Collision Prevention: Scale obstacle distance with vehicle attitude f… #1
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| name: FLASH usage analysis | |
| on: | |
| push: | |
| branches: | |
| - 'main' | |
| pull_request: | |
| branches: | |
| - '*' | |
| env: | |
| MIN_FLASH_POS_DIFF_FOR_COMMENT: 50 | |
| MIN_FLASH_NEG_DIFF_FOR_COMMENT: -50 | |
| jobs: | |
| analyze_flash: | |
| name: Analyzing ${{ matrix.target }} | |
| runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false] | |
| container: | |
| image: px4io/px4-dev-nuttx-focal | |
| strategy: | |
| matrix: | |
| target: [px4_fmu-v5x, px4_fmu-v6x] | |
| outputs: | |
| px4_fmu-v5x-bloaty-output: ${{ steps.gen-output.outputs.px4_fmu-v5x-bloaty-output }} | |
| px4_fmu-v5x-bloaty-summary-map: ${{ steps.gen-output.outputs.px4_fmu-v5x-bloaty-summary-map }} | |
| px4_fmu-v6x-bloaty-output: ${{ steps.gen-output.outputs.px4_fmu-v6x-bloaty-output }} | |
| px4_fmu-v6x-bloaty-summary-map: ${{ steps.gen-output.outputs.px4_fmu-v6x-bloaty-summary-map }} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 0 | |
| submodules: recursive | |
| - name: Git ownership workaround | |
| run: git config --system --add safe.directory '*' | |
| - name: Build Target | |
| run: make ${{ matrix.target }}_flash-analysis | |
| - name: Store the ELF with the change | |
| run: cp ./build/**/*.elf ./with-change.elf | |
| - name: Clean previous build | |
| run: | | |
| make clean | |
| make distclean | |
| - name: If it's a PR checkout the base branch | |
| if: ${{ github.event.pull_request }} | |
| # As checkout creates a merge commit (merging the base branch into the PR branch), the base branch is the base for a diff of the PR changes. | |
| run: git checkout ${{ github.event.pull_request.base.ref }} | |
| - name: If it's a push checkout the previous commit | |
| if: github.event_name == 'push' | |
| run: git checkout ${{ github.event.before }} | |
| - name: Update submodules | |
| run: make submodulesupdate | |
| - name: Build | |
| run: make ${{ matrix.target }}_flash-analysis | |
| - name: Store the ELF before the change | |
| run: cp ./build/**/*.elf ./before-change.elf | |
| - name: bloaty-action | |
| uses: PX4/[email protected] | |
| id: bloaty-step | |
| with: | |
| bloaty-file-args: ./with-change.elf -- ./before-change.elf | |
| bloaty-additional-args: -d sections,compileunits -s vm -n 20 | |
| output-to-summary: true | |
| - name: Generate output | |
| id: gen-output | |
| run: | | |
| EOF=$(dd if=/dev/urandom bs=15 count=1 status=none | base64) | |
| echo "${{ matrix.target }}-bloaty-output<<$EOF" >> $GITHUB_OUTPUT | |
| echo "${{ steps.bloaty-step.outputs.bloaty-output-encoded }}" >> $GITHUB_OUTPUT | |
| echo "$EOF" >> $GITHUB_OUTPUT | |
| echo "${{ matrix.target }}-bloaty-summary-map<<$EOF" >> $GITHUB_OUTPUT | |
| echo '${{ steps.bloaty-step.outputs.bloaty-summary-map }}' >> $GITHUB_OUTPUT | |
| echo "$EOF" >> $GITHUB_OUTPUT | |
| post_pr_comment: | |
| name: Publish Results | |
| runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false] | |
| needs: [analyze_flash] | |
| env: | |
| V5X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-absolute) }} | |
| V5X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-percentage) }} | |
| V6X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-absolute) }} | |
| V6X-SUMMARY-MAP-PERC: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-summary-map).vm-percentage) }} | |
| if: ${{ github.event.pull_request }} | |
| steps: | |
| - name: Find Comment | |
| uses: peter-evans/find-comment@v3 | |
| id: fc | |
| with: | |
| issue-number: ${{ github.event.pull_request.number }} | |
| comment-author: 'github-actions[bot]' | |
| body-includes: FLASH Analysis | |
| - name: Set Build Time | |
| id: bt | |
| run: | | |
| echo "timestamp=$(date +'%Y-%m-%dT%H:%M:%S')" >> $GITHUB_OUTPUT | |
| - name: Create or update comment | |
| # This can't be moved to the job-level conditions, as GH actions don't allow a job-level if condition to access the env. | |
| if: | | |
| steps.fc.outputs.comment-id != '' || | |
| env.V5X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) || | |
| env.V5X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT) || | |
| env.V6X-SUMMARY-MAP-ABS >= fromJSON(env.MIN_FLASH_POS_DIFF_FOR_COMMENT) || | |
| env.V6X-SUMMARY-MAP-ABS <= fromJSON(env.MIN_FLASH_NEG_DIFF_FOR_COMMENT) | |
| uses: peter-evans/create-or-update-comment@v4 | |
| with: | |
| comment-id: ${{ steps.fc.outputs.comment-id }} | |
| issue-number: ${{ github.event.pull_request.number }} | |
| body: | | |
| ## 🔎 FLASH Analysis | |
| <details> | |
| <summary>px4_fmu-v5x [Total VM Diff: ${{ env.V5X-SUMMARY-MAP-ABS }} byte (${{ env.V5X-SUMMARY-MAP-PERC}} %)]</summary> | |
| ``` | |
| ${{ needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-output }} | |
| ``` | |
| </details> | |
| <details> | |
| <summary>px4_fmu-v6x [Total VM Diff: ${{ env.V6X-SUMMARY-MAP-ABS }} byte (${{ env.V6X-SUMMARY-MAP-PERC }} %)]</summary> | |
| ``` | |
| ${{ needs.analyze_flash.outputs.px4_fmu-v6x-bloaty-output }} | |
| ``` | |
| </details> | |
| **Updated: _${{ steps.bt.outputs.timestamp }}_** | |
| edit-mode: replace |