From d6efd270bcd29bbb22b9a9dafb3308b67e50c20c Mon Sep 17 00:00:00 2001
From: "copilot-swe-agent[bot]" <198982749+Copilot@users.noreply.github.com>
Date: Sat, 4 Oct 2025 00:30:00 +0000
Subject: [PATCH] Fix CAN node packaging: Include .uavcan.bin files in
 organized directories

Co-authored-by: dakejahl <37091262+dakejahl@users.noreply.github.com>
---
 .github/workflows/build_all_targets.yml |  4 +++-
 Tools/ci/package_build_artifacts.sh     | 28 +++++++++++++++++++++++--
 2 files changed, 29 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/build_all_targets.yml b/.github/workflows/build_all_targets.yml
index ef3b4d1470..ee62c05661 100644
--- a/.github/workflows/build_all_targets.yml
+++ b/.github/workflows/build_all_targets.yml
@@ -170,4 +170,6 @@ jobs:
         uses: softprops/action-gh-release@v2
         with:
           draft: true
-          files: artifacts/*.px4
+          files: |
+            artifacts/*.px4
+            artifacts/can_nodes/**/*.uavcan.bin
diff --git a/Tools/ci/package_build_artifacts.sh b/Tools/ci/package_build_artifacts.sh
index f5ebb73fa0..844a892b39 100755
--- a/Tools/ci/package_build_artifacts.sh
+++ b/Tools/ci/package_build_artifacts.sh
@@ -1,8 +1,32 @@
 #!/bin/bash
 
+# Enable globstar for recursive globbing
+shopt -s globstar
+
 mkdir artifacts
-cp **/**/*.px4 artifacts/
-cp **/**/*.elf artifacts/
+
+# Copy px4 files for regular flight controllers
+cp **/**/*.px4 artifacts/ 2>/dev/null || true
+
+# Copy uavcan.bin files for CAN nodes to named folders
+mkdir -p artifacts/can_nodes
+for uavcan_bin in **/**/*.uavcan.bin; do
+  if [ -f "$uavcan_bin" ]; then
+    # Extract build directory name (e.g., "ark_can-flow_default" from "build/ark_can-flow_default/...")
+    build_dir=$(echo "$uavcan_bin" | sed 's|build/\([^/]*\)/.*|\1|')
+    
+    # Create subdirectory for this CAN node
+    can_node_dir="artifacts/can_nodes/$build_dir"
+    mkdir -p "$can_node_dir"
+    
+    # Copy the uavcan.bin file with original name
+    cp "$uavcan_bin" "$can_node_dir/"
+    
+    echo "Packaged CAN node firmware: $uavcan_bin -> $can_node_dir/"
+  fi
+done
+
+cp **/**/*.elf artifacts/ 2>/dev/null || true
 for build_dir_path in build/*/ ; do
   build_dir_path=${build_dir_path::${#build_dir_path}-1}
   build_dir=${build_dir_path#*/}