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

# NOTE: this workflow is now running on Dronecode / PX4 AWS account.
# - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
#   and comment the "runs-on: [runs-on,runner=..." lines.
# - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
#
# ===================================================================================
# RELEASE UPLOAD LOGIC
# ===================================================================================
# This workflow handles building firmware and uploading to S3 + GitHub Releases.
#
# S3 Bucket Structure (s3://px4-travis/Firmware/):
#   - master/          <- Latest main branch build (for QGC compatibility)
#   - stable/          <- Latest stable release, controlled by 'stable' branch
#   - beta/            <- Latest pre-release, controlled by 'beta' branch
#   - vX.Y.Z/          <- Archived stable release
#   - vX.Y.Z-beta1/    <- Archived pre-release
#
# Trigger Behavior:
#   - Tag v1.16.1        -> Upload to: v1.16.1/ only (versioned archive)
#   - Tag v1.17.0-beta1  -> Upload to: v1.17.0-beta1/ only (versioned archive)
#   - Branch main        -> Upload to: master/ (for QGC compatibility)
#   - Branch stable      -> Upload to: stable/ (QGC stable firmware)
#   - Branch beta        -> Upload to: beta/ (QGC beta firmware)
#   - Branch release/**  -> Build only, no S3 upload (CI validation)
#   - Pull requests      -> Build only, no S3 upload (CI validation)
#
# GitHub Releases:
#   - All version tags create a draft GitHub Release
#   - Pre-releases (alpha/beta/rc suffixes) are automatically marked as such
#
# IMPORTANT: Version tags do NOT upload to stable/ or beta/. Only the
# corresponding branch pushes control those directories. This prevents
# pre-release tags from accidentally overwriting stable firmware (#26340)
# and avoids race conditions between tag and branch builds.
# ===================================================================================

name: Build all targets

on:
  push:
    tags:
      - 'v*'
    branches:
      - 'main'
      - 'stable'
      - 'beta'
      - 'release/**'
    paths-ignore:
      - 'docs/**'
  pull_request:
    branches:
      - '**'
    paths-ignore:
      - 'docs/**'

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

permissions:
  contents: write
  actions: read
  packages: read

jobs:
  group_targets:
    name: Scan for Board Targets
    # runs-on: ubuntu-latest
    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    outputs:
      matrix: ${{ steps.set-matrix.outputs.matrix }}
      timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
      branchname: ${{ steps.set-branch.outputs.branchname }}
    steps:
      - uses: actions/checkout@v6

      - name: Cache Python pip
        uses: actions/cache@v5
        with:
          path: ~/.cache/pip
          key: ${{ runner.os }}-pip-${{ hashFiles('**./Tools/setup/requirements.txt') }}
          restore-keys: |
            ${{ runner.os }}-pip-

      - name: Update python packaging to avoid canonicalize_version() error
        run: |
            pip3 install -U packaging

      - name: Install Python Dependencies
        uses: py-actions/py-dependency-install@v4
        with:
          path: "./Tools/setup/requirements.txt"

      - id: set-matrix
        name: Generate Build Matrix
        run: echo "matrix=$(./Tools/ci/generate_board_targets_json.py --group)" >> $GITHUB_OUTPUT

      - id: set-timestamp
        name: Save Current Timestamp
        run: echo "timestamp=$(date +"%Y%m%d%H%M%S")" >> $GITHUB_OUTPUT

      - id: set-branch
        name: Save Current Branch Name
        run: |
          echo "branchname=${{
            github.event_name == 'pull_request' &&
            format('pr-{0}', github.event.pull_request.number) ||
            github.head_ref ||
            github.ref_name
          }}" >> $GITHUB_OUTPUT

      - name: Debug Matrix Output
        if: runner.debug == '1'
        run: |
          echo "${{ steps.set-timestamp.outputs.timestamp }}"
          echo "${{ steps.set-branch.outputs.branchname }}"
          echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"

  setup:
    name: Build [${{ matrix.runner }}][${{ matrix.group }}]
    # runs-on: ubuntu-latest
    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false]
    needs: group_targets
    strategy:
      matrix: ${{ fromJson(needs.group_targets.outputs.matrix) }}
      fail-fast: false
    container:
      image: ${{ matrix.container }}
      credentials:
        username: ${{ github.actor }}
        password: ${{ secrets.GITHUB_TOKEN }}
    steps:
      - uses: runs-on/action@v2
      - uses: actions/checkout@v6
        with:
          fetch-depth: 0
      - name: Configure Git Safe Directory
        run: git config --system --add safe.directory '*'

      # ccache key breakdown:
      # ccache-<system os>-<system arch>-<builder group>-
      # ccache-<linux>-<arm64>-<aarch64-0>-
      # ccache-<linux>-<x64>-<nuttx-0>-
      - name: Cache Restore from Key
        id: cc_restore
        uses: actions/cache/restore@v5
        with:
          path: ~/.ccache
          key: ${{ format('ccache-{0}-{1}-{2}', runner.os, matrix.runner, matrix.group) }}
          restore-keys: |
            ccache-${{ runner.os }}-${{ matrix.runner }}-${{ matrix.group }}-
            ccache-${{ runner.os }}-${{ matrix.runner }}-
            ccache-${{ runner.os }}-${{ matrix.runner }}-
            ccache-${{ runner.os }}-
            ccache-

      - name: Cache Config and Stats
        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 = 120M" >> ~/.ccache/ccache.conf
            echo "hash_dir = false" >> ~/.ccache/ccache.conf
            echo "compiler_check = content" >> ~/.ccache/ccache.conf
            ccache -s
            ccache -z

      - name: Building Artifacts for [${{ matrix.targets }}]
        run: |
            ./Tools/ci/build_all_runner.sh ${{matrix.targets}} ${{matrix.arch}}

      - name: Arrange Build Artifacts
        run: |
          ./Tools/ci/package_build_artifacts.sh

      - name: Upload Build Artifacts
        uses: actions/upload-artifact@v7
        with:
          name: px4_${{matrix.group}}_build_artifacts
          path: artifacts/

      - name: Cache Post Build Stats
        if: always()
        run: |
            ccache -s
            ccache -z

      - name: Cache Save
        if: always()
        uses: actions/cache/save@v5
        with:
          path: ~/.ccache
          key: ${{ steps.cc_restore.outputs.cache-primary-key }}

  # ===========================================================================
  # ARTIFACT UPLOAD JOB
  # ===========================================================================
  # Uploads build artifacts to S3 and creates GitHub Releases.
  # Runs for version tags (v*), main, stable, and beta branch pushes.
  # See header comments for full upload logic documentation.
  # ===========================================================================
  artifacts:
    name: Upload Artifacts
    # runs-on: ubuntu-latest
    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    needs: [setup, group_targets]
    if: startsWith(github.ref, 'refs/tags/v') || contains(fromJSON('["main","stable","beta"]'), needs.group_targets.outputs.branchname)
    outputs:
      uploadlocation: ${{ steps.upload-location.outputs.uploadlocation }}
    steps:
      - name: Download Artifacts
        uses: actions/download-artifact@v8
        with:
          path: artifacts/
          merge-multiple: true

      - name: Choose Upload Location
        id: upload-location
        run: |
          set -euo pipefail

          ref="${GITHUB_REF}"
          branch=${{ needs.group_targets.outputs.branchname  }}
          location="$branch"
          is_prerelease="false"

          # Main branch uploads to "master" for QGC backward compatibility
          if [[ "$branch" == "main" ]]; then
            location="master"
          fi

          # Version tags: upload to versioned directory (e.g., v1.16.1/)
          if [[ "$ref" == refs/tags/v[0-9]* ]]; then
            tag="${ref#refs/tags/}"
            location="$tag"

            # Pre-release tags contain -alpha, -beta, or -rc suffix
            if [[ "$tag" =~ -(alpha|beta|rc) ]]; then
              is_prerelease="true"
            fi
          fi

          echo "uploadlocation=$location" >> $GITHUB_OUTPUT
          echo "is_prerelease=$is_prerelease" >> $GITHUB_OUTPUT

      - name: Uploading Artifacts to S3 [${{ steps.upload-location.outputs.uploadlocation }}]
        uses: jakejarvis/s3-sync-action@master
        with:
          args: --acl public-read
        env:
          AWS_S3_BUCKET: 'px4-travis'
          AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
          AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
          AWS_REGION: 'us-west-1'
          SOURCE_DIR: artifacts/
          DEST_DIR: Firmware/${{ steps.upload-location.outputs.uploadlocation }}/

      # Create a draft GitHub Release for all version tags
      # Pre-releases are automatically marked as such
      - name: Upload Artifacts to GitHub Release
        uses: softprops/action-gh-release@v2
        if: startsWith(github.ref, 'refs/tags/v')
        with:
          draft: true
          prerelease: ${{ steps.upload-location.outputs.is_prerelease == 'true' }}
          files: |
            artifacts/*.px4
            artifacts/*.deb
            artifacts/**/*.sbom.spdx.json
          name: ${{ steps.upload-location.outputs.uploadlocation }}