ci(workflows): wire ccache and caches across SITL, ROS, macOS, Ubuntu

.github/workflows/checks.yml

@@ -12,30 +12,52 @@ on:
     paths-ignore:
       - 'docs/**'
 
+permissions:
+  contents: read
+
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
 
 jobs:
-  build:
-    runs-on: ubuntu-latest
-
+  gate_checks:
+    name: Gate Checks [${{ matrix.check }}]
+    runs-on: [runs-on,runner=2cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
     container:
       image: ghcr.io/px4/px4-dev:v1.17.0-rc2
-
     strategy:
       fail-fast: true
       matrix:
         check: [
           "check_format",
           "check_newlines",
-          "tests",
           "validate_module_configs",
           "shellcheck_all",
           "module_documentation",
         ]
+    steps:
+      - uses: runs-on/action@v2
+
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 1
 
+      - name: Configure Git Safe Directory
+        run: git config --system --add safe.directory '*'
+
+      - name: Building [${{ matrix.check }}]
+        env:
+          PX4_SBOM_DISABLE: 1
+        run: make ${{ matrix.check }}
+
+  tests:
+    name: Unit Tests
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    container:
+      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
     steps:
+      - uses: runs-on/action@v2
+
       - uses: actions/checkout@v4
         with:
           fetch-depth: 1
@@ -45,19 +67,16 @@ jobs:
 
       - uses: ./.github/actions/setup-ccache
         id: ccache
-        if: matrix.check == 'tests'
         with:
           cache-key-prefix: ccache-sitl
           max-size: 300M
 
-      - name: Building [${{ matrix.check }}]
+      - name: Build and run unit tests
         env:
           PX4_SBOM_DISABLE: 1
-        run: |
-          cd "$GITHUB_WORKSPACE"
-          make ${{ matrix.check }}
+        run: make tests
 
       - uses: ./.github/actions/save-ccache
-        if: always() && matrix.check == 'tests'
+        if: always()
         with:
           cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}

.github/workflows/clang-tidy.yml

@@ -38,7 +38,7 @@ jobs:
       id: ccache
       with:
         cache-key-prefix: ccache-clang-tidy
-        max-size: 120M
+        max-size: 150M
 
     - name: Build - px4_sitl_default (Clang)
       run: make -j16 px4_sitl_default-clang

.github/workflows/compile_macos.yml

@@ -19,12 +19,6 @@ concurrency:
 jobs:
   build:
     runs-on: macos-latest
-    strategy:
-      matrix:
-        config: [
-          px4_fmu-v5_default,
-          px4_sitl
-          ]
     steps:
     - name: install Python 3.10
       uses: actions/setup-python@v5
@@ -33,35 +27,41 @@ jobs:
 
     - uses: actions/checkout@v4
 
-    - name: setup
-      run: |
-        ./Tools/setup/macos.sh
+    - name: Cache - Restore Homebrew Packages
+      uses: actions/cache@v4
+      with:
+        path: ~/Library/Caches/Homebrew/downloads
+        key: macos-homebrew-${{ runner.arch }}-${{ hashFiles('Tools/setup/macos.sh') }}
+        restore-keys: |
+          macos-homebrew-${{ runner.arch }}-
 
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        file(APPEND "$ENV{GITHUB_OUTPUT}" "timestamp=${current_date}\n")
-    - name: ccache cache files
+    - name: Cache - Restore pip Packages
       uses: actions/cache@v4
       with:
-        path: ~/.ccache
-        key: macos_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: macos_${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 40M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
+        path: ~/Library/Caches/pip
+        key: macos-pip-${{ runner.arch }}-${{ hashFiles('Tools/setup/requirements.txt') }}
+        restore-keys: |
+          macos-pip-${{ runner.arch }}-
 
-    - name: make ${{matrix.config}}
-      run: |
-          ccache -z
-          make ${{matrix.config}}
-          ccache -s
+    - name: setup
+      run: ./Tools/setup/macos.sh
+
+    - uses: ./.github/actions/setup-ccache
+      id: ccache
+      with:
+        cache-key-prefix: ccache-macos
+        max-size: 200M
+
+    - name: Build px4_sitl
+      run: make px4_sitl
+
+    - name: Cache - Stats after px4_sitl
+      run: ccache -s
+
+    - name: Build px4_fmu-v5_default
+      run: make px4_fmu-v5_default
+
+    - uses: ./.github/actions/save-ccache
+      if: always()
+      with:
+        cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}

.github/workflows/compile_ubuntu.yml

@@ -29,12 +29,13 @@ jobs:
       fail-fast: false
       matrix:
         version: ['ubuntu:22.04', 'ubuntu:24.04']
-    runs-on: [runs-on,runner=4cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
     container:
       image: ${{ matrix.version }}
       volumes:
         - /github/workspace:/github/workspace
     steps:
+      - uses: runs-on/action@v2
 
       - name: Fix git in container
         run: |
@@ -53,9 +54,19 @@ jobs:
         if: startsWith(runner.name, 'runs-on--')
         run: ./Tools/ci/use_aws_apt_mirror.sh
 
-      - name: Install Deps, Build, and Make Quick Check
-        run: |
-          # we need to install dependencies and build on the same step
-          # given the stateless nature of docker images
-          ./Tools/setup/ubuntu.sh
-          make quick_check
+      - name: Install Deps
+        run: ./Tools/setup/ubuntu.sh
+
+      - uses: ./.github/actions/setup-ccache
+        id: ccache
+        with:
+          cache-key-prefix: ccache-ubuntu-${{ matrix.version }}
+          max-size: 200M
+
+      - name: Make Quick Check
+        run: make quick_check
+
+      - uses: ./.github/actions/save-ccache
+        if: always()
+        with:
+          cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}

.github/workflows/docs-orchestrator.yml

@@ -72,7 +72,7 @@ jobs:
     container:
       image: ghcr.io/px4/px4-dev:v1.17.0-rc2
     steps:
-      - uses: runs-on/action@v1
+      - uses: runs-on/action@v2
 
       - name: Checkout
         uses: actions/checkout@v4
@@ -134,7 +134,7 @@ jobs:
     container:
       image: ghcr.io/px4/px4-dev:v1.17.0-rc2
     steps:
-      - uses: runs-on/action@v1
+      - uses: runs-on/action@v2
 
       - name: Checkout
         uses: actions/checkout@v4
@@ -332,7 +332,7 @@ jobs:
       branchname: ${{ steps.set-branch.outputs.branchname }}
       releaseversion: ${{ steps.set-version.outputs.releaseversion }}
     steps:
-      - uses: runs-on/action@v1
+      - uses: runs-on/action@v2
 
       - name: Checkout
         uses: actions/checkout@v4

.github/workflows/docs_deploy.yml

@@ -22,7 +22,7 @@ jobs:
   build:
     runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
     steps:
-      - uses: runs-on/action@v1
+      - uses: runs-on/action@v2
       - name: Checkout
         uses: actions/checkout@v4
 

.github/workflows/failsafe_sim.yml

@@ -18,41 +18,51 @@
 
 jobs:
   build:
-    runs-on: ubuntu-latest
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
     defaults:
       run:
         shell: bash
     strategy:
       fail-fast: false
       matrix:
         check: [
           "failsafe_web",
         ]
     container:
       image: ghcr.io/px4/px4-dev:v1.17.0-rc2
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
+      - uses: runs-on/action@v2
+
       - name: Install Node v20.18.0
         uses: actions/setup-node@v4
         with:
           node-version: 20.18.0
 
       - uses: actions/checkout@v4
         with:
           fetch-depth: 0
 
       - name: Git ownership workaround
         run: git config --system --add safe.directory '*'
 
+      - name: Cache - Restore Emscripten SDK
+        id: cache-emsdk
+        uses: actions/cache@v4
+        with:
+          path: _emscripten_sdk
+          key: emsdk-4.0.15
+
       - name: Install empscripten
+        if: steps.cache-emsdk.outputs.cache-hit != 'true'
         run: |
           git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
           cd _emscripten_sdk
           git checkout 4.0.15
           ./emsdk install latest
           ./emsdk activate latest
 
       - name: Testing [${{ matrix.check }}]
         run: |
           . ./_emscripten_sdk/emsdk_env.sh
           make ${{ matrix.check }}