name: Checks

on:
  push:
    branches:
    - 'main'
    paths-ignore:
      - 'docs/**'
  pull_request:
    branches:
      - '**'
    paths-ignore:
      - 'docs/**'

permissions:
  contents: read

concurrency:
  group: ${{ github.workflow }}-${{ github.ref }}
  cancel-in-progress: true

jobs:
  gate_checks:
    name: Gate Checks [${{ matrix.check }}]
    runs-on: [runs-on,runner=2cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
    container:
      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
    strategy:
      fail-fast: true
      matrix:
        check: [
          "check_format",
          "check_newlines",
          "validate_module_configs",
          "shellcheck_all",
          "module_documentation",
        ]
    steps:
      - uses: runs-on/action@v2
      - uses: actions/checkout@v6
        with:
          fetch-depth: 1
      - name: Configure Git Safe Directory
        run: git config --system --add safe.directory '*'

      - name: Building [${{ matrix.check }}]
        env:
          PX4_SBOM_DISABLE: 1
        run: make ${{ matrix.check }}

  tests:
    name: Unit Tests
    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
    container:
      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
    permissions:
      contents: write
    env:
      GIT_COMMITTER_EMAIL: bot@px4.io
      GIT_COMMITTER_NAME: PX4BuildBot
    steps:
      - uses: runs-on/action@v2
      - uses: actions/checkout@v6
        with:
          fetch-depth: 1
      - name: Configure Git Safe Directory
        run: git config --system --add safe.directory '*'

      - uses: ./.github/actions/setup-ccache
        id: ccache
        with:
          cache-key-prefix: ccache-sitl
          max-size: 300M

      - name: Build and run unit tests
        env:
          PX4_SBOM_DISABLE: 1
        run: make tests

      - uses: ./.github/actions/save-ccache
        if: always()
        with:
          cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}

      - name: Auto-update EKF change indication baselines
        if: github.event_name == 'push'
        uses: stefanzweifel/git-auto-commit-action@v7
        with:
          file_pattern: 'src/modules/ekf2/test/change_indication/*.csv'
          commit_user_name: ${{ env.GIT_COMMITTER_NAME }}
          commit_user_email: ${{ env.GIT_COMMITTER_EMAIL }}
          commit_message: |
            [AUTO COMMIT] update EKF change indication

            See .github/workflows/checks.yml for more details

      - name: Check for EKF functional changes
        run: git diff --exit-code
        working-directory: src/modules/ekf2/test/change_indication