Build

pbio/imu: Set calibrated gyro values. #3599

Workflow file for this run

	name: Build

	on:
	push:
	branches:
	- '**'
	tags-ignore:
	- '@pybricks/**'
	pull_request:

	concurrency:
	group: ${{ github.workflow }}-${{ github.ref }}
	cancel-in-progress: true

	env:
	MAKEOPTS: -j2

	jobs:
	upload_pr_number:
	name: upload pull request number
	runs-on: ubuntu-latest
	if: github.event_name == 'pull_request'
	steps:
	- name: Save PR number
	env:
	PR_NUMBER: ${{ github.event.number }}
	run: \|
	mkdir -p ./pr
	echo $PR_NUMBER > ./pr/pr_number
	- uses: actions/upload-artifact@v4
	with:
	name: pr_number
	path: pr/

	mpy_cross:
	name: mpy-cross
	runs-on: ubuntu-22.04
	steps:
	- name: Checkout repo
	uses: actions/checkout@v4
	with:
	submodules: true
	- name: Build mpy-cross
	run: make $MAKEOPTS -C micropython/mpy-cross
	- name: Upload mpy-cross
	if: ${{ success() }}
	uses: actions/upload-artifact@v4
	with:
	name: mpy-cross
	path: micropython/mpy-cross/build/mpy-cross

	unix_coverage:
	name: unix coverage
	needs: mpy_cross
	runs-on: ubuntu-22.04
	env:
	PYBRICKS_NO_REDIRECT_STDOUT: 1
	steps:
	- name: Checkout repo
	uses: actions/checkout@v4
	with:
	submodules: true
	- name: Download mpy-cross
	uses: actions/download-artifact@v4
	with:
	name: mpy-cross
	path: micropython/mpy-cross/build
	- name: Fix file permission
	run: chmod +x micropython/mpy-cross/build/mpy-cross
	- name: Build
	run: \|
	cd micropython
	make ${MAKEOPTS} -C ports/unix VARIANT=coverage submodules
	make ${MAKEOPTS} -C ports/unix VARIANT=coverage deplibs
	make ${MAKEOPTS} -C ports/unix VARIANT=coverage
	- name: Test
	if: ${{ success() }}
	run: \|
	cd micropython
	make -C ports/unix VARIANT=coverage test_full
	(cd tests && MICROPY_CPYTHON3=python3 MICROPY_MICROPYTHON=../ports/unix/build-coverage/micropython ./run-multitests.py multi_net/*.py)
	- name: List failed tests
	if: failure()
	run: micropython/tests/run-tests.py --print-failures

	ev3dev_stretch:
	name: ev3dev-stretch
	runs-on: ubuntu-22.04
	steps:
	- name: Docker login
	uses: azure/docker-login@v1
	with:
	login-server: docker.pkg.github.com
	username: ${{ github.actor }}
	password: ${{ secrets.GITHUB_TOKEN }}
	- name: Install QEMU
	run: \|
	sudo apt-get update
	sudo apt-get install qemu-user-static
	- name: Checkout repo
	uses: actions/checkout@v4
	with:
	submodules: true
	fetch-depth: 0
	- name: Create docker container
	run: bricks/ev3dev/docker/setup.sh armel
	- name: Build
	run: \|
	docker exec --tty pybricks-ev3dev_armel make -C ../../micropython/mpy-cross CROSS_COMPILE=
	docker exec --tty pybricks-ev3dev_armel make
	- name: Test
	if: ${{ success() }}
	run: \|
	docker exec --tty pybricks-ev3dev_armel make test-ev3dev
	- name: List failed tests
	if: failure()
	run: micropython/tests/run-tests.py --print-failures
	- name: Short hash
	id: vars
	run: echo "short_sha=$(echo ${{ github.sha }} \| cut -c1-8)" >> $GITHUB_OUTPUT
	- name: Upload pybricks-micropython
	if: ${{ success() }}
	uses: actions/upload-artifact@v4
	with:
	name: pybricks-micropython-build-${{ github.run_number }}-git${{ steps.vars.outputs.short_sha }}
	path: bricks/ev3dev/build-armel/pybricks-micropython

	ev3dev_ubuntu_lts:
	name: ev3dev-ubuntu-lts
	needs: mpy_cross
	runs-on: ubuntu-22.04
	env:
	CROSS_COMPILE: ""
	steps:
	- name: Install rerequisites
	run: \|
	sudo apt-add-repository --update --yes ppa:ev3dev/tools
	sudo apt-get install --no-install-recommends --yes \
	alsa-utils \
	espeak \
	ev3dev-media \
	ev3dev-mocks \
	libasound2-plugin-ev3dev \
	libffi-dev \
	libgrx-3.0-dev \
	libi2c-dev \
	libudev-dev \
	libumockdev0 \
	pkg-config \
	uthash-dev \
	xfonts-100dpi
	- name: Checkout repo
	uses: actions/checkout@v4
	with:
	submodules: true
	- name: Download mpy-cross
	uses: actions/download-artifact@v4
	with:
	name: mpy-cross
	path: micropython/mpy-cross/build
	- name: Fix file permission
	run: chmod +x micropython/mpy-cross/build/mpy-cross
	- name: Build
	run: make $MAKEOPTS -C bricks/ev3dev
	- name: Test
	if: ${{ success() }}
	run: \|
	make $MAKEOPTS -C bricks/ev3dev test
	make $MAKEOPTS -C bricks/ev3dev test-ev3dev
	- name: List failed tests
	if: failure()
	run: micropython/tests/run-tests.py --print-failures

	firmware:
	name: firmware
	strategy:
	fail-fast: false
	matrix:
	hub: [cityhub, essentialhub, movehub, nxt, primehub, technichub]
	needs: [mpy_cross]
	runs-on: ubuntu-22.04
	steps:
	- name: Install cross-compiler
	run: sudo apt-get update && sudo apt-get install --yes gcc-arm-none-eabi
	- name: Checkout repo
	uses: actions/checkout@v4
	with:
	submodules: true
	fetch-depth: 0
	- name: Download mpy-cross
	uses: actions/download-artifact@v4
	with:
	name: mpy-cross
	path: micropython/mpy-cross/build
	- name: Fix file permission
	run: chmod +x micropython/mpy-cross/build/mpy-cross
	- run: pipx install poetry
	- run: poetry install --only=stats
	- name: Build firmware (pull request)
	if: ${{ github.base_ref != null }}
	run: poetry run .github/build-each-commit.py ${{ matrix.hub }} ${{ github.sha }}
	- name: Build firmware (non-master branch)
	if: ${{ github.base_ref == null && github.ref != 'refs/heads/master' }}
	env:
	STORAGE_ACCOUNT: ${{ secrets.STORAGE_ACCOUNT }}
	STORAGE_KEY: ${{ secrets.STORAGE_KEY }}
	STORAGE_URL: ${{ secrets.STORAGE_URL }}
	FIRMWARE_SIZE_TABLE: ${{ secrets.FIRMWARE_SIZE_TABLE }}
	run: poetry run .github/build-each-commit.py ${{ matrix.hub }} ${{ github.ref_name }}
	- name: Build firmware (master branch)
	if: ${{ github.base_ref == null && github.ref == 'refs/heads/master' }}
	run: \|
	export MICROPY_GIT_TAG=ci-build-${{ github.run_number }}-$(git describe --tags --dirty --always --exclude "@pybricks/*")
	export MICROPY_GIT_HASH=$(echo ${{ github.sha }} \| cut -c1-8)
	make -C bricks/${{ matrix.hub }}
	- name: Extract firmware.zip for upload
	if: ${{ success()}}
	working-directory: bricks/${{ matrix.hub }}/build
	run: unzip firmware.zip -d upload
	- name: Short hash
	id: vars
	run: echo "short_sha=$(echo ${{ github.sha }} \| cut -c1-8)" >> $GITHUB_OUTPUT
	- name: Upload firmware
	if: ${{ success()}}
	uses: actions/upload-artifact@v4
	with:
	name: ${{ matrix.hub }}-firmware-build-${{ github.run_number }}-git${{ steps.vars.outputs.short_sha }}
	path: bricks/${{ matrix.hub }}/build/upload/*

	virtualhub:
	name: virtual hub
	needs: [mpy_cross]
	runs-on: ubuntu-22.04
	steps:
	- name: Install depedencies
	run: sudo apt-get update && sudo apt-get install lcov python3-numpy --yes
	- name: Checkout repo
	uses: actions/checkout@v4
	with:
	submodules: true
	fetch-depth: 0
	- name: Checkout submodules
	run: \|
	cd micropython
	git submodule update --init --depth 0 lib/axtls
	git submodule update --init --depth 0 lib/berkeley-db-1.xx
	git submodule update --init --depth 0 lib/libffi
	- name: Download mpy-cross
	uses: actions/download-artifact@v4
	with:
	name: mpy-cross
	path: micropython/mpy-cross/build
	- name: Fix file permission
	run: chmod +x micropython/mpy-cross/build/mpy-cross
	- name: Build and test
	run: COVERAGE=1 ./test-virtualhub.sh
	- name: Coveralls
	uses: coverallsapp/github-action@v2
	with:
	github-token: ${{ secrets.GITHUB_TOKEN }}
	file: bricks/virtualhub/build-coverage/lcov.info
	flag-name: virtualhub
	parallel: true

	ev3rt:
	name: ev3rt uImage
	needs: [mpy_cross]
	runs-on: ubuntu-22.04
	steps:
	- name: Install cross-compiler
	run: sudo apt-get update && sudo apt-get install --yes gcc-arm-none-eabi ruby u-boot-tools
	- name: Checkout repo
	uses: actions/checkout@v4
	with:
	submodules: true
	fetch-depth: 0
	- name: Download mpy-cross
	uses: actions/download-artifact@v4
	with:
	name: mpy-cross
	path: micropython/mpy-cross/build
	- name: Fix file permission
	run: chmod +x micropython/mpy-cross/build/mpy-cross
	- name: Build
	run: make $MAKEOPTS -C bricks/ev3rt

	debug:
	name: debug firmware
	needs: [mpy_cross]
	runs-on: ubuntu-22.04
	steps:
	- name: Install cross-compiler
	run: sudo apt-get update && sudo apt-get install --yes gcc-arm-none-eabi
	- name: Checkout repo
	uses: actions/checkout@v4
	with:
	submodules: true
	fetch-depth: 0
	- name: Download mpy-cross
	uses: actions/download-artifact@v4
	with:
	name: mpy-cross
	path: micropython/mpy-cross/build
	- name: Fix file permission
	run: chmod +x micropython/mpy-cross/build/mpy-cross
	- name: Build
	run: make $MAKEOPTS -C bricks/debug build/firmware.dfu

	pbio:
	name: pbio tests
	runs-on: ubuntu-22.04
	env:
	PBIO_TEST_RESULTS_DIR: lib/pbio/test/results
	steps:
	- name: Install prerequisites
	run: \|
	sudo apt-get update
	sudo apt-get install --yes doxygen graphviz lcov
	- name: Checkout repo
	uses: actions/checkout@v4
	with:
	submodules: true
	- name: Build
	run: \|
	make $MAKEOPTS -C lib/pbio/test
	- name: Build docs
	run: \|
	make $MAKEOPTS -C lib/pbio/doc
	- name: Build coverage
	run: \|
	make $MAKEOPTS -C lib/pbio/test build-coverage/lcov.info
	- name: Coveralls
	uses: coverallsapp/github-action@v2
	with:
	github-token: ${{ secrets.GITHUB_TOKEN }}
	file: lib/pbio/test/build-coverage/lcov.info
	flag-name: PBIO
	parallel: true

	finish:
	needs: [virtualhub, pbio]
	runs-on: ubuntu-22.04
	steps:
	- name: Coveralls
	uses: coverallsapp/github-action@v2
	with:
	github-token: ${{ secrets.GITHUB_TOKEN }}
	parallel-finished: true

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pbio/imu: Set calibrated gyro values. #3599

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pbio/imu: Set calibrated gyro values. #3599

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