Fixed bug causing position control oscillation #196
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| name: PlatformIO CI | |
| on: | |
| workflow_dispatch: | |
| push: | |
| paths: | |
| - ".github/workflows/main.yaml" | |
| - "firmware/src/**/*.c" | |
| - "firmware/src/**/*.h" | |
| - "firmware/*.json" | |
| - "firmware/*.ini" | |
| - "firmware/linker_options_pio.py" | |
| pull_request: | |
| paths: | |
| - ".github/workflows/main.yaml" | |
| - "firmware/src/**/*.c" | |
| - "firmware/src/**/*.h" | |
| - "firmware/*.json" | |
| - "firmware/*.ini" | |
| - "firmware/linker_options_pio.py" | |
| jobs: | |
| build_and_check: | |
| name: Build and analyze | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v2 | |
| - name: Cache pip | |
| uses: actions/cache@v2 | |
| with: | |
| path: ~/.cache/pip | |
| key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }} | |
| restore-keys: | | |
| ${{ runner.os }}-pip- | |
| - name: Cache PlatformIO | |
| uses: actions/cache@v2 | |
| with: | |
| path: ~/.platformio | |
| key: ${{ runner.os }}-${{ hashFiles('**/lockfiles') }} | |
| - name: Set up Python | |
| uses: actions/setup-python@v2 | |
| - name: Install PlatformIO | |
| run: | | |
| python -m pip install --upgrade pip | |
| pip install --upgrade platformio | |
| - name: Run tests on the native platform | |
| run: | | |
| cd firmware | |
| pio test -e PC_UnitTest | |
| - name: PlatformIO build | |
| run: | | |
| cd firmware | |
| pio run | |
| - name: Upload firmware | |
| uses: actions/upload-artifact@v3 | |
| with: | |
| name: firmware | |
| path: firmware/.pio/build/ServoCAN_release/firmware.bin | |
| - name: PlatformIO Check | |
| run: | | |
| cd firmware | |
| echo "${{ secrets.MISRA_TEXT }}" > misra_rules_set_cppcheck.txt | |
| cat misra_rules_set_cppcheck.txt | |
| pio check --fail-on-defect high > report.txt | |
| - name: Upload report | |
| uses: actions/upload-artifact@v3 | |
| with: | |
| name: pio check report | |
| path: firmware/report.txt | |
| SonarCloud: | |
| name: Test using SonarCloud | |
| needs: build_and_check | |
| runs-on: ubuntu-latest | |
| env: | |
| SONAR_SCANNER_VERSION: 4.7.0.2747 # Find the latest version in the "Linux" link on this page: | |
| # https://docs.sonarcloud.io/advanced-setup/ci-based-analysis/sonarscanner-cli/ | |
| SONAR_SERVER_URL: "https://sonarcloud.io" | |
| steps: | |
| - uses: actions/checkout@v2 | |
| with: | |
| fetch-depth: 0 # Shallow clones should be disabled for a better relevancy of analysis | |
| - name: Set up JDK 11 | |
| uses: actions/setup-java@v1 | |
| with: | |
| java-version: 11 | |
| - name: Cache SonarCloud packages | |
| uses: actions/cache@v1 | |
| with: | |
| path: ~/.sonar/cache | |
| key: ${{ runner.os }}-sonar | |
| restore-keys: ${{ runner.os }}-sonar | |
| - name: Download and set up sonar-scanner | |
| env: | |
| SONAR_SCANNER_DOWNLOAD_URL: https://binaries.sonarsource.com/Distribution/sonar-scanner-cli/sonar-scanner-cli-${{ env.SONAR_SCANNER_VERSION }}-linux.zip | |
| run: | | |
| mkdir -p $HOME/.sonar | |
| curl -sSLo $HOME/.sonar/sonar-scanner.zip ${{ env.SONAR_SCANNER_DOWNLOAD_URL }} | |
| unzip -o $HOME/.sonar/sonar-scanner.zip -d $HOME/.sonar/ | |
| echo "$HOME/.sonar/sonar-scanner-${{ env.SONAR_SCANNER_VERSION }}-linux/bin" >> $GITHUB_PATH | |
| - name: Cache pip | |
| uses: actions/cache@v2 | |
| with: | |
| path: ~/.cache/pip | |
| key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }} | |
| restore-keys: | | |
| ${{ runner.os }}-pip- | |
| - name: Cache PlatformIO | |
| uses: actions/cache@v2 | |
| with: | |
| path: ~/.platformio | |
| key: ${{ runner.os }}-${{ hashFiles('**/lockfiles') }} | |
| - name: Set up Python | |
| uses: actions/setup-python@v2 | |
| - name: Install PlatformIO | |
| run: | | |
| python -m pip install --upgrade pip | |
| pip install --upgrade platformio | |
| - name: Platformio Compilation Database | |
| run: | | |
| cd firmware | |
| pio run -t compiledb | |
| - name: Upload Compilation Database | |
| uses: actions/upload-artifact@v3 | |
| with: | |
| name: CompilationDB | |
| path: firmware/compile_commands.json | |
| - name: Install Arm GNU Toolchain (arm-none-eabi-gcc) | |
| uses: carlosperate/arm-none-eabi-gcc-action@v1 | |
| - name: Run sonar-scanner | |
| env: | |
| GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} | |
| SONAR_TOKEN: ${{ secrets.SONARCLOUD_TOKEN }} | |
| run: | | |
| cd firmware | |
| # Set the property "sonar.cfamily.compile-commands" to the compilation database file | |
| sonar-scanner --define sonar.host.url="${{ env.SONAR_SERVER_URL }}" --define sonar.cfamily.compile-commands=compile_commands.json | |