@ -19,7 +19,7 @@ void send_location_updates(
 
 const size_t N_LOCATIONS = 100ul;
 
-TEST_F(SitlTest, FollowMeOneLocation)
+TEST_F(SitlTest, PX4FollowMeOneLocation)
 {
     Mavsdk mavsdk;
 
@@ -35,10 +35,13 @@ TEST_F(SitlTest, FollowMeOneLocation)
     auto follow_me = std::make_shared<FollowMe>(system);
     auto action = std::make_shared<Action>(system);
 
-    while (!telemetry->health_all_ok()) {
-        std::cout << "waiting for system to be ready" << '\n';
-        sleep_for(seconds(1));
-    }
+    LogInfo() << "Waiting for system to be ready";
+    ASSERT_TRUE(poll_condition_with_timeout(
+        [telemetry]() {
+            LogInfo() << "Waiting for system to be ready";
+            return telemetry->health_all_ok();
+        },
+        std::chrono::seconds(10)));
 
     Action::Result action_ret = action->arm();
     ASSERT_EQ(Action::Result::Success, action_ret);
@@ -95,7 +98,7 @@ TEST_F(SitlTest, FollowMeOneLocation)
     telemetry->subscribe_flight_mode(nullptr);
 }
 
-TEST_F(SitlTest, FollowMeMultiLocationWithConfig)
+TEST_F(SitlTest, PX4FollowMeMultiLocationWithConfig)
 {
     Mavsdk mavsdk;
 
@@ -122,10 +125,13 @@ TEST_F(SitlTest, FollowMeMultiLocationWithConfig)
     auto follow_me = std::make_shared<FollowMe>(system);
     auto action = std::make_shared<Action>(system);
 
-    while (!telemetry->health_all_ok()) {
-        std::cout << "Waiting for system to be ready" << '\n';
-        sleep_for(seconds(1));
-    }
+    LogInfo() << "Waiting for system to be ready";
+    ASSERT_TRUE(poll_condition_with_timeout(
+        [telemetry]() {
+            LogInfo() << "Waiting for system to be ready";
+            return telemetry->health_all_ok();
+        },
+        std::chrono::seconds(10)));
 
     Action::Result action_ret = action->arm();
     ASSERT_EQ(Action::Result::Success, action_ret);

src/integration_tests/geofence_inclusion.cpp

@@ -9,7 +9,7 @@ using namespace mavsdk;
 
 static Geofence::Point add_point(double latitude_deg, double longitude_deg);
 
-TEST_F(SitlTest, GeofenceInclusion)
+TEST_F(SitlTest, PX4GeofenceInclusion)
 {
     Mavsdk mavsdk;
 
@@ -24,10 +24,13 @@ TEST_F(SitlTest, GeofenceInclusion)
     auto telemetry = std::make_shared<Telemetry>(system);
     auto geofence = std::make_shared<Geofence>(system);
 
-    while (!telemetry->health_all_ok()) {
-        LogInfo() << "waiting for system to be ready";
-        std::this_thread::sleep_for(std::chrono::seconds(1));
-    }
+    LogInfo() << "Waiting for system to be ready";
+    ASSERT_TRUE(poll_condition_with_timeout(
+        [telemetry]() {
+            LogInfo() << "Waiting for system to be ready";
+            return telemetry->health_all_ok();
+        },
+        std::chrono::seconds(10)));
 
     LogInfo() << "System ready, let's start";
 

src/integration_tests/gimbal.cpp

@@ -144,10 +144,13 @@ TEST(SitlTestGimbal, GimbalTakeoffAndMove)
     auto action = std::make_shared<Action>(system);
     auto offboard = std::make_shared<Offboard>(system);
 
-    while (!telemetry->health_all_ok()) {
-        LogInfo() << "waiting for system to be ready";
-        std::this_thread::sleep_for(std::chrono::seconds(1));
-    }
+    LogInfo() << "Waiting for system to be ready";
+    ASSERT_TRUE(poll_condition_with_timeout(
+        [telemetry]() {
+            LogInfo() << "Waiting for system to be ready";
+            return telemetry->health_all_ok();
+        },
+        std::chrono::seconds(10)));
 
     Action::Result action_result = action->arm();
     EXPECT_EQ(action_result, Action::Result::Success);
@@ -257,10 +260,13 @@ TEST(SitlTestGimbal, GimbalROIOffboard)
     auto action = std::make_shared<Action>(system);
     auto offboard = std::make_shared<Offboard>(system);
 
-    while (!telemetry->health_all_ok()) {
-        LogInfo() << "waiting for system to be ready";
-        std::this_thread::sleep_for(std::chrono::seconds(1));
-    }
+    LogInfo() << "Waiting for system to be ready";
+    ASSERT_TRUE(poll_condition_with_timeout(
+        [telemetry]() {
+            LogInfo() << "Waiting for system to be ready";
+            return telemetry->health_all_ok();
+        },
+        std::chrono::seconds(10)));
 
     const Telemetry::Position& position = telemetry->position();
 

src/integration_tests/info.cpp

@@ -5,7 +5,7 @@
 
 using namespace mavsdk;
 
-TEST_F(SitlTest, Info)
+TEST_F(SitlTest, PX4Info)
 {
     Mavsdk mavsdk;
 

src/integration_tests/logging.cpp

@@ -5,7 +5,7 @@
 
 using namespace mavsdk;
 
-TEST_F(SitlTest, Logging)
+TEST_F(SitlTest, PX4Logging)
 {
     Mavsdk mavsdk;
 

src/integration_tests/mavlink_passthrough.cpp

@@ -7,7 +7,7 @@
 
 using namespace mavsdk;
 
-TEST_F(SitlTest, MavlinkPassthrough)
+TEST_F(SitlTest, PX4MavlinkPassthrough)
 {
     Mavsdk mavsdk;
     ASSERT_EQ(mavsdk.add_udp_connection(), ConnectionResult::Success);

src/integration_tests/mission.cpp

@@ -36,7 +36,7 @@ static constexpr int NUM_MISSION_ITEMS = 6;
 
 static std::atomic<bool> pause_already_done{false};
 
-TEST_F(SitlTest, MissionAddWaypointsAndFly)
+TEST_F(SitlTest, PX4MissionAddWaypointsAndFly)
 {
     Mavsdk mavsdk;
 
@@ -81,11 +81,13 @@ void test_mission(
     std::shared_ptr<Mission> mission,
     std::shared_ptr<Action> action)
 {
-    while (!telemetry->health_all_ok()) {
-        LogInfo() << "Waiting for system to be ready";
-        LogDebug() << "Health: " << telemetry->health();
-        std::this_thread::sleep_for(std::chrono::seconds(30));
-    }
+    LogInfo() << "Waiting for system to be ready";
+    ASSERT_TRUE(poll_condition_with_timeout(
+        [telemetry]() {
+            LogInfo() << "Waiting for system to be ready";
+            return telemetry->health_all_ok();
+        },
+        std::chrono::seconds(10)));
 
     LogInfo() << "System ready";
     LogInfo() << "Creating and uploading mission";