inav/.github/workflows/ci.yml

name: Build firmware
# Don't enable CI on push, just on PR. If you
# are working on the main repo and want to trigger
# a CI build submit a draft PR.
on:
  push:
    branches:
      - '!maintenance-8.x.x'
  pull_request:
    paths:
      - 'src/**'
      - '.github/**'
      - 'cmake/**'
      - 'lib/**'
      - 'docs/Settings.md'
      - 'CMakeLists.txt'
      - '*.sh'

  workflow_call:
    #inputs:
    #  release_build:
    #   description: 'Specifies if it is a build that should include commit hash in hex file names or not'
    #   default: false
    #   required: false
    #   type: boolean


jobs:
  detect:
    runs-on: ubuntu-latest
    outputs:
      single_target: ${{ steps.check.outputs.single_target }}
      target_names: ${{ steps.check.outputs.target_names }}
    steps:
      - uses: actions/checkout@v4
        with:
          fetch-depth: 0
      - name: Detect single-target PR
        id: check
        run: |
          if [ "${{ github.event_name }}" != "pull_request" ]; then
            echo "single_target=false" >> $GITHUB_OUTPUT
            exit 0
          fi

          CHANGED=$(git diff --name-only origin/${{ github.base_ref }}...HEAD)

          if [ -z "$CHANGED" ]; then
            echo "single_target=false" >> $GITHUB_OUTPUT
            exit 0
          fi

          # Fail fast if any changed file is outside src/main/target/<dir>/
          NON_TARGET=$(echo "$CHANGED" | grep -Ev '^src/main/target/[^/]+/.+' | head -1)
          if [ -n "$NON_TARGET" ]; then
            echo "Non-target file changed: $NON_TARGET — full build required"
            echo "single_target=false" >> $GITHUB_OUTPUT
            exit 0
          fi

          # Count how many distinct target directories were touched
          TARGET_DIRS=$(echo "$CHANGED" | sed -n 's|^src/main/target/\([^/]*\)/.*|\1|p' | sort -u)
          DIR_COUNT=$(echo "$TARGET_DIRS" | wc -l)
          if [ "$DIR_COUNT" != "1" ]; then
            echo "$DIR_COUNT target directories changed — full build required"
            echo "single_target=false" >> $GITHUB_OUTPUT
            exit 0
          fi

          TARGET_DIR="$TARGET_DIRS"
          CMAKE="src/main/target/${TARGET_DIR}/CMakeLists.txt"
          if [ ! -f "$CMAKE" ]; then
            echo "No CMakeLists.txt for $TARGET_DIR — full build required"
            echo "single_target=false" >> $GITHUB_OUTPUT
            exit 0
          fi

          TARGET_NAMES=$(grep -oP '(?<=\()[^)]+' "$CMAKE" | tr '\n' ' ' | xargs)
          if [ -z "$TARGET_NAMES" ]; then
            echo "No target names in CMakeLists.txt — full build required"
            echo "single_target=false" >> $GITHUB_OUTPUT
            exit 0
          fi

          echo "Single-target PR: building $TARGET_NAMES"
          echo "single_target=true" >> $GITHUB_OUTPUT
          echo "target_names=$TARGET_NAMES" >> $GITHUB_OUTPUT

  build:
    needs: [detect]
    if: needs.detect.outputs.single_target != 'true'
    runs-on: ubuntu-latest
    strategy:
        matrix:
          id: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]

    steps:
      - uses: actions/checkout@v4
      - name: Install dependencies
        run: sudo apt-get update && sudo apt-get -y install ninja-build
      - name: Setup environment
        env:
          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
        run: |
          # This is the hash of the commit for the PR
          # when the action is triggered by PR, empty otherwise
          COMMIT_ID=${{ github.event.pull_request.head.sha }}
          # This is the hash of the commit when triggered by push
          # but the hash of refs/pull/<n>/merge, which is different
          # from the hash of the latest commit in the PR, that's
          # why we try github.event.pull_request.head.sha first
          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
          BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t)]/, "", $2); print $2 }')
          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
          echo "NUM_CORES=$(grep processor /proc/cpuinfo  | wc -l)" >> $GITHUB_ENV
      - uses: actions/cache@v4
        with:
          path: downloads
          key: ${{ runner.os }}-downloads-${{ hashFiles('CMakeLists.txt') }}-${{ hashFiles('**/cmake/*')}}
      - name: Build targets (${{ matrix.id }})
        run: mkdir -p build && cd build && cmake -DWARNINGS_AS_ERRORS=ON -DCI_JOB_INDEX=${{ matrix.id }} -DCI_JOB_COUNT=${{ strategy.job-total }} -DBUILD_SUFFIX=${{ env.BUILD_SUFFIX }} -DMAIN_COMPILE_OPTIONS=-pipe -G Ninja .. && ninja -j${{ env.NUM_CORES }} ci
      - name: Upload artifacts
        uses: actions/upload-artifact@v4
        with:
          name: matrix-${{ env.BUILD_NAME }}.${{ matrix.id }}
          path: ./build/*.hex
          retention-days: 1

  build-single-target:
    needs: [detect]
    if: needs.detect.outputs.single_target == 'true'
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4
      - name: Install dependencies
        run: sudo apt-get update && sudo apt-get -y install ninja-build
      - name: Setup environment
        env:
          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
        run: |
          COMMIT_ID=${{ github.event.pull_request.head.sha }}
          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
          BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t)]/, "", $2); print $2 }')
          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
          echo "NUM_CORES=$(grep processor /proc/cpuinfo  | wc -l)" >> $GITHUB_ENV
      - uses: actions/cache@v4
        with:
          path: downloads
          key: ${{ runner.os }}-downloads-${{ hashFiles('CMakeLists.txt') }}-${{ hashFiles('**/cmake/*')}}
      - name: Build targets (${{ needs.detect.outputs.target_names }})
        run: mkdir -p build && cd build && cmake -DWARNINGS_AS_ERRORS=ON -DBUILD_SUFFIX=${{ env.BUILD_SUFFIX }} -DMAIN_COMPILE_OPTIONS=-pipe -G Ninja .. && ninja -j${{ env.NUM_CORES }} ${{ needs.detect.outputs.target_names }}
      - name: Upload artifacts
        uses: actions/upload-artifact@v4
        with:
          name: matrix-${{ env.BUILD_NAME }}.single
          path: ./build/*.hex
          retention-days: 1

  upload-artifacts:
    runs-on: ubuntu-latest
    needs: [build, build-single-target]
    if: always() && !cancelled() && (needs.build.result == 'success' || needs.build-single-target.result == 'success')
    steps:
      - uses: actions/checkout@v4
      - name: Setup environment
        env:
          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
        run: |
          # This is the hash of the commit for the PR
          # when the action is triggered by PR, empty otherwise
          COMMIT_ID=${{ github.event.pull_request.head.sha }}
          # This is the hash of the commit when triggered by push
          # but the hash of refs/pull/<n>/merge, which is different
          # from the hash of the latest commit in the PR, that's
          # why we try github.event.pull_request.head.sha first
          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
          BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t)]/, "", $2); print $2 }')
          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
          echo "NUM_CORES=$(grep processor /proc/cpuinfo  | wc -l)" >> $GITHUB_ENV
      - name: Download artifacts
        uses: actions/download-artifact@v4
        with:
          pattern: matrix-inav-*
          merge-multiple: true
          path: binaries
      - name: Build target list
        run: |
          ls -1 binaries/*.hex | cut -d/ -f2 > targets.txt
      - name: Upload firmware images
        uses: actions/upload-artifact@v4
        with:
          name: ${{ env.BUILD_NAME }}
          path: binaries/*.hex
      - name: Upload firmware images
        uses: actions/upload-artifact@v4
        with:
          name: targets
          path: targets.txt
      - name: Save PR number
        if: github.event_name == 'pull_request'
        run: echo "${{ github.event.pull_request.number }}" > pr_number.txt
      - name: Upload PR number
        if: github.event_name == 'pull_request'
        uses: actions/upload-artifact@v4
        with:
          name: pr-number
          path: pr_number.txt
          retention-days: 1

  build-SITL-Linux-arm64:
    runs-on: ubuntu-22.04-arm
    steps:
      - uses: actions/checkout@v4
      - name: Install dependencies
        run: sudo apt-get update && sudo apt-get -y install ninja-build
      - name: Setup environment
        env:
          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
        run: |
          # This is the hash of the commit for the PR
          # when the action is triggered by PR, empty otherwise
          COMMIT_ID=${{ github.event.pull_request.head.sha }}
          # This is the hash of the commit when triggered by push
          # but the hash of refs/pull/<n>/merge, which is different
          # from the hash of the latest commit in the PR, that's
          # why we try github.event.pull_request.head.sha first
          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
          BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t)]/, "", $2); print $2 }')
          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
          echo "NUM_CORES=$(grep processor /proc/cpuinfo  | wc -l)" >> $GITHUB_ENV
      - name: Build SITL
        run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja -j${{ env.NUM_CORES }}
      - name: Strip version number
        run: |
          for f in build_SITL/*_SITL; do
            mv $f $(echo $f | sed -e 's/_[0-9]\+\.[0-9]\+\.[0-9]\+//')
          done
      - name: Upload artifacts
        uses: actions/upload-artifact@v4
        with:
          name: ${{ env.BUILD_NAME }}_SITL-Linux-aarch64
          path: ./build_SITL/*_SITL

  build-SITL-Linux:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4
      - name: Install dependencies
        run: sudo apt-get update && sudo apt-get -y install ninja-build
      - name: Setup environment
        env:
          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
        run: |
          # This is the hash of the commit for the PR
          # when the action is triggered by PR, empty otherwise
          COMMIT_ID=${{ github.event.pull_request.head.sha }}
          # This is the hash of the commit when triggered by push
          # but the hash of refs/pull/<n>/merge, which is different
          # from the hash of the latest commit in the PR, that's
          # why we try github.event.pull_request.head.sha first
          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
          BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t)]/, "", $2); print $2 }')
          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
          echo "NUM_CORES=$(grep processor /proc/cpuinfo  | wc -l)" >> $GITHUB_ENV
      - name: Build SITL
        run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja -j${{ env.NUM_CORES }}
      - name: Strip version number
        run: |
          for f in build_SITL/*_SITL; do
            mv $f $(echo $f | sed -e 's/_[0-9]\+\.[0-9]\+\.[0-9]\+//')
          done
      - name: Upload artifacts
        uses: actions/upload-artifact@v4
        with:
          name: ${{ env.BUILD_NAME }}_SITL-Linux
          path: ./build_SITL/*_SITL

  build-SITL-Mac:
    runs-on: macos-latest
    steps:
      - uses: actions/checkout@v4
      - name: Install dependencies
        run: |
          brew install ruby

      - name: Setup environment
        env:
          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
        run: |
          # This is the hash of the commit for the PR
          # when the action is triggered by PR, empty otherwise
          COMMIT_ID=${{ github.event.pull_request.head.sha }}
          # This is the hash of the commit when triggered by push
          # but the hash of refs/pull/<n>/merge, which is different
          # from the hash of the latest commit in the PR, that's
          # why we try github.event.pull_request.head.sha first
          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
          BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t)]/, "", $2); print $2 }')
          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
          echo "NUM_CORES=$(grep processor /proc/cpuinfo  | wc -l)" >> $GITHUB_ENV
      - name: Build SITL
        run: |
          mkdir -p build_SITL && cd build_SITL
          cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -DCMAKE_OSX_ARCHITECTURES="arm64;x86_64" -G Ninja ..
          ninja -j4
      - name: Strip version number
        run: |
          for f in build_SITL/*_SITL; do
            mv -v $f $(echo $f | sed -Ee 's/_[0-9]+\.[0-9]+\.[0-9]+//')
          done
      - name: Upload artifacts
        uses: actions/upload-artifact@v4
        with:
          name: ${{ env.BUILD_NAME }}_SITL-MacOS
          path: ./build_SITL/*_SITL

  build-SITL-Windows:
    runs-on: windows-latest
    defaults:
      run:
        shell: C:\tools\cygwin\bin\bash.exe -o igncr '{0}'
    steps:
      - uses: actions/checkout@v4
      - name: Setup Cygwin
        uses: egor-tensin/setup-cygwin@v4
        with:
          packages: cmake ruby ninja gcc-g++ rubygems
      - name: Setup environment
        env:
          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
        run: |
          # This is the hash of the commit for the PR
          # when the action is triggered by PR, empty otherwise
          COMMIT_ID=${{ github.event.pull_request.head.sha }}
          # This is the hash of the commit when triggered by push
          # but the hash of refs/pull/<n>/merge, which is different
          # from the hash of the latest commit in the PR, that's
          # why we try github.event.pull_request.head.sha first
          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
          BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
          VERSION=$( grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t)]/, "", $2); print $2 }' )
          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV

      - name: Build SITL
        run: gem install getoptlong && mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja -j4
      - name: Strip version number
        run: |
          for f in ./build_SITL/*_SITL.exe; do
            mv $f $(echo $f | sed -e 's/_[0-9]\+\.[0-9]\+\.[0-9]\+//')
          done
      - name: Copy cygwin1.dll
        run: cp /bin/cygwin1.dll ./build_SITL/
      - name: Upload artifacts
        uses: actions/upload-artifact@v4
        with:
          name: ${{ env.BUILD_NAME }}_SITL-WIN
          path: |
            ./build_SITL/*.exe
            ./build_SITL/cygwin1.dll

  test:
    #needs: [build]
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4
      - name: Install dependencies
        run: sudo apt-get update && sudo apt-get -y install ninja-build
      - name: Run Tests
        run: mkdir -p build && cd build && cmake -DTOOLCHAIN=none -G Ninja .. && ninja check