name: SITL Packages and Containers

on:
  push:
    tags: ['v*']
  pull_request:
    paths:
      - 'cmake/package.cmake'
      - 'platforms/posix/CMakeLists.txt'
      - 'Tools/packaging/**'
      - 'boards/px4/sitl/sih.px4board'
      - '.github/workflows/build_deb_package.yml'
      - '.github/actions/build-deb/**'
  workflow_dispatch:
    inputs:
      deploy_containers:
        description: 'Push container images to registry'
        required: false
        type: boolean
        default: false

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

permissions:
  contents: read
  packages: write

env:
  RUNS_IN_DOCKER: true

jobs:

  # ---------------------------------------------------------------------------
  # Setup: extract version and determine whether to push containers
  # ---------------------------------------------------------------------------
  setup:
    name: Setup
    runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
    outputs:
      px4_version: ${{ steps.px4_version.outputs.px4_version }}
      should_push: ${{ steps.push_check.outputs.should_push }}
    steps:
      - uses: runs-on/action@v2
      - uses: actions/checkout@v4
        with:
          fetch-tags: true
          submodules: false
          fetch-depth: 0

      - name: Set PX4 version
        id: px4_version
        run: echo "px4_version=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT

      - name: Check if we should push containers
        id: push_check
        run: |
          if [[ "${{ startsWith(github.ref, 'refs/tags/') }}" == "true" ]] || \
             [[ "${{ github.event_name }}" == "workflow_dispatch" && "${{ github.event.inputs.deploy_containers }}" == "true" ]]; then
            echo "should_push=true" >> $GITHUB_OUTPUT
          else
            echo "should_push=false" >> $GITHUB_OUTPUT
          fi

  # ---------------------------------------------------------------------------
  # Build .deb packages (all distros, arches, targets)
  # ---------------------------------------------------------------------------
  build-deb:
    name: "Build .deb (${{ matrix.target }}/${{ matrix.codename }}/${{ matrix.arch }})"
    needs: setup
    runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
    container:
      image: ${{ matrix.container }}
      volumes:
        - /github/workspace:/github/workspace
    strategy:
      fail-fast: false
      matrix:
        include:
          # Gazebo builds
          - { codename: noble,  arch: amd64, runner: x64,   container: "ubuntu:24.04", target: default, setup_flags: "" }
          - { codename: noble,  arch: arm64, runner: arm64, container: "ubuntu:24.04", target: default, setup_flags: "" }
          - { codename: jammy,  arch: amd64, runner: x64,   container: "ubuntu:22.04", target: default, setup_flags: "" }
          - { codename: jammy,  arch: arm64, runner: arm64, container: "ubuntu:22.04", target: default, setup_flags: "" }
          # SIH builds
          - { codename: noble,  arch: amd64, runner: x64,   container: "ubuntu:24.04", target: sih, setup_flags: "--no-sim-tools" }
          - { codename: noble,  arch: arm64, runner: arm64, container: "ubuntu:24.04", target: sih, setup_flags: "--no-sim-tools" }
          - { codename: jammy,  arch: amd64, runner: x64,   container: "ubuntu:22.04", target: sih, setup_flags: "--no-sim-tools" }
          - { codename: jammy,  arch: arm64, runner: arm64, container: "ubuntu:22.04", target: sih, setup_flags: "--no-sim-tools" }
    steps:
      - uses: runs-on/action@v2

      - name: Fix git in container
        run: |
          apt-get update && apt-get install -y git
          git config --global --add safe.directory $(realpath .)

      - uses: actions/checkout@v4
        with:
          fetch-depth: 0
          fetch-tags: true

      - name: Cache apt packages
        uses: actions/cache@v4
        with:
          path: /var/cache/apt/archives
          key: apt-${{ matrix.target }}-${{ matrix.codename }}-${{ matrix.arch }}-${{ hashFiles('Tools/setup/ubuntu.sh') }}
          restore-keys: apt-${{ matrix.target }}-${{ matrix.codename }}-${{ matrix.arch }}-

      - name: Install dependencies
        run: ./Tools/setup/ubuntu.sh --no-nuttx ${{ matrix.setup_flags }}

      - name: Build and package .deb
        uses: ./.github/actions/build-deb
        with:
          target: ${{ matrix.target }}
          artifact-name: px4-sitl-debs-${{ matrix.target }}-${{ matrix.codename }}-${{ matrix.arch }}
          ccache-key-prefix: deb-ccache-${{ matrix.target }}-${{ matrix.codename }}-${{ matrix.arch }}

  # ---------------------------------------------------------------------------
  # Build Docker images from Noble .debs
  # ---------------------------------------------------------------------------
  build-docker:
    name: "Build Image (${{ matrix.image }}/${{ matrix.arch }})"
    needs: [setup, build-deb]
    runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
    strategy:
      fail-fast: false
      matrix:
        include:
          - { image: sih,    target: sih,     arch: amd64, runner: x64,   platform: "linux/amd64", dockerfile: Dockerfile.sih }
          - { image: sih,    target: sih,     arch: arm64, runner: arm64, platform: "linux/arm64", dockerfile: Dockerfile.sih }
          - { image: gazebo, target: default, arch: amd64, runner: x64,   platform: "linux/amd64", dockerfile: Dockerfile.gazebo }
          - { image: gazebo, target: default, arch: arm64, runner: arm64, platform: "linux/arm64", dockerfile: Dockerfile.gazebo }
    steps:
      - uses: runs-on/action@v2
      - uses: actions/checkout@v4
        with:
          submodules: false
          fetch-depth: 1

      - name: Download Noble .deb artifact
        uses: actions/download-artifact@v4
        with:
          name: px4-sitl-debs-${{ matrix.target }}-noble-${{ matrix.arch }}
          path: docker-context

      - name: Prepare build context
        run: |
          cp Tools/packaging/px4-entrypoint.sh docker-context/
          ls -lh docker-context/

      - name: Login to Docker Hub
        uses: docker/login-action@v3
        if: needs.setup.outputs.should_push == 'true'
        with:
          username: ${{ secrets.DOCKERHUB_USERNAME }}
          password: ${{ secrets.DOCKERHUB_TOKEN }}

      - name: Login to GitHub Container Registry
        uses: docker/login-action@v3
        if: needs.setup.outputs.should_push == 'true'
        with:
          registry: ghcr.io
          username: ${{ github.actor }}
          password: ${{ secrets.GITHUB_TOKEN }}

      - name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v3
        with:
          driver: docker-container
          platforms: ${{ matrix.platform }}

      - name: Build and push container image
        uses: docker/build-push-action@v6
        with:
          context: docker-context
          file: Tools/packaging/${{ matrix.dockerfile }}
          tags: |
            px4io/px4-sitl-${{ matrix.image }}:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
            ghcr.io/px4/px4-sitl-${{ matrix.image }}:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
          platforms: ${{ matrix.platform }}
          load: false
          push: ${{ needs.setup.outputs.should_push == 'true' }}
          provenance: false
          cache-from: type=gha,scope=sitl-${{ matrix.image }}-${{ matrix.arch }}
          cache-to: type=gha,mode=max,scope=sitl-${{ matrix.image }}-${{ matrix.arch }}

  # ---------------------------------------------------------------------------
  # Deploy: create multi-arch manifests and push to registries
  # ---------------------------------------------------------------------------
  deploy:
    name: "Deploy (${{ matrix.image }})"
    needs: [setup, build-docker]
    if: needs.setup.outputs.should_push == 'true'
    runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
    strategy:
      matrix:
        image: [sih, gazebo]
    steps:
      - uses: runs-on/action@v2

      - name: Login to Docker Hub
        uses: docker/login-action@v3
        with:
          username: ${{ secrets.DOCKERHUB_USERNAME }}
          password: ${{ secrets.DOCKERHUB_TOKEN }}

      - name: Login to GitHub Container Registry
        uses: docker/login-action@v3
        with:
          registry: ghcr.io
          username: ${{ github.actor }}
          password: ${{ secrets.GITHUB_TOKEN }}

      - name: Verify per-arch images exist
        run: |
          for registry in px4io ghcr.io/px4; do
            for arch in amd64 arm64; do
              docker manifest inspect ${registry}/px4-sitl-${{ matrix.image }}:${{ needs.setup.outputs.px4_version }}-${arch} \
                || echo "Warning: ${registry}/px4-sitl-${{ matrix.image }}:${{ needs.setup.outputs.px4_version }}-${arch} not found"
            done
          done

      - name: Create and push multi-arch manifest (Docker Hub)
        run: |
          VERSION="${{ needs.setup.outputs.px4_version }}"
          IMAGE="px4io/px4-sitl-${{ matrix.image }}"

          docker manifest create ${IMAGE}:${VERSION} \
            --amend ${IMAGE}:${VERSION}-arm64 \
            --amend ${IMAGE}:${VERSION}-amd64

          docker manifest annotate ${IMAGE}:${VERSION} ${IMAGE}:${VERSION}-arm64 --arch arm64
          docker manifest annotate ${IMAGE}:${VERSION} ${IMAGE}:${VERSION}-amd64 --arch amd64

          docker manifest push ${IMAGE}:${VERSION}

      - name: Create and push multi-arch manifest (GHCR)
        run: |
          VERSION="${{ needs.setup.outputs.px4_version }}"
          IMAGE="ghcr.io/px4/px4-sitl-${{ matrix.image }}"

          docker manifest create ${IMAGE}:${VERSION} \
            --amend ${IMAGE}:${VERSION}-arm64 \
            --amend ${IMAGE}:${VERSION}-amd64

          docker manifest annotate ${IMAGE}:${VERSION} ${IMAGE}:${VERSION}-arm64 --arch arm64
          docker manifest annotate ${IMAGE}:${VERSION} ${IMAGE}:${VERSION}-amd64 --arch amd64

          docker manifest push ${IMAGE}:${VERSION}