From 731d754a1525b152e33c6f9724d8f064956f73a6 Mon Sep 17 00:00:00 2001
From: Ramon Roche <mrpollo@gmail.com>
Date: Wed, 11 Feb 2026 20:50:47 -0800
Subject: [PATCH] ci: enable VOXL2 CI builds with private Docker container

Remove modalai_voxl2 and qurt from CI exclusion lists and add
container overrides to use the private ghcr.io/px4/px4-dev-voxl2
image which contains the Qualcomm Hexagon SDK.

- Add voxl2 build group with x64 runner for cross-compilation
- Add GHCR credentials to workflow for private container pull
- Add packages:read permission to workflow
- Auto-build libfc_sensor.so stub during cmake configure
- Handle missing .px4/.elf gracefully in artifact packaging

Signed-off-by: Ramon Roche <mrpollo@gmail.com>
---
 .github/workflows/build_all_targets.yml |  4 ++++
 Tools/ci/generate_board_targets_json.py | 30 +++++++++++++++++++++----
 Tools/ci/package_build_artifacts.sh     |  4 ++--
 boards/modalai/voxl2/cmake/init.cmake   | 16 +++++++++++++
 4 files changed, 48 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/build_all_targets.yml b/.github/workflows/build_all_targets.yml
index 56e6a6ee1a..cf02ac2e77 100644
--- a/.github/workflows/build_all_targets.yml
+++ b/.github/workflows/build_all_targets.yml
@@ -29,6 +29,7 @@ concurrency:
 permissions:
   contents: write
   actions: read
+  packages: read
 
 jobs:
   group_targets:
@@ -94,6 +95,9 @@ jobs:
       fail-fast: false
     container:
       image: ${{ matrix.container }}
+      credentials:
+        username: ${{ github.actor }}
+        password: ${{ secrets.GITHUB_TOKEN }}
     steps:
       - uses: runs-on/action@v2
       - uses: actions/checkout@v4
diff --git a/Tools/ci/generate_board_targets_json.py b/Tools/ci/generate_board_targets_json.py
index b251d74b51..214edd8186 100755
--- a/Tools/ci/generate_board_targets_json.py
+++ b/Tools/ci/generate_board_targets_json.py
@@ -36,11 +36,20 @@ if args.filter:
         target_filter.append(target)
 
 default_container = 'ghcr.io/px4/px4-dev:v1.16.0-rc1-258-g0369abd556'
+voxl2_container = 'ghcr.io/px4/px4-dev-voxl2:v1.5'
 build_configs = []
 grouped_targets = {}
-excluded_boards = ['modalai_voxl2', 'px4_ros2', 'espressif_esp32']  # TODO: fix and enable
+excluded_boards = ['px4_ros2', 'espressif_esp32']  # TODO: fix and enable
 excluded_manufacturers = ['atlflight']
-excluded_platforms = ['qurt']
+excluded_platforms = []
+
+# Container overrides for platforms/boards that need a non-default container
+platform_container_overrides = {
+    'qurt': voxl2_container,
+}
+board_container_overrides = {
+    'modalai_voxl2': voxl2_container,
+}
 excluded_labels = [
     'stackcheck',
     'nolockstep', 'replay', 'test',
@@ -88,7 +97,20 @@ def process_target(px4board_file, target_name):
 
     if platform not in excluded_platforms:
         container = default_container
-        if platform == 'posix':
+
+        # Extract board name (manufacturer_board) from target name
+        board_name = '_'.join(target_name.split('_')[:2])
+
+        # Apply container overrides for specific platforms or boards
+        if platform in platform_container_overrides:
+            container = platform_container_overrides[platform]
+        if board_name in board_container_overrides:
+            container = board_container_overrides[board_name]
+
+        # Boards with container overrides get their own group
+        if board_name in board_container_overrides or platform in platform_container_overrides:
+            group = 'voxl2'
+        elif platform == 'posix':
             group = 'base'
             if toolchain:
                 if toolchain.startswith('aarch64'):
@@ -203,7 +225,7 @@ if (args.group):
     if(verbose):
         print(f'=:Architectures: [{grouped_targets.keys()}]')
     for arch in grouped_targets:
-        runner = 'x64' if arch == 'nuttx' else 'arm64'
+        runner = 'x64' if arch in ('nuttx', 'voxl2') else 'arm64'
         if(verbose):
             print(f'=:Processing: [{arch}]')
         temp_group = []
diff --git a/Tools/ci/package_build_artifacts.sh b/Tools/ci/package_build_artifacts.sh
index f5ebb73fa0..aaf978b19f 100755
--- a/Tools/ci/package_build_artifacts.sh
+++ b/Tools/ci/package_build_artifacts.sh
@@ -1,8 +1,8 @@
 #!/bin/bash
 
 mkdir artifacts
-cp **/**/*.px4 artifacts/
-cp **/**/*.elf artifacts/
+cp **/**/*.px4 artifacts/ 2>/dev/null || true
+cp **/**/*.elf artifacts/ 2>/dev/null || true
 for build_dir_path in build/*/ ; do
   build_dir_path=${build_dir_path::${#build_dir_path}-1}
   build_dir=${build_dir_path#*/}
diff --git a/boards/modalai/voxl2/cmake/init.cmake b/boards/modalai/voxl2/cmake/init.cmake
index 357d1d45ec..04f4b65a88 100644
--- a/boards/modalai/voxl2/cmake/init.cmake
+++ b/boards/modalai/voxl2/cmake/init.cmake
@@ -32,3 +32,19 @@
 ############################################################################
 
 include_directories(${PX4_BOARD_DIR}/libfc-sensor-api/inc)
+
+# Build libfc_sensor.so stub library automatically if not already built
+set(FC_SENSOR_LIB ${PX4_BOARD_DIR}/libfc-sensor-api/build/libfc_sensor.so)
+if(NOT EXISTS ${FC_SENSOR_LIB})
+	execute_process(
+		COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BOARD_DIR}/libfc-sensor-api/build
+	)
+	execute_process(
+		COMMAND ${CMAKE_COMMAND} -DCMAKE_C_COMPILER=${CMAKE_C_COMPILER} ..
+		WORKING_DIRECTORY ${PX4_BOARD_DIR}/libfc-sensor-api/build
+	)
+	execute_process(
+		COMMAND ${CMAKE_COMMAND} --build .
+		WORKING_DIRECTORY ${PX4_BOARD_DIR}/libfc-sensor-api/build
+	)
+endif()