name: test Linux SBC

on: [push, pull_request, workflow_dispatch]
# paths:
# - "*"
# - "!README.md" <-- don't rebuild on doc change
concurrency:
  group: ci-${{github.workflow}}-${{ github.ref }}
  cancel-in-progress: true

jobs:
  build:
    runs-on: ubuntu-20.04
    container: ardupilot/ardupilot-dev-${{ matrix.toolchain }}:latest
    strategy:
      fail-fast: false  # don't cancel if a job from the matrix fails
      matrix:
        config: [
            linux,
            navigator,
            navio,
            navio2,
            bbbmini,
            bhat,
            bebop,
            erlebrain2,
            pxfmini,
            pxf
        ]
        toolchain: [
            armhf,
        ]
        include:
          - config: navigator
            toolchain: armhf-musl
          - config: linux
            toolchain: base # GCC
        exclude:
          - config: navigator
            toolchain: armhf
          - config: linux
            toolchain: armhf

    steps:
      # git checkout the PR
      - uses: actions/checkout@v3
        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}}-${{ matrix.toolchain }}-${{steps.ccache_cache_timestamp.outputs.timestamp}}
          restore-keys: ${{github.workflow}}-ccache-${{matrix.config}}-${{ matrix.toolchain }}-  # 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 }}
        env:
          CI_BUILD_TARGET: ${{matrix.config}}
        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"
          Tools/scripts/build_ci.sh
          ccache -s
          ccache -z