From 5fef3e93ee02bfe2d26974f8490e9abe514dd7c2 Mon Sep 17 00:00:00 2001
From: PonomarevDA <ponomarevda96@gmail.com>
Date: Sun, 28 Jan 2024 18:47:16 +0300
Subject: [PATCH] [temp] update tools (dev version)

---
 .github/workflows/cyphal.yml   | 30 ++++++++++++++++++++++++------
 .github/workflows/dronecan.yml | 21 +++++++++++++--------
 Makefile                       |  6 +++---
 scripts/tools                  |  2 +-
 4 files changed, 41 insertions(+), 18 deletions(-)

diff --git a/.github/workflows/cyphal.yml b/.github/workflows/cyphal.yml
index b18b005..0999a5b 100644
--- a/.github/workflows/cyphal.yml
+++ b/.github/workflows/cyphal.yml
@@ -11,19 +11,27 @@ jobs:
           fetch-depth: 0
 
       - name: Install dependencies
-        run: ./scripts/tools/install_for_ubuntu.sh --yes
+        run: |
+          pip install pyserial python-can pydronecan pycyphal pytest pytest-asyncio yakut
+          pip install -i https://test.pypi.org/simple/ raccoonlab-tools
+          pip install -U nunavut
+          sudo apt-get install -y gcc-arm-none-eabi stlink-tools
+
+      - run: make cyphal
 
       - name: Archive .bin file
         uses: actions/upload-artifact@v3
         with:
           name: cyphal_firmware.bin
           path: build/obj/example.bin
+          if-no-files-found: error
 
       - name: Archive .elf file
         uses: actions/upload-artifact@v3
         with:
           name: cyphal_firmware.elf
           path: build/obj/example.elf
+          if-no-files-found: error
 
   sitl:
     runs-on: ubuntu-22.04
@@ -34,14 +42,24 @@ jobs:
           submodules: recursive
           fetch-depth: 0
 
+      - name: Clone Cyphal DSDL
+        run: |
+          mkdir -p /home/runner/.cyphal/zubax_dsdl
+          git clone https://github.com/Zubax/zubax_dsdl.git /home/runner/.cyphal/zubax_dsdl
+
+          mkdir -p /home/runner/.cyphal/public_regulated_data_types
+          git clone https://github.com/OpenCyphal/public_regulated_data_types.git /home/runner/.cyphal/public_regulated_data_types
+
       - name: Install dependencies
         run: |
-          ./scripts/tools/install_for_ubuntu.sh --yes
-          pip install pytest
+          pip install pyserial python-can pydronecan pycyphal pytest pytest-asyncio yakut
+          pip install -i https://test.pypi.org/simple/ raccoonlab-tools
+          pip install -U nunavut
+          sudo apt-get install -y linux-modules-extra-$(uname -r)
+
       - run: make sitl_cyphal
       - run: |
-          export REG_DATA_TYPE_PATH="$PWD/Libs/Cyphal/Libs/public_regulated_data_types/uavcan $PWD/Libs/Cyphal/Libs/public_regulated_data_types/reg"
           make run &
-          cd scripts/tools/cyphal
+          cd scripts/tools/scripts/cyphal
           source init.sh -i slcan0 -n 127 -v
-          ./specification_checker.py
+          rl-test-cyphal-specification -k "not test_unique_id"
diff --git a/.github/workflows/dronecan.yml b/.github/workflows/dronecan.yml
index 8b07084..5ea4670 100644
--- a/.github/workflows/dronecan.yml
+++ b/.github/workflows/dronecan.yml
@@ -18,8 +18,9 @@ jobs:
       - name: Checkout Dronecan
         run: cd Libs/Dronecan && git checkout bb50fad # v0.3.1
 
-      - name: Install dependencies
-        run: ./scripts/tools/install_for_ubuntu.sh --yes
+      - name: Inscripts/tools/stall dependencies
+        run: |
+          sudo apt-get install -y gcc-arm-none-eabi stlink-tools
 
       - run: make dronecan
 
@@ -41,10 +42,14 @@ jobs:
         run: cd Libs/Dronecan && git checkout bb50fad # v0.3.1
 
       - name: Install dependencies
-        run: ./scripts/tools/install_for_ubuntu.sh --yes
-
-      - name: Build SITL DroneCAN
-        run: make sitl_dronecan
+        run: |
+          pip install pyserial python-can pydronecan pycyphal pytest pytest-asyncio yakut
+          pip install -i https://test.pypi.org/simple/ raccoonlab-tools
+          sudo apt-get install -y linux-modules-extra-$(uname -r)
 
-      - name: Run SITL for 5 seconds
-        run: timeout 5s make run || res=$?; if [[ $res -ne 124 && $res -ne 0 ]]; then exit $res; fi
+      - run: make sitl_dronecan
+      - run: |
+          make run &
+          cd scripts/tools/scripts/cyphal
+          source init.sh -i slcan0 -n 127 -v
+          rl-test-dronecan-specification
diff --git a/Makefile b/Makefile
index 0da05a1..254b92e 100644
--- a/Makefile
+++ b/Makefile
@@ -41,13 +41,13 @@ check_submodules:
 		echo "[INFO] Directory is fine"; \
 	fi
 upload:
-	./scripts/tools/stm32/flash.sh ${BUILD_OBJ_DIR}/example.bin
+	rl-upload-firmware --binary ${BUILD_OBJ_DIR}/example.bin
 run:
-	./scripts/tools/can/vcan.sh slcan0
+	./scripts/tools/scripts/can/create_slcan.sh -i slcan0 -v
 	./build/obj/example.out
 autogenerate_git_related_headers:
 	mkdir -p ${BUILD_DIR}/src
-	./scripts/tools/stm32/generate_software_version.sh ${BUILD_DIR}/src
+	./scripts/tools/scripts/stm32/generate_software_version.sh ${BUILD_DIR}/src
 clean:
 	-rm -fR ${BUILD_OBJ_DIR}/
 distclean:
diff --git a/scripts/tools b/scripts/tools
index 3c17c06..8939238 160000
--- a/scripts/tools
+++ b/scripts/tools
@@ -1 +1 @@
-Subproject commit 3c17c06bb3cc0a28166a74ee6dea38b3dda10598
+Subproject commit 89392388677ad9b7dd393a9b65a6e185c415522a