PX4-Autopilot/.github/workflows/build_deb_package.yml

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

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.version.outputs.px4_version }}
      should_push: ${{ steps.push.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: version
        run: echo "px4_version=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT

      - name: Check if we should push containers
        id: push
        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:
          - { 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: "" }
          - { 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" }
    env:
      RUNS_IN_DOCKER: true
    steps:
      - uses: runs-on/action@v2

      - name: Fix git in container
        run: |
          # Switch to AWS regional mirrors. runs-on instances are in us-west-2,
          # and the EC2 archive mirrors are Canonical-operated, region-local,
          # and sync aggressively. The default archive.ubuntu.com round-robin
          # sometimes serves out-of-sync index files mid-sync, breaking
          # apt-get update.
          if [ -f /etc/apt/sources.list.d/ubuntu.sources ]; then
            sed -i 's|http://archive.ubuntu.com/ubuntu|http://us-west-2.ec2.archive.ubuntu.com/ubuntu|g; s|http://security.ubuntu.com/ubuntu|http://us-west-2.ec2.archive.ubuntu.com/ubuntu|g' /etc/apt/sources.list.d/ubuntu.sources
          fi
          if [ -f /etc/apt/sources.list ]; then
            sed -i 's|http://archive.ubuntu.com/ubuntu|http://us-west-2.ec2.archive.ubuntu.com/ubuntu|g; s|http://security.ubuntu.com/ubuntu|http://us-west-2.ec2.archive.ubuntu.com/ubuntu|g' /etc/apt/sources.list
          fi
          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/

      - name: Login to registries
        if: needs.setup.outputs.should_push == 'true'
        run: |
          echo "${{ secrets.DOCKERHUB_TOKEN }}" | docker login -u "${{ secrets.DOCKERHUB_USERNAME }}" --password-stdin
          echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u "${{ github.actor }}" --password-stdin

      - 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 }}
            px4io/px4-sitl-${{ matrix.image }}:latest-${{ matrix.arch }}
            ghcr.io/px4/px4-sitl-${{ matrix.image }}:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
            ghcr.io/px4/px4-sitl-${{ matrix.image }}:latest-${{ 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 registries
        run: |
          echo "${{ secrets.DOCKERHUB_TOKEN }}" | docker login -u "${{ secrets.DOCKERHUB_USERNAME }}" --password-stdin
          echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u "${{ github.actor }}" --password-stdin

      - name: Create and push multi-arch manifests
        run: |
          VERSION="${{ needs.setup.outputs.px4_version }}"

          for REGISTRY in px4io ghcr.io/px4; do
            IMAGE="${REGISTRY}/px4-sitl-${{ matrix.image }}"

            for TAG in ${VERSION} latest; do
              docker manifest create ${IMAGE}:${TAG} \
                --amend ${IMAGE}:${TAG}-arm64 \
                --amend ${IMAGE}:${TAG}-amd64

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

              docker manifest push ${IMAGE}:${TAG}
            done
          done