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:
  build-sitl:
    runs-on: 'windows-latest'
    steps:
      - uses: actions/checkout@v4
        with:
          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

  build-apj:
    runs-on: ubuntu-22.04
    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:v0.1.3
    strategy:
      fail-fast: false  # don't cancel if a job from the matrix fails
      matrix:
        toolchain: [
            chibios,
            #chibios-clang,
        ]
        gcc: [10]
        exclude:
          - gcc: 10
            toolchain: chibios-clang

    steps:
      # git checkout the PR
      - uses: actions/checkout@v4
        with:
          submodules: 'recursive'
      # Put ccache into github cache for faster build
      - 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.toolchain }}-${{ matrix.gcc }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}
          restore-keys: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-${{ matrix.gcc }}  # restore ccache from either previous build on this branch or on master
      - name: setup ccache
        run: |
          . .github/workflows/ccache.env

      - name: build
        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
          ccache -s
          ccache -z

      - name: Check build files
        id: check_files
        uses: andstor/file-existence-action@v2
        with:
          files: "build/CubeOrange/*, build/CubeOrangePlus/*, build/CubeOrange-Volanti/*, build/CubeOrangePlus-Volanti/*, build/CubeOrange-Ottano/*, build/CubeOrangePlus-Ottano/*, build/CarbonixF405/*, build/CarbonixF405-no-crystal/*"
          fail: true
      - name: Gather build output
        run: |
          mkdir -p temp/others
          for dir in CubeOrange CubeOrangePlus CubeOrange-Volanti CubeOrangePlus-Volanti CubeOrange-Ottano CubeOrangePlus-Ottano CarbonixF405 CarbonixF405-no-crystal; do
            mkdir -p temp/others/$dir/bin
            cp -vr build/$dir/bin/* temp/others/$dir/bin/
          done
          cp -vr output/* temp/
          mv temp/others/CubeOrange-Volanti temp/Volanti
          mv temp/others/CubeOrangePlus-Volanti temp/Volanti
          mv temp/others/CubeOrange-Ottano temp/Ottano
          mv temp/others/CubeOrangePlus-Ottano temp/Ottano
          if [ -d "ArduPlane/ReleaseNotes.txt" ]; then
            cp -v ArduPlane/ReleaseNotes.txt temp/
          else
            echo "ReleaseNotes.txt File does not exist"
          fi
          if [ -d "libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/payloads" ]; then
            cp -vr libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/payloads temp/
          else
            echo "payloads Folder does not exist"
          fi
        shell: sh -e {0}
      - name: Archive production artifacts
        uses: actions/upload-artifact@v4
        with:
          name: apj
          path: temp
          retention-days: 90

  upload:
    runs-on: ubuntu-22.04
    needs: [build-apj, build-sitl]
    steps:
      - name: Checkout code
        uses: actions/checkout@v4

      - 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: sh -e {0}
  
      - name: Download APJ build
        uses: actions/download-artifact@v4
        with:
          name: apj
          path: temp

      - name: Download SITL build
        uses: actions/download-artifact@v4
        with:
          name: sitl
          path: temp/sitl

      - 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
        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 "Uploading to: $PATH_TO_S3"
            aws s3 cp temp/ $PATH_TO_S3 --recursive
          elif ${{ github.event_name == 'push' && startsWith(env.branch_name, 'CxPilot') }}; then
            PATH_TO_S3=s3://carbonix-firmware-dev-files/Carbopilot_V2/${{ env.branch_name }}/${DATE_HR}_${{ env.firmware_version }}_${{ env.commit_id }}/
            echo "Uploading to: $PATH_TO_S3"
            aws s3 cp temp/ $PATH_TO_S3 --recursive
          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 "Uploading to: $PATH_TO_S3"
            aws s3 cp temp/ $PATH_TO_S3 --recursive
          fi