PX4-Autopilot/.github/actions/build-deb/action.yml

name: Build PX4 .deb Package
description: Build PX4 SITL, run cpack, validate the .deb, and upload artifact

inputs:
  target:
    description: 'Build target: default or sih'
    required: true
  artifact-name:
    description: Name for the uploaded artifact
    required: true
  ccache-key-prefix:
    description: Prefix for ccache cache keys
    default: deb-ccache
  ccache-max-size:
    description: Maximum ccache size
    default: 400M

runs:
  using: composite
  steps:
    - name: Restore ccache
      id: ccache-restore
      uses: actions/cache/restore@v4
      with:
        path: ~/.ccache
        key: ${{ inputs.ccache-key-prefix }}-${{ github.ref_name }}-${{ github.sha }}
        restore-keys: |
          ${{ inputs.ccache-key-prefix }}-${{ github.ref_name }}-
          ${{ inputs.ccache-key-prefix }}-${{ github.base_ref || 'main' }}-
          ${{ inputs.ccache-key-prefix }}-

    - name: Configure ccache
      shell: bash
      run: |
        mkdir -p ~/.ccache
        echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
        echo "compression = true" >> ~/.ccache/ccache.conf
        echo "compression_level = 6" >> ~/.ccache/ccache.conf
        echo "max_size = ${{ inputs.ccache-max-size }}" >> ~/.ccache/ccache.conf
        echo "hash_dir = false" >> ~/.ccache/ccache.conf
        echo "compiler_check = content" >> ~/.ccache/ccache.conf
        ccache -s
        ccache -z

    - name: Build PX4 SITL
      shell: bash
      run: make px4_sitl_${{ inputs.target }}

    - name: ccache stats
      if: always()
      shell: bash
      run: ccache -s

    - name: Save ccache
      uses: actions/cache/save@v4
      if: always()
      with:
        path: ~/.ccache
        key: ${{ inputs.ccache-key-prefix }}-${{ github.ref_name }}-${{ github.sha }}

    - name: Build .deb package
      shell: bash
      run: |
        cd build/px4_sitl_${{ inputs.target }}
        cpack -G DEB

    - name: Print package info and contents
      shell: bash
      run: |
        cd build/px4_sitl_${{ inputs.target }}
        echo "--- Package info ---"
        dpkg-deb -I *.deb
        echo "--- Package contents ---"
        dpkg-deb -c *.deb

    - name: Validate sih package
      if: inputs.target == 'sih'
      shell: bash
      run: |
        cd build/px4_sitl_sih
        echo "--- Verify NO Gazebo resources ---"
        ! dpkg-deb -c px4_*.deb | grep share/gz > /dev/null && echo "PASS: no Gazebo" || { echo "FAIL: Gazebo found"; exit 1; }
        echo "--- Install test ---"
        dpkg -i px4_*.deb
        test -x /opt/px4/bin/px4 || { echo "FAIL: px4 binary not found"; exit 1; }
        test -L /usr/bin/px4 || { echo "FAIL: symlink not created"; exit 1; }
        test ! -d /opt/px4/share/gz || { echo "FAIL: Gazebo dir should not exist"; exit 1; }
        echo "--- Smoke test ---"
        /opt/px4/bin/px4 -h
        echo "PASS: sih package validation successful"

    - name: Validate gazebo package
      if: inputs.target == 'default'
      shell: bash
      run: |
        cd build/px4_sitl_default
        echo "--- Verify Gazebo resources in package ---"
        dpkg-deb -c px4-gazebo_*.deb | grep share/gz/models > /dev/null || { echo "FAIL: models missing"; exit 1; }
        dpkg-deb -c px4-gazebo_*.deb | grep share/gz/worlds > /dev/null || { echo "FAIL: worlds missing"; exit 1; }
        echo "--- Install test ---"
        dpkg -i px4-gazebo_*.deb
        test -x /opt/px4-gazebo/bin/px4 || { echo "FAIL: px4 binary not found"; exit 1; }
        test -x /opt/px4-gazebo/bin/px4-gazebo || { echo "FAIL: wrapper not found"; exit 1; }
        test -L /usr/bin/px4-gazebo || { echo "FAIL: symlink not created"; exit 1; }
        test -d /opt/px4-gazebo/share/gz/models || { echo "FAIL: Gazebo models not installed"; exit 1; }
        echo "--- Smoke test ---"
        /opt/px4-gazebo/bin/px4 -h
        echo "PASS: gazebo package validation successful"

    - name: Upload .deb artifacts
      uses: actions/upload-artifact@v4
      with:
        name: ${{ inputs.artifact-name }}
        path: build/px4_sitl_${{ inputs.target }}/*.deb
        if-no-files-found: error