name: test chibios

on:
  push:
    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/**'
      # Remove change on other workflows
      - '.github/workflows/test_environment.yml'

  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/**'
      # 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:
        config: [
            stm32f7,
            stm32h7,
            fmuv2-plane,
            periph-build,
            iofirmware,
            CubeOrange-bootloader,
            fmuv3-bootloader,
            revo-bootloader,
            stm32h7-debug,
            fmuv3,
            revo-mini,
            MatekF405-Wing,
            CubeOrange-ODID,
            CubeRedPrimary-bootloader,
            configure-all,
            build-options-defaults-test,
            signing,
            CubeOrange-PPP,
            SOHW,
            Pixhawk6X-PPPGW,
        ]
        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@v3
        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 }}  # restore ccache from either previous build on this branch or on master
      - name: setup ccache
        run: |
          . .github/workflows/ccache.env
      - name: test ${{matrix.config}} ${{ matrix.toolchain }} gcc-${{matrix.gcc}}
        env:
          CI_BUILD_TARGET: ${{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/scripts/build_ci.sh
          ccache -s
          ccache -z