name: MAVROS Tests

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

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

jobs:
  test:
    name: "MAVROS ${{ matrix.config.name }}"
    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
    permissions:
      contents: read
    container:
      image: px4io/px4-dev-ros-noetic:2021-09-08
    env:
      PX4_SBOM_DISABLE: 1
    strategy:
      fail-fast: false
      matrix:
        config:
          - {name: "Mission", test_file: "mavros_posix_test_mission.test", params: "mission:=MC_mission_box vehicle:=iris"}
          - {name: "Offboard", test_file: "mavros_posix_tests_offboard_posctl.test", params: "vehicle:=iris"}
    steps:
      - uses: runs-on/action@v2

      - uses: actions/checkout@v6
        with:
          fetch-depth: 1

      - name: Setup - Configure Git Safe Directory
        run: git config --system --add safe.directory '*'

      - name: Setup - Install Python Test Dependencies
        run: pip3 install -r Tools/setup/requirements.txt

      - uses: ./.github/actions/setup-ccache
        id: ccache
        with:
          cache-key-prefix: ccache-sitl-gazebo-classic
          max-size: 350M

      - uses: ./.github/actions/build-gazebo-sitl

      - name: Test - MAVROS ${{ matrix.config.name }}
        run: |
          ./test/rostest_px4_run.sh \
            ${{ matrix.config.test_file }} \
            ${{ matrix.config.params }}
        timeout-minutes: 10

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

      - name: Upload - Failed Test Logs
        if: failure()
        uses: actions/upload-artifact@v7
        with:
          name: failed-mavros-${{ matrix.config.name }}-logs.zip
          path: |
            logs/**/**/**/*.log
            logs/**/**/**/*.ulg