name: RotorS PX4 Build Test

on:
  push:
    branches:
    - 'master'
  pull_request:
    branches:
    - '*'

jobs:
  build:
    runs-on: ubuntu-latest
    strategy:
      fail-fast: false
      matrix:
        container:
        - 'px4io/px4-dev-simulation-bionic:2020-11-18' # Gazebo 9
    container:
      image: ${{ matrix.container }}
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
      with:
        token: ${{ secrets.ACCESS_TOKEN }}
    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
      shell: cmake -P {0}
      run: |
        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
        message("::set-output name=timestamp::${current_date}")
    - name: ccache cache files
      uses: actions/cache@v2
      with:
        path: ~/.ccache
        key: rotors_tests-RelWithDebInfo-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
        restore-keys: rotors_tests-RelWithDebInfo-ccache-
    - name: setup ccache
      run: |
          mkdir -p ~/.ccache
          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
          echo "compression = true" >> ~/.ccache/ccache.conf
          echo "compression_level = 5" >> ~/.ccache/ccache.conf
          echo "max_size = 100M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z
    - name: Install glog
      run: apt update && apt install -y libgoogle-glog-dev libyaml-cpp-dev
    - name: Build PX4 RotorS
      env:
        PX4_CMAKE_BUILD_TYPE: RelWithDebInfo
        DONT_RUN: 1
      run: make px4_sitl rotors
    - name: ccache post-run px4/firmware
      run: ccache -s