mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-07-24 15:27:41 +08:00
fix(ci): restore board target matrix generation after zenoh Kconfig change
Since b11e615810 src/modules/zenoh/Kconfig sources the generated topic
catalog through ZENOH_KCONFIG_TOPICS, which only cmake exports, so every
standalone Kconfig parse crashed and build_all_targets produced an empty
build matrix on every run while the scan job still reported success.
Add Tools/kconfig/loadconfig.py as the single entry point for parsing
the Kconfig tree outside cmake: it generates the topic catalog exactly
like cmake/kconfig.cmake and provides shared board/target enumeration
and config loading. Port generate_board_targets_json.py (CI matrix) and
updateconfig.py (make updateconfig) to it; both were independently
broken and each reimplemented board scanning on its own.
Harden the workflow so the next failure of this class is loud: run the
generator as a standalone assignment, so bash -e fails the step (the
previous echo "matrix=$(...)" form masked the exit code), and write
the JSON outputs through the heredoc GITHUB_OUTPUT form.
Matrix output verified byte-identical to the pre-b11e6158101 baseline
in all three modes; updateconfig output verified identical against the
same baseline.
Assisted-by: Claude:claude-fable-5
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
This commit is contained in:
Ramon Roche
23
.github/workflows/build_all_targets.yml
vendored
23
.github/workflows/build_all_targets.yml
vendored
@@ -86,17 +86,34 @@ jobs:
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- name: Install Python Dependencies
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run: pip3 install -U packaging -r ./Tools/setup/requirements.txt
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# The generator runs as a standalone assignment so a non-zero exit
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# fails the step; embedded in `echo "x=$(...)"` it would be masked
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# and the empty output silently skips the whole build matrix.
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- id: set-matrix
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name: Generate Build Matrix
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run: echo "matrix=$(./Tools/ci/generate_board_targets_json.py --group)" >> $GITHUB_OUTPUT
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run: |
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matrix=$(./Tools/ci/generate_board_targets_json.py --group)
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{
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echo "matrix<<EOF"
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echo "$matrix"
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echo "EOF"
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} >> "$GITHUB_OUTPUT"
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- id: set-seeders
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name: Generate Seeder Matrix
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run: echo "seeders=$(./Tools/ci/generate_board_targets_json.py --group --seeders)" >> $GITHUB_OUTPUT
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run: |
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seeders=$(./Tools/ci/generate_board_targets_json.py --group --seeders)
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{
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echo "seeders<<EOF"
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echo "$seeders"
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echo "EOF"
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} >> "$GITHUB_OUTPUT"
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- id: set-timestamp
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name: Save Current Timestamp
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run: echo "timestamp=$(date +"%Y%m%d%H%M%S")" >> $GITHUB_OUTPUT
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run: |
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timestamp=$(date +"%Y%m%d%H%M%S")
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echo "timestamp=$timestamp" >> "$GITHUB_OUTPUT"
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- id: set-branch
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name: Save Current Branch Name
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@@ -5,18 +5,11 @@ import argparse
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import os
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import sys
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import json
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import re
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from kconfiglib import Kconfig
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kconf = Kconfig()
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sys.path.insert(0, os.path.join(os.path.dirname(os.path.abspath(__file__)), '..', 'kconfig'))
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import loadconfig
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# Supress warning output
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kconf.warn_assign_undef = False
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kconf.warn_assign_override = False
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kconf.warn_assign_redun = False
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source_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), '..')
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boards_dir = os.path.join(source_dir, '..', 'boards')
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kconf = loadconfig.load_kconfig(suppress_warnings=True)
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parser = argparse.ArgumentParser(description='Generate build targets')
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@@ -69,65 +62,10 @@ excluded_labels = [
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special_labels = ci_config.get('special_labels', ['lto', 'protected'])
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def detect_chip_family(manufacturer_name, board_name, label):
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"""Detect the chip family for a board by reading its NuttX defconfig.
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Returns a chip family string used for cache grouping:
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stm32h7, stm32f7, stm32f4, stm32f1, imxrt, kinetis, s32k, rp2040, native, special
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"""
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# Special labels get their own group regardless of chip
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"""Chip family for cache grouping; special labels get their own group."""
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if label in special_labels:
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return 'special'
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board_path = os.path.join(boards_dir, manufacturer_name, board_name)
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nsh_defconfig = os.path.join(board_path, 'nuttx-config', 'nsh', 'defconfig')
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if not os.path.exists(nsh_defconfig):
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# Try bootloader defconfig as fallback
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bl_defconfig = os.path.join(board_path, 'nuttx-config', 'bootloader', 'defconfig')
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if os.path.exists(bl_defconfig):
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nsh_defconfig = bl_defconfig
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else:
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return 'native'
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arch_chip = None
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specific_chip = None
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with open(nsh_defconfig) as f:
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for line in f:
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line = line.strip()
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if line.startswith('CONFIG_ARCH_CHIP='):
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arch_chip = line.split('=')[1].strip('"')
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elif line.startswith('CONFIG_ARCH_CHIP_STM32F') and line.endswith('=y'):
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specific_chip = line.split('=')[0].replace('CONFIG_ARCH_CHIP_', '')
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if arch_chip is None:
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return 'native'
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# Direct matches for chips that have unique CONFIG_ARCH_CHIP values
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if arch_chip == 'stm32h7':
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return 'stm32h7'
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elif arch_chip == 'stm32f7':
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return 'stm32f7'
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elif arch_chip == 'imxrt':
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return 'imxrt'
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elif arch_chip == 'kinetis':
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return 'kinetis'
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elif arch_chip.startswith('s32k'):
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return 's32k'
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elif arch_chip == 'rp2040':
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return 'rp2040'
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elif arch_chip == 'stm32':
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# Disambiguate STM32 sub-families using specific chip define
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if specific_chip:
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if specific_chip.startswith('STM32F1'):
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return 'stm32f1'
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elif specific_chip.startswith('STM32F4'):
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return 'stm32f4'
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else:
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return 'stm32f4' # Default STM32 to F4
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return 'stm32f4'
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else:
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return 'native'
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return loadconfig.chip_family(os.path.join(loadconfig.BOARDS_DIR, manufacturer_name, board_name))
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target_chip_families = {} # target_name -> chip_family mapping
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github_action_config = { 'include': build_configs }
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@@ -162,14 +100,7 @@ def process_target(px4board_file, target_name, manufacturer_name=None, board_dir
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toolchain = None
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group = None
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if px4board_file.endswith("default.px4board") or \
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px4board_file.endswith("performance-test.px4board") or \
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px4board_file.endswith("bootloader.px4board"):
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kconf.load_config(px4board_file, replace=True)
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else: # Merge config with default.px4board
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default_kconfig = re.sub(r'[a-zA-Z\d_-]+\.px4board', 'default.px4board', px4board_file)
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kconf.load_config(default_kconfig, replace=True)
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kconf.load_config(px4board_file, replace=False)
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loadconfig.load_target_config(kconf, px4board_file)
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if "BOARD_TOOLCHAIN" in kconf.syms:
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toolchain = kconf.syms["BOARD_TOOLCHAIN"].str_value
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@@ -244,23 +175,14 @@ grouped_targets['base']['manufacturers']['px4'] += metadata_targets
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for mt in metadata_targets:
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target_chip_families[mt] = 'native'
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for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), key=lambda e: e.name):
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if not manufacturer.is_dir():
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continue
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if manufacturer.name in excluded_manufacturers:
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if verbose: print(f'excluding manufacturer {manufacturer.name}')
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for board_target in loadconfig.enumerate_targets():
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if board_target.manufacturer in excluded_manufacturers:
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if verbose: print(f'excluding manufacturer {board_target.manufacturer}')
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continue
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for board in sorted(os.scandir(manufacturer.path), key=lambda e: e.name):
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if not board.is_dir():
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continue
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for files in sorted(os.scandir(board.path), key=lambda e: e.name):
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if files.is_file() and files.name.endswith('.px4board'):
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board_name = manufacturer.name + '_' + board.name
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label = files.name[:-9]
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target_name = manufacturer.name + '_' + board.name + '_' + label
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board_name = board_target.manufacturer + '_' + board_target.board
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label = board_target.label
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target_name = board_target.name
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if target_filter and not any(target_name.startswith(f) for f in target_filter):
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if verbose: print(f'excluding board {board_name} ({target_name})')
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@@ -273,29 +195,24 @@ for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), ke
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if label in excluded_labels:
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if verbose: print(f'excluding label {label} ({target_name})')
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continue
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target = process_target(files.path, target_name,
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manufacturer_name=manufacturer.name,
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board_dir_name=board.name,
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target = process_target(board_target.path, target_name,
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manufacturer_name=board_target.manufacturer,
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board_dir_name=board_target.board,
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label=label)
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if (args.group and target is not None):
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if (target['arch'] not in grouped_targets):
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grouped_targets[target['arch']] = {}
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grouped_targets[target['arch']]['container'] = target['container']
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grouped_targets[target['arch']]['manufacturers'] = {}
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if(manufacturer.name not in grouped_targets[target['arch']]['manufacturers']):
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grouped_targets[target['arch']]['manufacturers'][manufacturer.name] = []
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grouped_targets[target['arch']]['manufacturers'][manufacturer.name].append(target_name)
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if(board_target.manufacturer not in grouped_targets[target['arch']]['manufacturers']):
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grouped_targets[target['arch']]['manufacturers'][board_target.manufacturer] = []
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grouped_targets[target['arch']]['manufacturers'][board_target.manufacturer].append(target_name)
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target_chip_families[target_name] = target['chip_family']
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if target is not None:
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build_configs.append(target)
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# Remove companion targets from CI groups (parent target builds them via Make prerequisite)
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for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), key=lambda e: e.name):
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if not manufacturer.is_dir():
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continue
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for board in sorted(os.scandir(manufacturer.path), key=lambda e: e.name):
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if not board.is_dir():
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continue
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for board in loadconfig.enumerate_boards():
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companion_file = os.path.join(board.path, 'companion_targets')
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if os.path.exists(companion_file):
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with open(companion_file) as f:
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@@ -308,15 +225,10 @@ for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), ke
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]
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# Append _deb targets for boards that have cmake/package.cmake
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for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), key=lambda e: e.name):
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if not manufacturer.is_dir():
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for board in loadconfig.enumerate_boards():
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if board.manufacturer in excluded_manufacturers:
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continue
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if manufacturer.name in excluded_manufacturers:
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continue
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for board in sorted(os.scandir(manufacturer.path), key=lambda e: e.name):
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if not board.is_dir():
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continue
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board_name = manufacturer.name + '_' + board.name
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board_name = board.manufacturer + '_' + board.board
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if board_name in excluded_boards:
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continue
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package_cmake = os.path.join(board.path, 'cmake', 'package.cmake')
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@@ -334,7 +246,7 @@ for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), ke
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default_target = board_name + '_default'
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group = None
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for g in grouped_targets:
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targets_in_group = grouped_targets[g].get('manufacturers', {}).get(manufacturer.name, [])
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targets_in_group = grouped_targets[g].get('manufacturers', {}).get(board.manufacturer, [])
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if default_target in targets_in_group:
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group = g
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break
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@@ -343,9 +255,9 @@ for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), ke
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target_entry['arch'] = group
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if group not in grouped_targets:
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grouped_targets[group] = {'container': container, 'manufacturers': {}}
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if manufacturer.name not in grouped_targets[group]['manufacturers']:
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grouped_targets[group]['manufacturers'][manufacturer.name] = []
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grouped_targets[group]['manufacturers'][manufacturer.name].append(deb_target)
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if board.manufacturer not in grouped_targets[group]['manufacturers']:
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grouped_targets[group]['manufacturers'][board.manufacturer] = []
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grouped_targets[group]['manufacturers'][board.manufacturer].append(deb_target)
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# Inherit chip_family from the default target
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default_chip = target_chip_families.get(default_target, 'native')
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target_chip_families[deb_target] = default_chip
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139
Tools/kconfig/loadconfig.py
Normal file
139
Tools/kconfig/loadconfig.py
Normal file
@@ -0,0 +1,139 @@
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"""Shared helpers for loading PX4 board configs and the Kconfig tree.
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The single supported way to parse the PX4 Kconfig tree outside of CMake.
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src/modules/zenoh/Kconfig sources a generated topic catalog through the
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ZENOH_KCONFIG_TOPICS environment variable; CMake generates the catalog and
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exports the variable (cmake/kconfig.cmake), so tools that parse Kconfig
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without a CMake build must go through ensure_env()/load_kconfig() to get
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the same environment.
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"""
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import atexit
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import glob
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import os
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import shutil
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import subprocess
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import sys
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import tempfile
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from collections import namedtuple
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import kconfiglib
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PX4_ROOT = os.path.normpath(os.path.join(os.path.dirname(os.path.abspath(__file__)), '..', '..'))
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BOARDS_DIR = os.path.join(PX4_ROOT, 'boards')
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_ZENOH_GENERATOR = os.path.join(PX4_ROOT, 'Tools', 'zenoh', 'px_generate_zenoh_topic_files.py')
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_ZENOH_TEMPLATES = os.path.join(PX4_ROOT, 'Tools', 'zenoh', 'templates', 'zenoh')
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# Labels that load standalone; any other label overlays default.px4board
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STANDALONE_LABELS = ('default', 'performance-test', 'bootloader', 'canbootloader')
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Board = namedtuple('Board', ['manufacturer', 'board', 'path'])
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BoardTarget = namedtuple('BoardTarget', ['manufacturer', 'board', 'label', 'path', 'name'])
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def ensure_env():
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"""Make the Kconfig tree parseable in this process.
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Honors an existing ZENOH_KCONFIG_TOPICS (the CMake case); otherwise
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generates the topic catalog into a temporary directory, exactly as
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cmake/kconfig.cmake does, and exports the variable so child processes
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and later Kconfig constructions inherit it.
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"""
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if os.environ.get('ZENOH_KCONFIG_TOPICS'):
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return
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out_dir = tempfile.mkdtemp(prefix='px4_zenoh_kconfig_')
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atexit.register(shutil.rmtree, out_dir, ignore_errors=True)
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msg_files = sorted(glob.glob(os.path.join(PX4_ROOT, 'msg', '*.msg')) +
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glob.glob(os.path.join(PX4_ROOT, 'msg', 'versioned', '*.msg')))
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# stdout must stay clean: several callers print machine-parsed output
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subprocess.run([sys.executable, _ZENOH_GENERATOR, '--zenoh-config',
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'-f'] + msg_files + ['-o', out_dir, '-e', _ZENOH_TEMPLATES],
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check=True, stdout=subprocess.DEVNULL)
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os.environ['ZENOH_KCONFIG_TOPICS'] = os.path.join(out_dir, 'Kconfig.topics')
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def load_kconfig(suppress_warnings=False):
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"""Load the PX4 Kconfig tree.
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Must run with the PX4 source root as working directory: relative
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`source` statements resolve against it.
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"""
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ensure_env()
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if not os.path.isfile('Kconfig'):
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sys.exit('loadconfig: run from the PX4 source root (no Kconfig in {})'.format(os.getcwd()))
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kconf = kconfiglib.Kconfig()
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if suppress_warnings:
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kconf.warn_assign_undef = False
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kconf.warn_assign_override = False
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kconf.warn_assign_redun = False
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return kconf
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def enumerate_boards():
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"""Yield a Board for every boards/<manufacturer>/<board> directory, sorted."""
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for manufacturer in sorted(os.scandir(BOARDS_DIR), key=lambda e: e.name):
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if not manufacturer.is_dir():
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continue
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for board in sorted(os.scandir(manufacturer.path), key=lambda e: e.name):
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if board.is_dir():
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yield Board(manufacturer.name, board.name, board.path)
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def enumerate_targets():
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"""Yield a BoardTarget for every *.px4board file, sorted."""
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for board in enumerate_boards():
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for entry in sorted(os.scandir(board.path), key=lambda e: e.name):
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if entry.is_file() and entry.name.endswith('.px4board'):
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label = entry.name[:-len('.px4board')]
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yield BoardTarget(board.manufacturer, board.board, label, entry.path,
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'_'.join((board.manufacturer, board.board, label)))
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def load_target_config(kconf, px4board_path):
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"""Load a target's config into kconf, replacing any previous state."""
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label = os.path.basename(px4board_path)[:-len('.px4board')]
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if label in STANDALONE_LABELS:
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kconf.load_config(px4board_path, replace=True)
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else:
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default_config = os.path.join(os.path.dirname(px4board_path), 'default.px4board')
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kconf.load_config(default_config, replace=True)
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kconf.load_config(px4board_path, replace=False)
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def chip_family(board_path):
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"""Chip family of a board, from its NuttX defconfig.
|
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|
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Returns one of: stm32h7, stm32f7, stm32f4, stm32f1, imxrt, kinetis,
|
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s32k, rp2040, native.
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"""
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nsh_defconfig = os.path.join(board_path, 'nuttx-config', 'nsh', 'defconfig')
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if not os.path.exists(nsh_defconfig):
|
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bl_defconfig = os.path.join(board_path, 'nuttx-config', 'bootloader', 'defconfig')
|
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if os.path.exists(bl_defconfig):
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nsh_defconfig = bl_defconfig
|
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else:
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return 'native'
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arch_chip = None
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specific_chip = None
|
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with open(nsh_defconfig) as f:
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for line in f:
|
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line = line.strip()
|
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if line.startswith('CONFIG_ARCH_CHIP='):
|
||||
arch_chip = line.split('=')[1].strip('"')
|
||||
elif line.startswith('CONFIG_ARCH_CHIP_STM32F') and line.endswith('=y'):
|
||||
specific_chip = line.split('=')[0].replace('CONFIG_ARCH_CHIP_', '')
|
||||
|
||||
if arch_chip is None:
|
||||
return 'native'
|
||||
|
||||
if arch_chip in ('stm32h7', 'stm32f7', 'imxrt', 'kinetis', 'rp2040'):
|
||||
return arch_chip
|
||||
elif arch_chip.startswith('s32k'):
|
||||
return 's32k'
|
||||
elif arch_chip == 'stm32':
|
||||
if specific_chip and specific_chip.startswith('STM32F1'):
|
||||
return 'stm32f1'
|
||||
return 'stm32f4'
|
||||
return 'native'
|
||||
@@ -37,48 +37,54 @@
|
||||
"""
|
||||
|
||||
import os
|
||||
import glob
|
||||
import kconfiglib
|
||||
import tempfile
|
||||
import sys
|
||||
from pathlib import Path
|
||||
|
||||
import diffconfig
|
||||
import loadconfig
|
||||
import merge_config
|
||||
|
||||
px4_dir = os.path.abspath(os.path.join(os.path.dirname(__file__), '../../'))
|
||||
px4_dir = loadconfig.PX4_ROOT
|
||||
|
||||
for name in glob.glob(px4_dir + '/boards/*/*/default.px4board'):
|
||||
kconf = kconfiglib.Kconfig()
|
||||
kconf.load_config(name)
|
||||
print(kconf.write_min_config(name))
|
||||
loadconfig.ensure_env()
|
||||
targets = list(loadconfig.enumerate_targets())
|
||||
|
||||
board_path = Path(name)
|
||||
defconfig_path = board_path.parent / "nuttx-config" / "nsh" / "defconfig"
|
||||
for target in targets:
|
||||
if target.label != 'default':
|
||||
continue
|
||||
kconf = loadconfig.load_kconfig()
|
||||
kconf.load_config(target.path)
|
||||
print(kconf.write_min_config(target.path))
|
||||
|
||||
defconfig_path = Path(target.path).parent / "nuttx-config" / "nsh" / "defconfig"
|
||||
|
||||
if os.path.exists(defconfig_path):
|
||||
# Merge NuttX with default config
|
||||
kconf = merge_config.main(px4_dir + "/Kconfig", name, defconfig_path)
|
||||
print(kconf.write_min_config(name))
|
||||
kconf = merge_config.main(px4_dir + "/Kconfig", target.path, defconfig_path)
|
||||
print(kconf.write_min_config(target.path))
|
||||
|
||||
for name in glob.glob(px4_dir + '/boards/*/*/bootloader.px4board'):
|
||||
kconf = kconfiglib.Kconfig()
|
||||
kconf.load_config(name)
|
||||
print(kconf.write_min_config(name))
|
||||
for target in targets:
|
||||
if target.label != 'bootloader':
|
||||
continue
|
||||
kconf = loadconfig.load_kconfig()
|
||||
kconf.load_config(target.path)
|
||||
print(kconf.write_min_config(target.path))
|
||||
|
||||
for name in glob.glob(px4_dir + '/boards/*/*/canbootloader.px4board'):
|
||||
kconf = kconfiglib.Kconfig()
|
||||
kconf.load_config(name)
|
||||
print(kconf.write_min_config(name))
|
||||
for target in targets:
|
||||
if target.label != 'canbootloader':
|
||||
continue
|
||||
kconf = loadconfig.load_kconfig()
|
||||
kconf.load_config(target.path)
|
||||
print(kconf.write_min_config(target.path))
|
||||
|
||||
for name in glob.glob(px4_dir + '/boards/*/*/*.px4board'):
|
||||
if(os.path.basename(name) != "default.px4board" and
|
||||
os.path.basename(name) != "bootloader.px4board" and
|
||||
os.path.basename(name) != "canbootloader.px4board"):
|
||||
board_default = os.path.dirname(name) + "/default.px4board";
|
||||
for target in targets:
|
||||
if target.label in ('default', 'bootloader', 'canbootloader'):
|
||||
continue
|
||||
board_default = os.path.join(os.path.dirname(target.path), 'default.px4board')
|
||||
|
||||
# Merge with default config
|
||||
kconf = merge_config.main(px4_dir + "/Kconfig", board_default, name)
|
||||
kconf = merge_config.main(px4_dir + "/Kconfig", board_default, target.path)
|
||||
tf = tempfile.NamedTemporaryFile()
|
||||
|
||||
# Save minconfig
|
||||
@@ -86,7 +92,7 @@ for name in glob.glob(px4_dir + '/boards/*/*/*.px4board'):
|
||||
|
||||
# Diff with default config and save to label.px4board
|
||||
stdoutpipe = sys.stdout
|
||||
sys.stdout = open(name, "w")
|
||||
sys.stdout = open(target.path, "w")
|
||||
diffconfig.main(1, board_default, tf.name)
|
||||
sys.stdout.close()
|
||||
sys.stdout = stdoutpipe
|
||||
|
||||
Reference in New Issue
Block a user