name: QURT Build

on:
  push:
    paths-ignore:
      # remove other vehicles
      - 'AntennaTracker/**'
      - 'Blimp/**'
      # remove non SITL HAL
      - 'libraries/AP_HAL_ChibiOS/**'
      - 'libraries/AP_HAL_ESP32/**'
      # remove non SITL directories
      - 'Tools/AP_Bootloader/**'
      - 'Tools/AP_Periph/**'
      - 'Tools/CHDK-Script/**'
      - 'Tools/CPUInfo/**'
      - 'Tools/CodeStyle/**'
      - 'Tools/FilterTestTool/**'
      - 'Tools/Frame_params/**'
      - 'Tools/GIT_Test/**'
      - 'Tools/Hello/**'
      - 'Tools/IO_Firmware/**'
      - 'Tools/Linux_HAL_Essentials/**'
      - 'Tools/Pozyx/**'
      - 'Tools/PrintVersion.py'
      - 'Tools/Replay/**'
      - 'Tools/UDP_Proxy/**'
      - 'Tools/Vicon/**'
      - 'Tools/bootloaders/**'
      - 'Tools/completion/**'
      - 'Tools/debug/**'
      - 'Tools/environment_install/**'
      - 'Tools/geotag/**'
      - 'Tools/gittools/**'
      - 'Tools/mavproxy_modules/**'
      - 'Tools/simulink/**'
      - 'Tools/vagrant/**'
      # 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 autotest
      - 'Tools/autotest/**'
      # 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/**'
      - 'Blimp/**'
      # 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/mavproxy_modules/**'
      - 'Tools/Pozyx/**'
      - 'Tools/PrintVersion.py'
      - 'Tools/Replay/**'
      - '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 autotest
      - 'Tools/autotest/**'
      # 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:
    if: github.repository == 'ArduPilot/ardupilot'
    runs-on: 'ardupilot-qurt'
    steps:
      - uses: actions/checkout@v4
        with:
          submodules: 'recursive'

      - name: Build QURT
        run: |
          ./waf configure --board QURT
          ./waf copter
          ./waf plane
          ./waf rover
          cp -a build/QURT/bin/arducopter build/QURT/ArduPilot.so
          cp -a build/QURT/bin/arducopter build/QURT/ArduPilot_Copter.so
          cp -a build/QURT/bin/arduplane build/QURT/ArduPilot_Plane.so
          cp -a build/QURT/bin/ardurover build/QURT/ArduPilot_Rover.so

      - name: Archive build
        uses: actions/upload-artifact@v4
        with:
          name: qurt-binaries
          path: |
            build/QURT/ardupilot
            build/QURT/ArduPilot_Copter.so
            build/QURT/ArduPilot_Plane.so
            build/QURT/ArduPilot_Rover.so
            build/QURT/ArduPilot.so
          retention-days: 7