name: test copter

on:
  push:
    paths-ignore:
      # remove other vehicles
      - 'AntennaTracker/**'
      - 'ArduPlane/**'
      - 'ArduSub/**'
      - 'Blimp/**'
      - 'Rover/**'
      # remove non SITL HAL
      - 'libraries/AP_HAL_ChibiOS/**'
      - 'libraries/AP_HAL_ESP32/**'
      # remove non SITL directories
      - 'Tools/AP_Bootloader/**'
      - 'Tools/AP_Periph/**'
      - 'Tools/bootloaders/**'
      - 'Tools/CHDK-Script/**'
      - 'Tools/CodeStyle/**'
      - 'Tools/completion/**'
      - 'Tools/CPUInfo/**'
      - 'Tools/debug/**'
      - 'Tools/environment_install/**'
      - 'Tools/FilterTestTool/**'
      - 'Tools/Frame_params/**'
      - 'Tools/geotag/**'
      - 'Tools/GIT_Test/**'
      - 'Tools/gittools/**'
      - 'Tools/Hello/**'
      - 'Tools/IO_Firmware/**'
      - 'Tools/Linux_HAL_Essentials/**'
      - 'Tools/Pozyx/**'
      - 'Tools/PrintVersion.py'
      - 'Tools/simulink/**'
      - 'Tools/UDP_Proxy/**'
      - 'Tools/vagrant/**'
      - 'Tools/Vicon/**'
      # Discard python file from Tools/scripts as not used
      - 'Tools/scripts/**.py'
      - 'Tools/scripts/build_sizes/**'
      - 'Tools/scripts/build_tests/**'
      - 'Tools/scripts/CAN/**'
      - 'Tools/scripts/signing/**'
      # Remove other vehicles autotest
      - '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/**'
      # Remove change on other workflows
      - '.github/workflows/test_environment.yml'


  pull_request:
    paths-ignore:
      # remove other vehicles
      - 'AntennaTracker/**'
      - 'ArduPlane/**'
      - 'ArduSub/**'
      - 'Blimp/**'
      - 'Rover/**'
      # remove non SITL HAL
      - 'libraries/AP_HAL_ChibiOS/**'
      - 'libraries/AP_HAL_ESP32/**'
      # remove non SITL directories
      - 'Tools/AP_Bootloader/**'
      - 'Tools/AP_Periph/**'
      - 'Tools/bootloaders/**'
      - 'Tools/CHDK-Script/**'
      - 'Tools/CodeStyle/**'
      - 'Tools/completion/**'
      - 'Tools/CPUInfo/**'
      - 'Tools/debug/**'
      - 'Tools/environment_install/**'
      - 'Tools/FilterTestTool/**'
      - 'Tools/Frame_params/**'
      - 'Tools/geotag/**'
      - 'Tools/GIT_Test/**'
      - 'Tools/gittools/**'
      - 'Tools/Hello/**'
      - 'Tools/IO_Firmware/**'
      - 'Tools/Linux_HAL_Essentials/**'
      - 'Tools/LogAnalyzer/**'
      - 'Tools/Pozyx/**'
      - 'Tools/PrintVersion.py'
      - 'Tools/simulink/**'
      - 'Tools/UDP_Proxy/**'
      - 'Tools/vagrant/**'
      - 'Tools/Vicon/**'
      # Discard python file from Tools/scripts as not used
      - 'Tools/scripts/**.py'
      - 'Tools/scripts/build_sizes/**'
      - 'Tools/scripts/build_tests/**'
      - 'Tools/scripts/CAN/**'
      - 'Tools/scripts/signing/**'
      # Remove other vehicles autotest
      - '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/**'
      # Remove change on other workflows
      - '.github/workflows/test_environment.yml'

  workflow_dispatch:

concurrency:
  group: ci-${{github.workflow}}-${{ github.ref }}
  cancel-in-progress: true

jobs:
  build:
    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: [
            base,  # GCC
            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 }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}
          restore-keys: ${{github.workflow}}-ccache-${{ matrix.toolchain }}-  # restore ccache from either previous build on this branch or on master
      - name: setup ccache
        run: |
          . .github/workflows/ccache.env
      - name: build copter ${{ matrix.toolchain }}
        shell: bash
        run: |
          git config --global --add safe.directory ${GITHUB_WORKSPACE}
          if [[ ${{ matrix.toolchain }} == "clang" ]]; then
            export CC=clang
            export CXX=clang++
          fi
          PATH="/github/home/.local/bin:$PATH"
          ./waf configure --board sitl --debug
          ./waf build --target bin/arducopter
          ccache -s
          ccache -z

  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-22.04
    container:
      image: ardupilot/ardupilot-dev-base:v0.1.3
      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
      matrix:
        config: [
            sitltest-copter-tests1a,
            sitltest-copter-tests1b,
            sitltest-copter-tests1c,
            sitltest-copter-tests1d,
            sitltest-copter-tests1e,
            sitltest-copter-tests2a,
            sitltest-copter-tests2b,
        ]

    steps:
      # git checkout the PR
      - uses: actions/checkout@v4
        with:
          submodules: 'recursive'

      - name: Register gcc problem matcher
        run: echo "::add-matcher::.github/problem-matchers/gcc.json"

      - name: Register python problem matcher
        run: echo "::add-matcher::.github/problem-matchers/python.json"

      - name: Register autotest warn matcher
        run: echo "::add-matcher::.github/problem-matchers/autotestwarn.json"

      - name: Register autotest fail matcher
        run: echo "::add-matcher::.github/problem-matchers/autotestfail.json"

      # 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/restore@v4
        with:
          path: ~/.ccache
          key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}
          restore-keys: ${{github.workflow}}-ccache-base-  # restore ccache from either previous build on this branch or on master
      - name: setup ccache
        run: |
          . .github/workflows/ccache.env
      - name: test ${{matrix.config}}
        env:
          CI_BUILD_TARGET: ${{matrix.config}}
        shell: bash
        run: |
          git config --global --add safe.directory ${GITHUB_WORKSPACE}
          PATH="/github/home/.local/bin:$PATH"
          Tools/scripts/build_ci.sh

      - name: Archive buildlog artifacts
        uses: actions/upload-artifact@v4
        if: failure()
        with:
           name: fail-${{matrix.config}}
           path: |
             /tmp/buildlogs
             /__w/ardupilot/ardupilot/logs
             /__w/ardupilot/ardupilot/ap-*.core
             /__w/ardupilot/ardupilot/core.*
             /__w/ardupilot/ardupilot/dumpstack.sh_*
             /__w/ardupilot/ardupilot/dumpcore.sh_*
           retention-days: 14

      - name: Archive .bin artifacts
        uses: actions/upload-artifact@v4
        with:
           name: BIN-${{matrix.config}}
           path: /__w/ardupilot/ardupilot/logs
           retention-days: 7

  build-gcc-heli:
    runs-on: ubuntu-22.04
    container:
      image: ardupilot/ardupilot-dev-base:v0.1.3
      options: --privileged --cap-add=SYS_PTRACE --security-opt apparmor=unconfined --security-opt seccomp=unconfined
    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: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}
          restore-keys: ${{github.workflow}}-ccache-base-  # restore ccache from either previous build on this branch or on master
      - name: setup ccache
        run: |
          . .github/workflows/ccache.env
      - name: build heli
        shell: bash
        run: |
          git config --global --add safe.directory ${GITHUB_WORKSPACE}
          PATH="/github/home/.local/bin:$PATH"
          ./waf configure --board sitl
          ./waf build --target bin/arducopter-heli
          ccache -s
          ccache -z

  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:v0.1.3
    strategy:
      fail-fast: false  # don't cancel if a job from the matrix fails
      matrix:
        config: [
            sitltest-heli,
        ]

    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/restore@v4
        with:
          path: ~/.ccache
          key: ${{github.workflow}}-ccache-base-${{steps.ccache_cache_timestamp.outputs.timestamp}}
          restore-keys: ${{github.workflow}}-ccache-base-  # restore ccache from either previous build on this branch or on master
      - name: setup ccache
        run: |
          . .github/workflows/ccache.env
      - name: test ${{matrix.config}}
        env:
          CI_BUILD_TARGET: ${{matrix.config}}
        shell: bash
        run: |
          git config --global --add safe.directory ${GITHUB_WORKSPACE}
          PATH="/github/home/.local/bin:$PATH"
          Tools/scripts/build_ci.sh

      - name: Archive buildlog artifacts
        uses: actions/upload-artifact@v4
        if: failure()
        with:
           name: fail-${{matrix.config}}
           path: |
             /tmp/buildlogs
             /__w/ardupilot/ardupilot/logs
             /__w/ardupilot/ardupilot/ap-*.core
             /__w/ardupilot/ardupilot/core.*
             /__w/ardupilot/ardupilot/dumpstack.sh_*
             /__w/ardupilot/ardupilot/dumpcore.sh_*
           retention-days: 14

      - name: Archive .bin artifacts
        uses: actions/upload-artifact@v4
        with:
           name: BIN-${{matrix.config}}
           path: /__w/ardupilot/ardupilot/logs
           retention-days: 7