From 282346701684acd058d032a6013b3d1d7dfe53c3 Mon Sep 17 00:00:00 2001
From: Pierre Kancir <pierre.kancir@manna.aero>
Date: Tue, 10 Oct 2023 14:30:46 +0200
Subject: [PATCH 1/7] Tools: add junit output for autotest

---
 Tools/autotest/autotest.py |  9 +++++--
 Tools/autotest/common.py   | 51 +++++++++++++++++++++++++++++++++++---
 2 files changed, 55 insertions(+), 5 deletions(-)

diff --git a/Tools/autotest/autotest.py b/Tools/autotest/autotest.py
index 84c5884e070db..fec0c53114e8d 100755
--- a/Tools/autotest/autotest.py
+++ b/Tools/autotest/autotest.py
@@ -382,7 +382,7 @@ def run_specific_test(step, *args, **kwargs):
             a = Test(a)
         print("Got %s" % (a.name))
         if a.name == test:
-            return (tester.autotest(tests=[a], allow_skips=False), tester)
+            return tester.autotest(tests=[a], allow_skips=False, step_name=step), tester
     print("Failed to find test %s on %s" % (test, testname))
     sys.exit(1)
 
@@ -506,6 +506,7 @@ def run_step(step):
         "sup_binaries": supplementary_binaries,
         "reset_after_every_test": opts.reset_after_every_test,
         "build_opts": copy.copy(build_opts),
+        "generate_junit": opts.junit,
     }
     if opts.speedup is not None:
         fly_opts["speedup"] = opts.speedup
@@ -516,7 +517,7 @@ def run_step(step):
         global tester
         tester = tester_class_map[step](binary, **fly_opts)
         # run the test and return its result and the tester itself
-        return (tester.autotest(), tester)
+        return tester.autotest(None, step_name=step), tester
 
     # handle "test.Copter.CPUFailsafe" etc:
     specific_test_to_run = find_specific_test_to_run(step)
@@ -884,6 +885,10 @@ def format_epilog(self, formatter):
                       action='store_true',
                       default=False,
                       help='configure with --Werror')
+    parser.add_option("--junit",
+                      default=False,
+                      action='store_true',
+                      help='Generate Junit XML tests report')
 
     group_build = optparse.OptionGroup(parser, "Build options")
     group_build.add_option("--no-configure",
diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index 14d6142fccfea..f5bc595d813bc 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -18,6 +18,9 @@
 import sys
 import time
 import traceback
+from datetime import datetime
+from typing import List
+
 import pexpect
 import fnmatch
 import operator
@@ -1466,6 +1469,7 @@ def __init__(self, test):
         self.reason = None
         self.exception = None
         self.debug_filename = None
+        self.time_elapsed = 0.0
         # self.passed = False
 
     def __str__(self):
@@ -1478,7 +1482,8 @@ def __str__(self):
             ret += " (" + str(self.exception) + ")"
         if self.debug_filename is not None:
             ret += " (see " + self.debug_filename + ")"
-
+        if self.time_elapsed is not None:
+            ret += " (duration " + self.time_elapsed + "s)"
         return ret
 
 
@@ -1512,6 +1517,7 @@ def __init__(self,
                  ubsan_abort=False,
                  num_aux_imus=0,
                  dronecan_tests=False,
+                 generate_junit=False,
                  build_opts={}):
 
         self.start_time = time.time()
@@ -1540,6 +1546,12 @@ def __init__(self,
         self.ubsan_abort = ubsan_abort
         self.build_opts = build_opts
         self.num_aux_imus = num_aux_imus
+        self.generate_junit = generate_junit
+        if generate_junit:
+            try:
+                import junitparser
+            except ImportError as e:
+                raise ImportError(f"Junit export need junitparser package.\n {e} \nTry: python -m pip install junitparser")
 
         self.mavproxy = None
         self._mavproxy = None  # for auto-cleanup on failed tests
@@ -7968,6 +7980,7 @@ def run_one_test_attempt(self, test, interact=False, attempt=1, suppress_stdout=
             passed = False
 
         result = Result(test)
+        result.time_elapsed = self.test_timings[desc]
 
         ardupilot_alive = False
         try:
@@ -11271,7 +11284,7 @@ def assert_current_onboard_log_contains_message(self, messagetype):
         if not self.current_onboard_log_contains_message(messagetype):
             raise NotAchievedException("Current onboard log does not contain message %s" % messagetype)
 
-    def run_tests(self, tests):
+    def run_tests(self, tests) -> List[Result]:
         """Autotest vehicle in SITL."""
         if self.run_tests_called:
             raise ValueError("run_tests called twice")
@@ -13497,7 +13510,7 @@ def post_tests_announcements(self):
             print("Had to force-reset SITL %u times" %
                   (self.forced_post_test_sitl_reboots,))
 
-    def autotest(self, tests=None, allow_skips=True):
+    def autotest(self, tests=None, allow_skips=True, step_name=None):
         """Autotest used by ArduPilot autotest CI."""
         if tests is None:
             tests = self.tests()
@@ -13538,9 +13551,41 @@ def autotest(self, tests=None, allow_skips=True):
                 print(str(failure))
 
         self.post_tests_announcements()
+        if self.generate_junit:
+            if step_name is None:
+                step_name = "Unknown_step_name"
+            step_name.replace(".", "_")
+            self.create_junit_report(step_name, results, skip_list)
 
         return len(self.fail_list) == 0
 
+    def create_junit_report(self, test_name: str, results: List[Result], skip_list: list[tuple[Test, dict[str, str]]]) -> None:
+        """Generate Junit report from the autotest results"""
+        from junitparser import TestCase, TestSuite, JUnitXml, Skipped, Failure
+        frame = self.vehicleinfo_key()
+        xml_filename = f"autotest_result_{frame}_{test_name}_junit.xml"
+        self.progress(f"Writing test result in jUnit format to {xml_filename}\n")
+
+        suites = TestSuite("ArduPilot Autotest")
+        suites.timestamp = datetime.now().replace(microsecond=0).isoformat()
+        suite = TestSuite(f"Autotest {frame} {test_name}")
+        for result in results:
+            case = TestCase(f"{result.test.name}", f"{frame}", result.time_elapsed)
+            # f"{result.test.description}"
+            # case.file ## TODO : add file properties to match test location
+            if not result.passed:
+                case.result = [Failure(f"see {result.debug_filename}", f"{result.exception}")]
+            suite.add_testcase(case)
+        for skipped in skip_list:
+            (test, reason) = skipped
+            case = TestCase(f"{test.name}", f"{test.function}")
+            case.result = [Skipped(f"Skipped : {reason}")]
+        # Add suite to JunitXml
+        xml = JUnitXml()
+        xml.add_testsuite(suites)
+        xml.add_testsuite(suite)
+        xml.write(xml_filename, pretty=True)
+
     def mavfft_fttd(self, sensor_type, sensor_instance, since, until):
         '''display fft for raw ACC data in current logfile'''
 

From a06557a007bd53a5bed632f9ce7fd702a6da3633 Mon Sep 17 00:00:00 2001
From: Pierre Kancir <pierre.kancir@manna.aero>
Date: Thu, 19 Oct 2023 22:38:53 +0200
Subject: [PATCH 2/7] Tools: add junitparser to default install

skip-checks: true
---
 Tools/environment_install/install-prereqs-mac.sh    | 2 +-
 Tools/environment_install/install-prereqs-ubuntu.sh | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/Tools/environment_install/install-prereqs-mac.sh b/Tools/environment_install/install-prereqs-mac.sh
index 906ad0022a0bd..5471e6f175e6e 100755
--- a/Tools/environment_install/install-prereqs-mac.sh
+++ b/Tools/environment_install/install-prereqs-mac.sh
@@ -159,7 +159,7 @@ if [[ $DO_AP_STM_ENV -eq 1 ]]; then
     install_arm_none_eabi_toolchain
 fi
 
-PYTHON_PKGS="future lxml pymavlink MAVProxy pexpect geocoder flake8 empy dronecan"
+PYTHON_PKGS="future lxml pymavlink MAVProxy pexpect geocoder flake8 junitparser empy dronecan"
 # add some Python packages required for commonly-used MAVProxy modules and hex file generation:
 if [[ $SKIP_AP_EXT_ENV -ne 1 ]]; then
     PYTHON_PKGS="$PYTHON_PKGS intelhex gnureadline"
diff --git a/Tools/environment_install/install-prereqs-ubuntu.sh b/Tools/environment_install/install-prereqs-ubuntu.sh
index 65c84f229b850..6fa833120a0ff 100755
--- a/Tools/environment_install/install-prereqs-ubuntu.sh
+++ b/Tools/environment_install/install-prereqs-ubuntu.sh
@@ -153,7 +153,7 @@ fi
 # Lists of packages to install
 BASE_PKGS="build-essential ccache g++ gawk git make wget valgrind screen"
 PYTHON_PKGS="future lxml pymavlink pyserial MAVProxy pexpect geocoder empy ptyprocess dronecan"
-PYTHON_PKGS="$PYTHON_PKGS flake8"
+PYTHON_PKGS="$PYTHON_PKGS flake8 junitparser"
 
 # add some Python packages required for commonly-used MAVProxy modules and hex file generation:
 if [[ $SKIP_AP_EXT_ENV -ne 1 ]]; then

From ce6431b27c99215f6d9cf3ccd8d572293478f694 Mon Sep 17 00:00:00 2001
From: Pierre Kancir <pierre.kancir@manna.aero>
Date: Thu, 19 Oct 2023 22:40:06 +0200
Subject: [PATCH 3/7] .ignore: remove junit xml files

---
 .dockerignore | 1 +
 .gitignore    | 1 +
 2 files changed, 2 insertions(+)

diff --git a/.dockerignore b/.dockerignore
index d7de4ddfc3cde..7b3ececc07c4e 100644
--- a/.dockerignore
+++ b/.dockerignore
@@ -28,3 +28,4 @@ mav.*
 !Tools/environment_install/install-prereqs-ubuntu.sh
 !Tools/environment_install/install-prereqs-arch.sh
 !Tools/completion
+autotest_result_*_junit.xml
\ No newline at end of file
diff --git a/.gitignore b/.gitignore
index 42d336cd2a66e..7046032dcd48a 100644
--- a/.gitignore
+++ b/.gitignore
@@ -164,3 +164,4 @@ venv/
 ENV/
 env.bak/
 venv.bak/
+autotest_result_*_junit.xml

From 05dc8fa2fdd13d069c1599b8b8603cc9591b16e8 Mon Sep 17 00:00:00 2001
From: Pierre Kancir <pierre.kancir@manna.aero>
Date: Thu, 19 Oct 2023 22:41:50 +0200
Subject: [PATCH 4/7] Tools: make CI output junit xml results

---
 Tools/scripts/build_ci.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Tools/scripts/build_ci.sh b/Tools/scripts/build_ci.sh
index 4ae65daff8212..3011ce83d2b55 100755
--- a/Tools/scripts/build_ci.sh
+++ b/Tools/scripts/build_ci.sh
@@ -89,7 +89,7 @@ function run_autotest() {
     if [ "$NAME" == "Examples" ]; then
         w="$w --speedup=5 --timeout=14400 --debug --no-clean"
     fi
-    Tools/autotest/autotest.py --show-test-timings --waf-configure-args="$w" "$BVEHICLE" "$RVEHICLE"
+    Tools/autotest/autotest.py --show-test-timings --junit --waf-configure-args="$w" "$BVEHICLE" "$RVEHICLE"
     ccache -s && ccache -z
 }
 

From 1a4133744087315e6c667fcda40d6d64f0d85040 Mon Sep 17 00:00:00 2001
From: Pierre Kancir <pierre.kancir@manna.aero>
Date: Thu, 19 Oct 2023 22:50:25 +0200
Subject: [PATCH 5/7] .github: move containers to v0.1.1 to include junitparser

---
 .github/workflows/test_ccache.yml       | 2 +-
 .github/workflows/test_chibios.yml      | 2 +-
 .github/workflows/test_coverage.yml     | 2 +-
 .github/workflows/test_linux_sbc.yml    | 2 +-
 .github/workflows/test_replay.yml       | 2 +-
 .github/workflows/test_scripting.yml    | 2 +-
 .github/workflows/test_scripts.yml      | 2 +-
 .github/workflows/test_sitl_blimp.yml   | 4 ++--
 .github/workflows/test_sitl_copter.yml  | 8 ++++----
 .github/workflows/test_sitl_periph.yml  | 4 ++--
 .github/workflows/test_sitl_plane.yml   | 4 ++--
 .github/workflows/test_sitl_rover.yml   | 4 ++--
 .github/workflows/test_sitl_sub.yml     | 4 ++--
 .github/workflows/test_sitl_tracker.yml | 4 ++--
 .github/workflows/test_size.yml         | 2 +-
 .github/workflows/test_unit_tests.yml   | 2 +-
 16 files changed, 25 insertions(+), 25 deletions(-)

diff --git a/.github/workflows/test_ccache.yml b/.github/workflows/test_ccache.yml
index fabff75687c47..36ca816eaadf1 100644
--- a/.github/workflows/test_ccache.yml
+++ b/.github/workflows/test_ccache.yml
@@ -126,7 +126,7 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-22.04
-    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.0
+    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.1
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
       matrix:
diff --git a/.github/workflows/test_chibios.yml b/.github/workflows/test_chibios.yml
index 97a405eec79f0..09f6d5a10ee88 100644
--- a/.github/workflows/test_chibios.yml
+++ b/.github/workflows/test_chibios.yml
@@ -134,7 +134,7 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-22.04
-    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.0
+    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.1
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
       matrix:
diff --git a/.github/workflows/test_coverage.yml b/.github/workflows/test_coverage.yml
index 508e2cb99cf39..2e07da61098eb 100644
--- a/.github/workflows/test_coverage.yml
+++ b/.github/workflows/test_coverage.yml
@@ -15,7 +15,7 @@ jobs:
   build:
     runs-on: ubuntu-22.04
     container:
-      image: ardupilot/ardupilot-dev-${{ matrix.type }}:v0.1.0
+      image: ardupilot/ardupilot-dev-${{ matrix.type }}:v0.1.1
       options: --privileged
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
diff --git a/.github/workflows/test_linux_sbc.yml b/.github/workflows/test_linux_sbc.yml
index 1c2259f3532a1..9c10af1e95187 100644
--- a/.github/workflows/test_linux_sbc.yml
+++ b/.github/workflows/test_linux_sbc.yml
@@ -135,7 +135,7 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-22.04
-    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.0
+    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.1
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
       matrix:
diff --git a/.github/workflows/test_replay.yml b/.github/workflows/test_replay.yml
index 1cd0b1c6afb60..aace7b06c686b 100644
--- a/.github/workflows/test_replay.yml
+++ b/.github/workflows/test_replay.yml
@@ -148,7 +148,7 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-22.04
-    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.0
+    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.1
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
       matrix:
diff --git a/.github/workflows/test_scripting.yml b/.github/workflows/test_scripting.yml
index c8d4b17c8255b..8f6a4d0b91c88 100644
--- a/.github/workflows/test_scripting.yml
+++ b/.github/workflows/test_scripting.yml
@@ -22,7 +22,7 @@ concurrency:
 jobs:
   test-scripting:
     runs-on: ubuntu-22.04
-    container: ardupilot/ardupilot-dev-base:v0.1.0
+    container: ardupilot/ardupilot-dev-base:v0.1.1
     steps:
       # git checkout the PR
       - uses: actions/checkout@v3
diff --git a/.github/workflows/test_scripts.yml b/.github/workflows/test_scripts.yml
index 1728f5facd1db..c106c293f9bd1 100644
--- a/.github/workflows/test_scripts.yml
+++ b/.github/workflows/test_scripts.yml
@@ -9,7 +9,7 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-22.04
-    container: ardupilot/ardupilot-dev-base:v0.1.0
+    container: ardupilot/ardupilot-dev-base:v0.1.1
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
       matrix:
diff --git a/.github/workflows/test_sitl_blimp.yml b/.github/workflows/test_sitl_blimp.yml
index 7343f4b81ebde..b346efdcbe699 100644
--- a/.github/workflows/test_sitl_blimp.yml
+++ b/.github/workflows/test_sitl_blimp.yml
@@ -207,9 +207,9 @@ jobs:
 
   autotest:
     needs: build  # don't try to launch the tests matrix if it doesn't build first, profit from caching for fast build
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     container:
-      image: ardupilot/ardupilot-dev-base:v0.0.29
+      image: ardupilot/ardupilot-dev-base:v0.1.1
       options: --privileged --cap-add=SYS_PTRACE --security-opt apparmor=unconfined --security-opt seccomp=unconfined
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
diff --git a/.github/workflows/test_sitl_copter.yml b/.github/workflows/test_sitl_copter.yml
index 9783a04c3d9ac..c2133a5a1d499 100644
--- a/.github/workflows/test_sitl_copter.yml
+++ b/.github/workflows/test_sitl_copter.yml
@@ -161,7 +161,7 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-22.04
-    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.0
+    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.1
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
       matrix:
@@ -207,7 +207,7 @@ jobs:
     needs: build  # don't try to launch the tests matrix if it doesn't build first, profit from caching for fast build
     runs-on: ubuntu-22.04
     container:
-      image: ardupilot/ardupilot-dev-base:v0.1.0
+      image: ardupilot/ardupilot-dev-base:v0.1.1
       options: --privileged --cap-add=SYS_PTRACE --security-opt apparmor=unconfined --security-opt seccomp=unconfined
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
@@ -275,7 +275,7 @@ jobs:
   build-gcc-heli:
     runs-on: ubuntu-22.04
     container:
-      image: ardupilot/ardupilot-dev-base:v0.1.0
+      image: ardupilot/ardupilot-dev-base:v0.1.1
       options: --privileged --cap-add=SYS_PTRACE --security-opt apparmor=unconfined --security-opt seccomp=unconfined
     steps:
       # git checkout the PR
@@ -310,7 +310,7 @@ jobs:
   autotest-heli:
     needs: build-gcc-heli  # don't try to launch the tests matrix if it doesn't build first, profit from caching for fast build
     runs-on: ubuntu-22.04
-    container: ardupilot/ardupilot-dev-base:v0.1.0
+    container: ardupilot/ardupilot-dev-base:v0.1.1
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
       matrix:
diff --git a/.github/workflows/test_sitl_periph.yml b/.github/workflows/test_sitl_periph.yml
index d3bd91ff2c4fd..d53bbc54a2b9a 100644
--- a/.github/workflows/test_sitl_periph.yml
+++ b/.github/workflows/test_sitl_periph.yml
@@ -160,7 +160,7 @@ concurrency:
 jobs:
   build-gcc-ap_periph:
     runs-on: ubuntu-22.04
-    container: ardupilot/ardupilot-dev-periph:v0.1.0
+    container: ardupilot/ardupilot-dev-periph:v0.1.1
     steps:
       # git checkout the PR
       - uses: actions/checkout@v3
@@ -201,7 +201,7 @@ jobs:
     needs: build-gcc-ap_periph  # don't try to launch the tests matrix if it doesn't build first, profit from caching for fast build
     runs-on: ubuntu-22.04
     container: 
-      image: ardupilot/ardupilot-dev-periph:v0.1.0
+      image: ardupilot/ardupilot-dev-periph:v0.1.1
       options: --privileged
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
diff --git a/.github/workflows/test_sitl_plane.yml b/.github/workflows/test_sitl_plane.yml
index 24a48476c102a..66bb9a7ebf3b1 100644
--- a/.github/workflows/test_sitl_plane.yml
+++ b/.github/workflows/test_sitl_plane.yml
@@ -162,7 +162,7 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-22.04
-    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.0
+    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.1
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
       matrix:
@@ -208,7 +208,7 @@ jobs:
     needs: build  # don't try to launch the tests matrix if it doesn't build first, profit from caching for fast build
     runs-on: ubuntu-22.04
     container:
-      image: ardupilot/ardupilot-dev-base:v0.1.0
+      image: ardupilot/ardupilot-dev-base:v0.1.1
       options: --privileged --cap-add=SYS_PTRACE --security-opt apparmor=unconfined --security-opt seccomp=unconfined
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
diff --git a/.github/workflows/test_sitl_rover.yml b/.github/workflows/test_sitl_rover.yml
index 5ca2fa60ace72..a6f3d669b3276 100644
--- a/.github/workflows/test_sitl_rover.yml
+++ b/.github/workflows/test_sitl_rover.yml
@@ -161,7 +161,7 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-22.04
-    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.0
+    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.1
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
       matrix:
@@ -207,7 +207,7 @@ jobs:
     needs: build  # don't try to launch the tests matrix if it doesn't build first, profit from caching for fast build
     runs-on: ubuntu-22.04
     container:
-      image: ardupilot/ardupilot-dev-base:v0.1.0
+      image: ardupilot/ardupilot-dev-base:v0.1.1
       options: --privileged --cap-add=SYS_PTRACE --security-opt apparmor=unconfined --security-opt seccomp=unconfined
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
diff --git a/.github/workflows/test_sitl_sub.yml b/.github/workflows/test_sitl_sub.yml
index 57d69d575d2f4..cbe5aaddf1b02 100644
--- a/.github/workflows/test_sitl_sub.yml
+++ b/.github/workflows/test_sitl_sub.yml
@@ -164,7 +164,7 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-22.04
-    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.0
+    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.1
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
       matrix:
@@ -210,7 +210,7 @@ jobs:
     needs: build  # don't try to launch the tests matrix if it doesn't build first, profit from caching for fast build
     runs-on: ubuntu-22.04
     container:
-      image: ardupilot/ardupilot-dev-base:v0.1.0
+      image: ardupilot/ardupilot-dev-base:v0.1.1
       options: --privileged --cap-add=SYS_PTRACE --security-opt apparmor=unconfined --security-opt seccomp=unconfined
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
diff --git a/.github/workflows/test_sitl_tracker.yml b/.github/workflows/test_sitl_tracker.yml
index c869fb2d66a6a..8191e57483bf5 100644
--- a/.github/workflows/test_sitl_tracker.yml
+++ b/.github/workflows/test_sitl_tracker.yml
@@ -164,7 +164,7 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-22.04
-    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.0
+    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.1
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
       matrix:
@@ -210,7 +210,7 @@ jobs:
     needs: build  # don't try to launch the tests matrix if it doesn't build first, profit from caching for fast build
     runs-on: ubuntu-22.04
     container:
-      image: ardupilot/ardupilot-dev-base:v0.1.0
+      image: ardupilot/ardupilot-dev-base:v0.1.1
       options: --privileged --cap-add=SYS_PTRACE --security-opt apparmor=unconfined --security-opt seccomp=unconfined
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
diff --git a/.github/workflows/test_size.yml b/.github/workflows/test_size.yml
index 84bb5bb154ec8..03758fc24748b 100644
--- a/.github/workflows/test_size.yml
+++ b/.github/workflows/test_size.yml
@@ -61,7 +61,7 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-22.04
-    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.0
+    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.1
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails
       matrix:
diff --git a/.github/workflows/test_unit_tests.yml b/.github/workflows/test_unit_tests.yml
index f843f07960b87..02b174336f945 100644
--- a/.github/workflows/test_unit_tests.yml
+++ b/.github/workflows/test_unit_tests.yml
@@ -101,7 +101,7 @@ jobs:
   build:
     runs-on: ubuntu-22.04
     container:
-      image: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.0
+      image: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.1
       options: --user 1001
     strategy:
       fail-fast: false  # don't cancel if a job from the matrix fails

From 5a6c0d79115ff1b56f70b02cf8c5847d2e3332e3 Mon Sep 17 00:00:00 2001
From: Pierre Kancir <pierre.kancir@manna.aero>
Date: Thu, 19 Oct 2023 23:11:17 +0200
Subject: [PATCH 6/7] Tools: fix flake8 issue

---
 Tools/autotest/common.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/Tools/autotest/common.py b/Tools/autotest/common.py
index f5bc595d813bc..54add15e00dc1 100644
--- a/Tools/autotest/common.py
+++ b/Tools/autotest/common.py
@@ -20,6 +20,7 @@
 import traceback
 from datetime import datetime
 from typing import List
+import importlib.util
 
 import pexpect
 import fnmatch
@@ -1549,7 +1550,9 @@ def __init__(self,
         self.generate_junit = generate_junit
         if generate_junit:
             try:
-                import junitparser
+                spec = importlib.util.find_spec("junitparser")
+                if spec is None:
+                    raise ImportError
             except ImportError as e:
                 raise ImportError(f"Junit export need junitparser package.\n {e} \nTry: python -m pip install junitparser")
 

From f24f8b75a04109e688870cbf5bb1c76b0b7bdaf6 Mon Sep 17 00:00:00 2001
From: Pierre Kancir <pierre.kancir@manna.aero>
Date: Thu, 19 Oct 2023 22:42:49 +0200
Subject: [PATCH 7/7] .github: use a junit report for simpler PR checks

---
 .github/workflows/test-report.yml       | 52 +++++++++++++++++++++++++
 .github/workflows/test_sitl_blimp.yml   |  6 +++
 .github/workflows/test_sitl_copter.yml  | 14 +++++++
 .github/workflows/test_sitl_plane.yml   |  6 +++
 .github/workflows/test_sitl_rover.yml   |  6 +++
 .github/workflows/test_sitl_sub.yml     |  6 +++
 .github/workflows/test_sitl_tracker.yml |  6 +++
 .github/workflows/test_unit_tests.yml   |  7 ++++
 8 files changed, 103 insertions(+)
 create mode 100644 .github/workflows/test-report.yml

diff --git a/.github/workflows/test-report.yml b/.github/workflows/test-report.yml
new file mode 100644
index 0000000000000..e20701e3d9258
--- /dev/null
+++ b/.github/workflows/test-report.yml
@@ -0,0 +1,52 @@
+name: 'Test Report'
+on:
+  workflow_run:
+    workflows: [
+      'test unit tests and sitl building',
+      'test blimp',
+      'test plane',
+      'test rover',
+      'test sub',
+      'test tracker',
+      'test copter' ]  # runs after CI workflow
+    types:
+      - completed
+
+permissions:
+  contents: read
+  actions: read
+  checks: write
+
+jobs:
+  report:
+    runs-on: ubuntu-latest
+#    strategy:
+#      fail-fast: false  # don't cancel if a job from the matrix fails
+#      matrix:
+#        config: [
+#          sitltest-plane,
+#          sitltest-quadplane,
+#          sitltest-copter-tests1a,
+#          sitltest-copter-tests1b,
+#          sitltest-copter-tests1c,
+#          sitltest-copter-tests1d,
+#          sitltest-copter-tests1e,
+#          sitltest-copter-tests2a,
+#          sitltest-copter-tests2b,
+#          sitltest-heli,
+#          sitltest-blimp,
+#          sitltest-rover,
+#          sitltest-sailboat,
+#          sitltest-balancebot,
+#          sitltest-sub,
+#          sitltest-tracker,
+#          base-unit-tests,
+#        ]
+
+    steps:
+      - uses: dorny/test-reporter@v1
+        with:
+          artifact: /test-results-junit-(.*)/        # artifact name
+          name: Tests Report $1                   # Name of the check run which will be created
+          path: '*.xml'                           # Path to test results (inside artifact .zip)
+          reporter: java-junit                    # Format of test results
diff --git a/.github/workflows/test_sitl_blimp.yml b/.github/workflows/test_sitl_blimp.yml
index b346efdcbe699..ba32da000d9c9 100644
--- a/.github/workflows/test_sitl_blimp.yml
+++ b/.github/workflows/test_sitl_blimp.yml
@@ -268,3 +268,9 @@ jobs:
            path: /__w/ardupilot/ardupilot/logs
            retention-days: 7
 
+      - uses: actions/upload-artifact@v3  # upload test results
+        if: success() || failure()        # run this step even if previous step failed
+        with:
+          name: test-results-junit-${{matrix.config}}
+          path: /__w/ardupilot/ardupilot/autotest_result_*_junit.xml
+          retention-days: 1
diff --git a/.github/workflows/test_sitl_copter.yml b/.github/workflows/test_sitl_copter.yml
index c2133a5a1d499..681fdf31698a3 100644
--- a/.github/workflows/test_sitl_copter.yml
+++ b/.github/workflows/test_sitl_copter.yml
@@ -272,6 +272,13 @@ jobs:
            path: /__w/ardupilot/ardupilot/logs
            retention-days: 7
 
+      - uses: actions/upload-artifact@v3  # upload test results
+        if: success() || failure()        # run this step even if previous step failed
+        with:
+          name: test-results-junit
+          path: /__w/ardupilot/ardupilot/autotest_result_*_junit.xml
+          retention-days: 1
+
   build-gcc-heli:
     runs-on: ubuntu-22.04
     container:
@@ -367,3 +374,10 @@ jobs:
            name: BIN-${{matrix.config}}
            path: /__w/ardupilot/ardupilot/logs
            retention-days: 7
+
+      - uses: actions/upload-artifact@v3  # upload test results
+        if: success() || failure()        # run this step even if previous step failed
+        with:
+          name: test-results-junit-${{matrix.config}}
+          path: /__w/ardupilot/ardupilot/autotest_result_*_junit.xml
+          retention-days: 1
diff --git a/.github/workflows/test_sitl_plane.yml b/.github/workflows/test_sitl_plane.yml
index 66bb9a7ebf3b1..1e5e369fbfaf5 100644
--- a/.github/workflows/test_sitl_plane.yml
+++ b/.github/workflows/test_sitl_plane.yml
@@ -268,3 +268,9 @@ jobs:
            path: /__w/ardupilot/ardupilot/logs
            retention-days: 7
 
+      - uses: actions/upload-artifact@v3  # upload test results
+        if: success() || failure()        # run this step even if previous step failed
+        with:
+          name: test-results-junit-${{matrix.config}}
+          path: /__w/ardupilot/ardupilot/autotest_result_*_junit.xml
+          retention-days: 1
diff --git a/.github/workflows/test_sitl_rover.yml b/.github/workflows/test_sitl_rover.yml
index a6f3d669b3276..23c82ccfcca70 100644
--- a/.github/workflows/test_sitl_rover.yml
+++ b/.github/workflows/test_sitl_rover.yml
@@ -268,3 +268,9 @@ jobs:
            path: /__w/ardupilot/ardupilot/logs
            retention-days: 7
 
+      - uses: actions/upload-artifact@v3  # upload test results
+        if: success() || failure()        # run this step even if previous step failed
+        with:
+          name: test-results-junit-${{matrix.config}}
+          path: /__w/ardupilot/ardupilot/autotest_result_*_junit.xml
+          retention-days: 1
diff --git a/.github/workflows/test_sitl_sub.yml b/.github/workflows/test_sitl_sub.yml
index cbe5aaddf1b02..5f8d6d9470461 100644
--- a/.github/workflows/test_sitl_sub.yml
+++ b/.github/workflows/test_sitl_sub.yml
@@ -269,3 +269,9 @@ jobs:
            path: /__w/ardupilot/ardupilot/logs
            retention-days: 7
 
+      - uses: actions/upload-artifact@v3  # upload test results
+        if: success() || failure()        # run this step even if previous step failed
+        with:
+          name: test-results-junit-${{matrix.config}}
+          path: /__w/ardupilot/ardupilot/autotest_result_*_junit.xml
+          retention-days: 1
diff --git a/.github/workflows/test_sitl_tracker.yml b/.github/workflows/test_sitl_tracker.yml
index 8191e57483bf5..8376887e9ea25 100644
--- a/.github/workflows/test_sitl_tracker.yml
+++ b/.github/workflows/test_sitl_tracker.yml
@@ -269,3 +269,9 @@ jobs:
            path: /__w/ardupilot/ardupilot/logs
            retention-days: 7
 
+      - uses: actions/upload-artifact@v3  # upload test results
+        if: success() || failure()        # run this step even if previous step failed
+        with:
+          name: test-results-junit-${{matrix.config}}
+          path: /__w/ardupilot/ardupilot/autotest_result_*_junit.xml
+          retention-days: 1
diff --git a/.github/workflows/test_unit_tests.yml b/.github/workflows/test_unit_tests.yml
index 02b174336f945..ce9d868e146e7 100644
--- a/.github/workflows/test_unit_tests.yml
+++ b/.github/workflows/test_unit_tests.yml
@@ -155,3 +155,10 @@ jobs:
            name: fail-${{ matrix.toolchain }}-${{matrix.config}}
            path: /tmp/buildlogs
            retention-days: 14
+
+      - uses: actions/upload-artifact@v3  # upload test results
+        if: success() || failure()        # run this step even if previous step failed
+        with:
+          name: test-results-junit-${{ matrix.toolchain }}-${{matrix.config}}
+          path: /__w/ardupilot/ardupilot/autotest_result_*_junit.xml
+          retention-days: 1