[Spinal][Gthub Action] New workflow process for Spinal firmware CI to…

… avoid unexpected failure in build check. (#646) * [Spinal][GA] Repeat firmware build multiple times to avoid unexpected build fail. * [Spinal][GA] Include Ros build into repeat build flow. * Revert "[Spinal][GA] Include Ros build into repeat build flow." This reverts commit ac22105. * [Spinal][GA] Workaround to continue workflow even if some errors happen. * [Spinal][GA] include ros package build process into repeated build process. * [Spinal][GA] Back to default GA workspace after finishing ros build. * [GA][Firmare Build] modify the build option, single package and single make job * [Spinal][GA]Workaround to use modified catkin build option in interative build process. --------- Co-authored-by: Moju Zhao <[email protected]>
jsk-ros-pkg · Jan 3, 2025 · 3e9f05d · 3e9f05d
1 parent e6be0c1
commit 3e9f05d
Showing 1 changed file with 77 additions and 24 deletions.
diff --git a/.github/workflows/spinal_build.yml b/.github/workflows/spinal_build.yml
@@ -15,6 +15,7 @@ jobs:
           submodules: recursive
 
       - name: Install ROS packages with rosdep # Setup Github ws as a catkin ws
+        shell: bash
         run: |
           source /opt/ros/noetic/setup.bash
           rm /etc/ros/rosdep/sources.list.d/20-default.list
@@ -24,40 +25,92 @@ jobs:
           ln -s $GITHUB_WORKSPACE ~/catkin_ws/src/jsk_aerial_robot
           cd ~/catkin_ws
           rosdep install -y -r --from-paths src --ignore-src --rosdistro noetic
-        shell: bash
         
-      - name: Build Spinal as ROS Package # Build Spinal to generate ROS libraries
-        run: |
-          source /opt/ros/noetic/setup.bash
-          cd ~/catkin_ws
-          catkin config --cmake-args -Dcatkin_DIR=/opt/ros/noetic/share/catkin/cmake
-          catkin build -p 1 -j 1 spinal
-          source devel/setup.bash
-        shell: bash
+      # - name: Build Spinal as ROS Package # Build Spinal to generate ROS libraries
+      #   run: |
+      #     source /opt/ros/noetic/setup.bash
+      #     cd ~/catkin_ws
+      #     catkin config --cmake-args -Dcatkin_DIR=/opt/ros/noetic/share/catkin/cmake
+      #     catkin build -p 1 -j 1 spinal
+      #     source devel/setup.bash
+      #   shell: bash
 
       - name: Build Spinal H7 as STM32CubeIDE project # Build Spinal H7 firmware with STM32CubeIDE
+        shell: bash
         run: |
-          /opt/st/stm32cubeide_1.8.0/stm32cubeide -nosplash \
-            -application org.eclipse.cdt.managedbuilder.core.headlessbuild \
-            -data ~/STM32CubeIDE/workspace_1.8.0/ \
-            -import aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/STM32CubeIDE/ \
-            -cleanBuild spinal/Debug \
-            -vmargs -Dorg.eclipse.cdt.core.build.parallel=true \
-            -Dorg.eclipse.cdt.core.build.parallel.threads=12
+          # set default result to avoid build interruption
+          set +e
+          for i in {1..5}; do
+          echo "=== Attempt #$i for H7 Build ==="
+           #build ros packages related to spinla firmware
+            source /opt/ros/noetic/setup.bash
+            cd ~/catkin_ws
+            catkin config --cmake-args -Dcatkin_DIR=/opt/ros/noetic/share/catkin/cmake
+            catkin build -p 1 -j 1 spinal
+            source devel/setup.bash
+
+            # back to default workspace
+            cd $GITHUB_WORKSPACE
+
+            /opt/st/stm32cubeide_1.8.0/stm32cubeide -nosplash \
+              -application org.eclipse.cdt.managedbuilder.core.headlessbuild \
+              -data ~/STM32CubeIDE/workspace_1.8.0/ \
+              -import aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/STM32CubeIDE/ \
+              -cleanBuild spinal/Debug \
+              -vmargs -Dorg.eclipse.cdt.core.build.parallel=true \
+                      -Dorg.eclipse.cdt.core.build.parallel.threads=12
+            
+            # check build result
+            if [ $? -eq 0 ]; then
+              echo "Build Spinal H7 succeeded on attempt #$i."
+              exit 0  # success
+            else
+              echo "Build Spinal H7 failed on attempt #$i."
+            fi
+          done
+
+          echo "All 5 attempts for Spinal H7 have failed."
+          exit 1
 
       - name: Clean up STM32CubeIDE # Clean up STM32CubeIDE WS to build same name project
+        shell: bash
         run: |
           rm -rf ~/STM32CubeIDE/workspace_1.8.0/.metadata
 
       - name: Build Spinal F7 as STM32CubeIDE project # Build Spinal F7 firmware with STM32CubeIDE
+        shell: bash
         run: |
-          /opt/st/stm32cubeide_1.8.0/stm32cubeide -nosplash \
-            -application org.eclipse.cdt.managedbuilder.core.headlessbuild \
-            -data ~/STM32CubeIDE/workspace_1.8.0/ \
-            -import aerial_robot_nerve/spinal/mcu_project/boards/stm32F7/STM32CubeIDE/ \
-            -cleanBuild spinal/Debug \
-            -vmargs -Dorg.eclipse.cdt.core.build.parallel=true \
-            -Dorg.eclipse.cdt.core.build.parallel.threads=12
+          set +e
+          for i in {1..5}; do
+          echo "=== Attempt #$i for F7 Build ==="
+          #build ros packages related to spinla firmware
+          source /opt/ros/noetic/setup.bash
+          cd ~/catkin_ws
+          catkin config --cmake-args -Dcatkin_DIR=/opt/ros/noetic/share/catkin/cmake
+          catkin build -p 1 -j 1 spinal
+          source devel/setup.bash
+
+          # back to default workspace
+          cd $GITHUB_WORKSPACE
+          
+            /opt/st/stm32cubeide_1.8.0/stm32cubeide -nosplash \
+              -application org.eclipse.cdt.managedbuilder.core.headlessbuild \
+              -data ~/STM32CubeIDE/workspace_1.8.0/ \
+              -import aerial_robot_nerve/spinal/mcu_project/boards/stm32F7/STM32CubeIDE/ \
+              -cleanBuild spinal/Debug \
+              -vmargs -Dorg.eclipse.cdt.core.build.parallel=true \
+                      -Dorg.eclipse.cdt.core.build.parallel.threads=12
+
+            if [ $? -eq 0 ]; then
+              echo "Build Spinal F7 succeeded on attempt #$i."
+              exit 0  #success
+            else
+              echo "Build Spinal F7 failed on attempt #$i."
+            fi
+          done
+          
+          echo "All 5 attempts for Spinal F7 have failed."
+          exit 1
 
       - name: Upload H7 artifacts # Upload required H7 files for flash.
         uses: actions/upload-artifact@v4
@@ -69,4 +122,4 @@ jobs:
         uses: actions/upload-artifact@v4
         with:
           name: SpinalF7.artifacts
-          path: aerial_robot_nerve/spinal/mcu_project/boards/stm32F7/STM32CubeIDE/Debug/spinal.*          
+          path: aerial_robot_nerve/spinal/mcu_project/boards/stm32F7/STM32CubeIDE/Debug/spinal.*