carbonix_build.yml

name: Carbonix Build

on:
    push:
      branches:
        - CxPilot
        - CxPilot-*
        - master
      paths-ignore:
        # remove non chibios HAL
        - 'libraries/AP_HAL_Linux/**'
        - 'libraries/AP_HAL_ESP32/**'
        - 'libraries/AP_HAL_SITL/**'
        # remove non stm directories
        - 'Tools/CHDK-Script/**'
        - 'Tools/CodeStyle/**'
        - 'Tools/completion/**'
        - 'Tools/debug/**'
        - 'Tools/environment_install/**'
        - 'Tools/FilterTestTool/**'
        - 'Tools/Frame_params/**'
        - 'Tools/geotag/**'
        - 'Tools/GIT_Test/**'
        - 'Tools/gittools/**'
        - 'Tools/Hello/**'
        - 'Tools/LogAnalyzer/**'
        - 'Tools/mavproxy_modules/**'
        - 'Tools/Pozyx/**'
        - 'Tools/PrintVersion.py'
        - 'Tools/Replay/**'
        - 'Tools/simulink/**'
        - 'Tools/UDP_Proxy/**'
        - 'Tools/vagrant/**'
        - 'Tools/Vicon/**'
        # Remove vehicles autotest we need support of test_build_option.py in the Tools/autotest directory
        - 'Tools/autotest/antennatracker.py'
        - 'Tools/autotest/arduplane.py'
        - 'Tools/autotest/ardusub.py'
        - 'Tools/autotest/balancebot.py'
        - 'Tools/autotest/location.txt'
        - 'Tools/autotest/quadplane.py'
        - 'Tools/autotest/rover.py'
        - 'Tools/autotest/sailboat.py'
        - 'Tools/autotest/swarminit.txt'
        # Remove markdown files as irrelevant
        - '**.md'
        # Remove dotfile at root directory
        - './.dir-locals.el'
        - './.dockerignore'
        - './.editorconfig'
        - './.flake8'
        - './.gitattributes'
        - './.github'
        - './.gitignore'
        - './.pre-commit-config.yaml'
        - './.pydevproject'
        - './.valgrind-suppressions'
        - './.valgrindrc'
        - 'Dockerfile'
        - 'Vagrantfile'
        - 'Makefile'
        # Remove some directories check
        - '.vscode/**'
        - '.github/ISSUE_TEMPLATE/**'
  
    pull_request:
      paths-ignore:
        # remove non chibios HAL
        - 'libraries/AP_HAL_Linux/**'
        - 'libraries/AP_HAL_ESP32/**'
        - 'libraries/AP_HAL_SITL/**'
        # remove non stm directories
        - 'Tools/CHDK-Script/**'
        - 'Tools/CodeStyle/**'
        - 'Tools/completion/**'
        - 'Tools/debug/**'
        - 'Tools/environment_install/**'
        - 'Tools/FilterTestTool/**'
        - 'Tools/Frame_params/**'
        - 'Tools/geotag/**'
        - 'Tools/GIT_Test/**'
        - 'Tools/gittools/**'
        - 'Tools/Hello/**'
        - 'Tools/LogAnalyzer/**'
        - 'Tools/mavproxy_modules/**'
        - 'Tools/Pozyx/**'
        - 'Tools/PrintVersion.py'
        - 'Tools/Replay/**'
        - 'Tools/simulink/**'
        - 'Tools/UDP_Proxy/**'
        - 'Tools/vagrant/**'
        - 'Tools/Vicon/**'
        # Remove vehicles autotest we need support of test_build_option.py in the Tools/autotest directory
        - 'Tools/autotest/antennatracker.py'
        - 'Tools/autotest/arduplane.py'
        - 'Tools/autotest/ardusub.py'
        - 'Tools/autotest/autotest.py'
        - 'Tools/autotest/balancebot.py'
        - 'Tools/autotest/common.py'
        - 'Tools/autotest/examples.py'
        - 'Tools/autotest/quadplane.py'
        - 'Tools/autotest/rover.py'
        - 'Tools/autotest/sailboat.py'
        - 'Tools/autotest/**.txt'
        - 'Tools/autotest/logger_metadata/**'
        - 'Tools/autotest/param_metadata/**'
        # Remove markdown files as irrelevant
        - '**.md'
        # Remove dotfile at root directory
        - './.dir-locals.el'
        - './.dockerignore'
        - './.editorconfig'
        - './.flake8'
        - './.gitattributes'
        - './.github'
        - './.gitignore'
        - './.pre-commit-config.yaml'
        - './.pydevproject'
        - './.valgrind-suppressions'
        - './.valgrindrc'
        - 'Dockerfile'
        - 'Vagrantfile'
        - 'Makefile'
        # Remove some directories check
        - '.vscode/**'
        - '.github/ISSUE_TEMPLATE/**'

    release:
      types: [published]
    
    workflow_dispatch:
      
concurrency:
    group: ci-${{github.workflow}}-${{ github.ref }}
    cancel-in-progress: true

jobs:
  setup-s3-path:
    runs-on: ubuntu-22.04
    if: ${{ !contains(github.event.pull_request.labels.*.name, 'SKIP_BUILD') }}
    outputs:
      s3_path: ${{ steps.set-s3-path.outputs.s3_path }}
    steps:
      - name: Checkout code
        uses: actions/checkout@v4
        with:
          # PR runs, by default, create a merge commit and then checkout the merge commit. We don't want that.
          ref: ${{ github.event_name == 'pull_request' && github.event.pull_request.head.sha || github.ref }}

      - name: Extract firmware version, commit id, and branch name
        id: extract_info
        run: |
          FIRMWARE_VERSION=$(grep -oP 'define AP_CUSTOM_FIRMWARE_STRING "\K(.*)(?=")' libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/version.inc)
          COMMIT_ID=$(git rev-parse --short HEAD)
          BRANCH_NAME=$(echo ${GITHUB_REF#refs/heads/})
          echo "firmware_version=$FIRMWARE_VERSION" >> $GITHUB_ENV
          echo "commit_id=$COMMIT_ID" >> $GITHUB_ENV
          echo "branch_name=$BRANCH_NAME" >> $GITHUB_ENV
        shell: bash
        
      - name: Set S3 Path
        id: set-s3-path
        run: |
          DATE_HR=$(date +%Y%m%d_%H%M)
          if [ "${{ github.event_name }}" == "release" ]; then
            PATH_TO_S3=s3://carbonix-firmware-release-files/Carbopilot_V2/${DATE_HR}_${{ env.firmware_version }}_${{ env.commit_id }}/
            echo "Release to: $PATH_TO_S3"
          elif [ "${{ github.event_name }}" == "push" ] && [[ "${{ env.branch_name }}" == CxPilot* ]]; then
            PATH_TO_S3=s3://carbonix-firmware-dev-files/Carbopilot_V2/${{ env.branch_name }}/${DATE_HR}_${{ env.firmware_version }}_${{ env.commit_id }}/
            echo "PUSH : $PATH_TO_S3"
          elif [ "${{ github.event_name }}" == "pull_request" ]; then
            PATH_TO_S3=s3://carbonix-firmware-dev-files/Carbopilot_V2/PR/${DATE_HR}_${{ env.firmware_version }}_${{ env.commit_id }}_${{ github.event.pull_request.number }}/
            echo "PR : $PATH_TO_S3"
          else
            PATH_TO_S3="s3://carbonix-firmware-dev-files/Carbopilot_V2/Manual/${DATE_HR}_${{ env.firmware_version }}_${{ env.commit_id }}/"
            echo "Manual trigger or other: $PATH_TO_S3"
          fi
          echo "s3_path=${PATH_TO_S3}" >> $GITHUB_OUTPUT
        shell: bash
  
  build-periph:
    runs-on: ubuntu-22.04
    if: ${{ !contains(github.event.pull_request.labels.*.name, 'SKIP_BUILD') }}
    needs: setup-s3-path
    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.3
    strategy:
      fail-fast: false
      matrix:
        config: [
          CarbonixF405,
          CarbonixF405-no-crystal
        ]
        
        toolchain: [ chibios ]
        gcc: [10]
        exclude:
          - gcc: 10
            toolchain: chibios-clang

    steps:
      - uses: actions/checkout@v4
        with:
          # PR runs, by default, create a merge commit and then checkout the merge commit. We don't want that.
          ref: ${{ github.event_name == 'pull_request' && github.event.pull_request.head.sha || github.ref }}
          submodules: 'recursive'
          
      - name: Prepare ccache timestamp
        id: ccache_cache_timestamp
        run: |
          NOW=$(date -u +"%F-%T")
          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
          
      - name: ccache cache files
        uses: actions/cache@v4
        with:
          path: ~/.ccache
          key: ${{github.workflow}}-ccache-${{matrix.config}}-${{ matrix.toolchain }}-${{ matrix.gcc }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}
          restore-keys: ${{github.workflow}}-ccache-${{matrix.config}}-${{ matrix.toolchain }}-${{ matrix.gcc }}
          
      - name: setup ccache
        run: |
          . .github/workflows/ccache.env

      - name: Install bash tools
        run: |
          sudo apt-get update
          sudo apt-get -y install xxd

      - name: build ${{matrix.config}}
        shell: bash
        run: |
          git config --global --add safe.directory ${GITHUB_WORKSPACE}
          if [[ ${{ matrix.toolchain }} == "chibios-clang" ]]; then
          export CC=clang
          export CXX=clang++
          fi
          PATH="/usr/lib/ccache:/opt/gcc-arm-none-eabi-${{matrix.gcc}}/bin:$PATH"
          PATH="/github/home/.local/bin:$PATH"
          Tools/Carbonix_scripts/carbonix_waf_build.sh ${{ matrix.config }}
          ccache -s
          ccache -z

      - name: Upload build artifacts
        uses: actions/upload-artifact@v4
        with:
          name: build-periph-${{ matrix.config }}
          path: output/
  
  collect-aircraft-config-files:
    if: ${{ !contains(github.event.pull_request.labels.*.name, 'SKIP_BUILD') }}
    runs-on: ubuntu-22.04
    needs: build-periph
    outputs:
      aircraft-config-files: ${{ steps.collect.outputs.aircraft-config-files }}
    steps:
      - name: Checkout code
        uses: actions/checkout@v4
        with:
          # PR runs, by default, create a merge commit and then checkout the merge commit. We don't want that.
          ref: ${{ github.event_name == 'pull_request' && github.event.pull_request.head.sha || github.ref }}

      - name: Install jq
        run: sudo apt-get update && sudo apt-get install -y jq

      - name: Collect XML files
        id: collect
        run: |
          xml_files=$(find libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/aircraft_configuration -name "*.xml" -print0 | \
            xargs -0 -n 1 basename | \
            sed 's/.xml$//' | \
            jq -R -s -c 'split("\n")[:-1]')
          echo "aircraft-config-files=$xml_files" >> $GITHUB_OUTPUT

  process-ac:
    if: ${{ !contains(github.event.pull_request.labels.*.name, 'SKIP_BUILD') }}
    runs-on: ubuntu-22.04
    needs: [collect-aircraft-config-files, setup-s3-path]
    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.3
    strategy:
      fail-fast: false
      matrix:
        xml_file: ${{ fromJson(needs.collect-aircraft-config-files.outputs.aircraft-config-files) }}
        toolchain: [ chibios ]
        gcc: [10]
        exclude:
          - gcc: 10
            toolchain: chibios-clang
    steps:
      - name: Checkout code
        uses: actions/checkout@v4
        with:
          # PR runs, by default, create a merge commit and then checkout the merge commit. We don't want that.
          ref: ${{ github.event_name == 'pull_request' && github.event.pull_request.head.sha || github.ref }}
          submodules: 'recursive'

      - name: Install bash tools
        run: |
          sudo apt-get update
          sudo apt-get -y install xxd

      - name: Download all build artifacts
        uses: actions/download-artifact@v4
        with:
          path: periph-build/

      - name: List files
        run: |
          ls -la periph-build/*/
      
      - name: Configure Git Safe Directory
        run: |
          git config --global --add safe.directory ${GITHUB_WORKSPACE}

      - name: Get Commit ID
        id: get_commit_id
        run: |
          COMMIT_ID=$(git rev-parse --short HEAD)
          echo "commit_id=$COMMIT_ID" >> $GITHUB_ENV
        shell: sh -e {0}

      - name: Run aircraft_config.py
        id: aircraft_config
        run: |
          python Tools/Carbonix_scripts/aircraft_config.py "libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/aircraft_configuration/${{ matrix.xml_file }}.xml" "${{ env.commit_id }}"
          if [ -d "final-output" ]; then
            echo "exists=true" >> $GITHUB_ENV
            echo "Found final-output directory"
          else
            echo "exists=false" >> $GITHUB_ENV
            echo "No final-output directory found"
          fi
      
      - name: Install AWS CLI
        if: ${{ env.exists == 'true' }}
        run: |
          apt-get update -y
          DEBIAN_FRONTEND=noninteractive apt-get install -y curl unzip
          curl "https://awscli.amazonaws.com/awscli-exe-linux-x86_64.zip" -o "awscliv2.zip"
          unzip -q awscliv2.zip
          ./aws/install --update
  
      - name: Configure AWS credentials
        if: ${{ env.exists == 'true' }}
        uses: aws-actions/configure-aws-credentials@v4
        with:
          aws-access-key-id: ${{ secrets.AWS_S3_ACCESS_KEY_ID }}
          aws-secret-access-key: ${{ secrets.AWS_S3_SECRET_ACCESS_KEY }}
          aws-region: us-east-1
  
      - name: Upload to S3
        if: ${{ env.exists == 'true' }}
        run: |
          PATH_TO_S3=${{ needs.setup-s3-path.outputs.s3_path }}
          echo "Uploading Artifacts to: $PATH_TO_S3"
          aws s3 cp final-output/ $PATH_TO_S3 --recursive

      - name: Upload build artifacts
        if: ${{ env.exists == 'true' }}
        uses: actions/upload-artifact@v4
        with:
          name: ${{ matrix.xml_file }}
          path: final-output/${{ matrix.xml_file }}/
        

  build-sitl:
    runs-on: 'windows-latest'
    if: ${{ !contains(github.event.pull_request.labels.*.name, 'SKIP_BUILD') }}
    needs: setup-s3-path
    steps:
      - uses: actions/checkout@v4
        with:
          # PR runs, by default, create a merge commit and then checkout the merge commit. We don't want that.
          ref: ${{ github.event_name == 'pull_request' && github.event.pull_request.head.sha || github.ref }}
          submodules: 'recursive'
      - name: Prepare ccache timestamp
        id: ccache_cache_timestamp
        shell: bash
        run: |
          NOW=$(date -u +"%F-%T")
          echo "timestamp=${NOW}" >> $GITHUB_OUTPUT
          WORKFLOWNAME="${{github.workflow}}"
          NAME_DASHED=${WORKFLOWNAME//+( )/_}
          echo "cache-key=${NAME_DASHED}" >> $GITHUB_OUTPUT

      - uses: cygwin/cygwin-install-action@master
        with:
          packages: cygwin64 gcc-g++=10.2.0-1 ccache python37 python37-future python37-lxml python37-pip python37-setuptools python37-wheel git procps gettext
          add-to-path: false
      # Put ccache into github cache for faster build
      - name: setup ccache
        env:
          PATH: /usr/bin:$(cygpath ${SYSTEMROOT})/system32
        shell: C:\cygwin\bin\bash.exe -eo pipefail '{0}'
        run: >-
          mkdir -p /cygdrive/d/a/ardupilot/ardupilot/ccache &&
          mkdir -p /usr/local/etc &&
          echo "export CCACHE_SLOPPINESS=file_stat_matches" >> ~/ccache.conf &&
          echo "export CCACHE_DIR=/cygdrive/d/a/ardupilot/ardupilot/ccache" >> ~/ccache.conf &&
          echo "export CCACHE_BASEDIR=/cygdrive/d/a/ardupilot/ardupilot" >> ~/ccache.conf &&
          echo "export CCACHE_COMPRESS=1" >> ~/ccache.conf &&
          echo "export CCACHE_COMPRESSLEVEL=6" >> ~/ccache.conf &&
          echo "export CCACHE_MAXSIZE=400M" >> ~/ccache.conf &&
          source ~/ccache.conf &&
          ccache -s

      - name: ccache cache files
        uses: actions/cache@v4
        with:
          path: D:/a/ardupilot/ardupilot/ccache
          key: ${{ steps.ccache_cache_timestamp.outputs.cache-key }}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
          restore-keys: ${{ steps.ccache_cache_timestamp.outputs.cache-key }}-ccache-  # restore ccache from either previous build on this branch or on base branch
          
      - name: Prepare Python environment
        env:
          PATH: /usr/bin:$(cygpath ${SYSTEMROOT})/system32
        shell: C:\cygwin\bin\bash.exe -eo pipefail '{0}'
        run: >-
          ln -sf /usr/bin/python3.7 /usr/bin/python && ln -sf /usr/bin/pip3.7 /usr/bin/pip &&
          python -m pip install --progress-bar off empy==3.3.4 pexpect &&
          python -m pip install --progress-bar off dronecan --upgrade &&
          cp /usr/bin/ccache /usr/local/bin/ &&
          cd /usr/local/bin && ln -s ccache /usr/local/bin/gcc &&
          ln -s ccache /usr/local/bin/g++ &&
          ln -s ccache /usr/local/bin/x86_64-pc-cygwin-gcc &&
          ln -s ccache /usr/local/bin/x86_64-pc-cygwin-g++

      - name: Build SITL
        env:
          PATH: /usr/bin:$(cygpath ${SYSTEMROOT})/system32
        shell: C:\cygwin\bin\bash.exe -eo pipefail '{0}'
        run: >-
          git config --global --add safe.directory /cygdrive/d/a/${GITHUB_REPOSITORY#$GITHUB_REPOSITORY_OWNER/}/${GITHUB_REPOSITORY#$GITHUB_REPOSITORY_OWNER/} &&
          export PATH=/usr/local/bin:/usr/bin:$(cygpath ${SYSTEMROOT})/system32 &&
          source ~/ccache.conf &&
          Tools/scripts/cygwin_build.sh &&
          ccache -s

      - name: Check build files
        id: check_files
        uses: andstor/file-existence-action@v2
        with:
          files: "artifacts/*.exe"
          fail: true

      - name: Archive build
        uses: actions/upload-artifact@v4
        with:
           name: sitl
           path: artifacts
           retention-days: 90

      - name: Download Artifacts
        uses: actions/download-artifact@v4
        with:
          path: temp

      - name: Configure AWS credentials
        uses: aws-actions/configure-aws-credentials@v4
        with:
          aws-access-key-id: ${{ secrets.AWS_S3_ACCESS_KEY_ID }}
          aws-secret-access-key: ${{ secrets.AWS_S3_SECRET_ACCESS_KEY }}
          aws-region: us-east-1 

      - name: Upload artifacts to S3
        shell: pwsh
        run: |
          $env:PATH_TO_S3 = '${{ needs.setup-s3-path.outputs.s3_path }}'
          echo "Uploading to: $env:PATH_TO_S3"
          aws s3 cp temp/ $env:PATH_TO_S3 --recursive

  build-upload-zip:
    runs-on: ubuntu-22.04
    if: ${{ !contains(github.event.pull_request.labels.*.name, 'SKIP_BUILD') }}
    needs: [process-ac, build-sitl, setup-s3-path]
    steps:
      - name: Extract folder name from s3_path
        id: extract-folder-name
        run: |
          s3_path="${{ needs.setup-s3-path.outputs.s3_path }}"
          folder_name=$(basename "$s3_path")
          echo "folder_name=$folder_name" >> $GITHUB_ENV

      - name: Create folder from s3_path
        run: mkdir -p aircraft_zip

      - name: List available artifacts
        id: list-artifacts
        uses: actions/github-script@v6
        with:
          script: |
            const artifacts = await github.rest.actions.listArtifactsForRepo({
              owner: context.repo.owner,
              repo: context.repo.repo,
            });
            return artifacts.data.artifacts.map(artifact => artifact.name);

      - name: Filter artifacts
        id: filter-artifacts
        run: |
          echo "Filtered artifacts:" > filtered_artifacts.txt
          for artifact in ${{ steps.list-artifacts.outputs.result }}; do
            if [[ $artifact =~ .*_AC_.*[0-9]+(\.[0-9]+)? ]]; then
              echo $artifact >> filtered_artifacts.txt
            fi
          done
          echo "sitl" >> filtered_artifacts.txt
          cat filtered_artifacts.txt

      - name: Download filtered artifacts
        uses: actions/download-artifact@v4
        with:
          name: ${{ steps.filter-artifacts.outputs.result }}
          path: aircraft_zip/
      
      - name: Delete unnecessary folders
        run: |
          rm -rf aircraft_zip/build-periph-*

      - name: List downloaded files
        run: ls -R aircraft_zip/
      
      - name: Install p7zip
        run: sudo apt-get install -y p7zip-full

      - name: 7zip the folder
        run: |
          cd aircraft_zip
          7z a ../${{ env.folder_name }}.7z .

      - name: Upload 7z folder to artifacts
        uses: actions/upload-artifact@v4
        with:
          name: ${{ env.folder_name }}
          path: ${{ env.folder_name }}.7z
          retention-days: 15
      
      - name: Configure AWS credentials
        uses: aws-actions/configure-aws-credentials@v4
        with:
          aws-access-key-id: ${{ secrets.AWS_S3_ACCESS_KEY_ID }}
          aws-secret-access-key: ${{ secrets.AWS_S3_SECRET_ACCESS_KEY }}
          aws-region: us-east-1
      
      - name: Upload 7z folder to S3
        run: |
          PATH_TO_S3=${{ needs.setup-s3-path.outputs.s3_path }}
          # Remove trailing slash if it exists
          PATH_TO_S3=${PATH_TO_S3%/}
          echo "Uploading to: $PATH_TO_S3"
          aws s3 cp ${{ env.folder_name }}.7z $PATH_TO_S3/${{ env.folder_name }}.7z