build.yml

name: Test and Build

on: [push, pull_request]

env:
  CARGO_TERM_COLOR: always

jobs:
  frontend:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v6.0.3
        with:
          submodules: "recursive"
          fetch-tags: true

      - name: Configure sccache
        uses: actions/github-script@v9.0.0
        with:
          script: |
            core.exportVariable('ACTIONS_RESULTS_URL', process.env.ACTIONS_RESULTS_URL || '');
            core.exportVariable('ACTIONS_RUNTIME_TOKEN', process.env.ACTIONS_RUNTIME_TOKEN || '');

      - uses: mozilla-actions/sccache-action@v0.0.10
        with:
          disable_annotations: true

      - name: Export sccache environment
        shell: bash
        run: |
          SCCACHE_DIR="${SCCACHE_DIR:-$HOME/.cache/sccache}"
          echo "SCCACHE_DIR=$SCCACHE_DIR" >> "$GITHUB_ENV"
          mkdir -p "$SCCACHE_DIR"
          echo "RUSTC_WRAPPER=$SCCACHE_PATH" >> "$GITHUB_ENV"
          echo "SCCACHE_GHA_ENABLED=true" >> "$GITHUB_ENV"
          "$SCCACHE_PATH" --start-server

      - uses: dtolnay/rust-toolchain@v1
        with:
          toolchain: stable
          targets: wasm32-unknown-unknown

      - uses: Swatinem/rust-cache@v2.9.1
        with:
          shared-key: frontend
          cache-bin: true
          cache-on-failure: true

      - name: Add Cargo bin to PATH
        run: echo "$CARGO_HOME/bin" >> "$GITHUB_PATH"

      - name: Install build dependencies - Cargo-Binstall
        uses: cargo-bins/cargo-binstall@v1.20.0
        with:
          version: "1.20.0"

      - name: Install build dependencies - Trunk
        run: |
          if [[ ! -x "$CARGO_HOME/bin/trunk" ]]; then
            cargo binstall -y trunk --force
          fi

      - name: Building frontend (wasm32)
        working-directory: src/webpage
        run: |
          "$CARGO_HOME/bin/trunk" build --release --locked --verbose
          bash "$GITHUB_WORKSPACE/.github/sccache-summary.sh"

      - uses: actions/upload-artifact@v7.0.1
        with:
          name: webpage-dist
          path: src/webpage/dist
          retention-days: 1

  test:
    needs: frontend
    runs-on: ubuntu-latest
    env:
      SKIP_FRONTEND: 1
    steps:
      - uses: actions/checkout@v6.0.3
        with:
          submodules: "recursive"

      - name: Configure sccache
        uses: actions/github-script@v9.0.0
        with:
          script: |
            core.exportVariable('ACTIONS_RESULTS_URL', process.env.ACTIONS_RESULTS_URL || '');
            core.exportVariable('ACTIONS_RUNTIME_TOKEN', process.env.ACTIONS_RUNTIME_TOKEN || '');

      - uses: mozilla-actions/sccache-action@v0.0.10
        with:
          disable_annotations: true

      - name: Export sccache environment
        shell: bash
        run: |
          SCCACHE_DIR="${SCCACHE_DIR:-$HOME/.cache/sccache}"
          echo "SCCACHE_DIR=$SCCACHE_DIR" >> "$GITHUB_ENV"
          mkdir -p "$SCCACHE_DIR"
          echo "RUSTC_WRAPPER=$SCCACHE_PATH" >> "$GITHUB_ENV"
          echo "SCCACHE_GHA_ENABLED=true" >> "$GITHUB_ENV"
          "$SCCACHE_PATH" --start-server

      - uses: actions/download-artifact@v8.0.1
        with:
          name: webpage-dist
          path: src/webpage/dist

      - uses: dtolnay/rust-toolchain@v1
        with:
          toolchain: stable

      - uses: Swatinem/rust-cache@v2.9.1
        with:
          shared-key: test
          cache-bin: true
          cache-on-failure: true

      - name: Add Cargo bin to PATH
        run: echo "$CARGO_HOME/bin" >> "$GITHUB_PATH"

      - name: Install rustfmt
        run: rustup component add rustfmt

      - name: Check code style
        run: cargo fmt -- --check

      - name: Install build dependencies - Cargo-Binstall
        uses: cargo-bins/cargo-binstall@v1.20.0
        with:
          version: "1.20.0"

      - name: Install build dependencies - cargo-nextest
        run: |
          if [[ ! -x "$CARGO_HOME/bin/cargo-nextest" ]]; then
            cargo binstall -y cargo-nextest --force
          fi

      - name: Run Tests
        run: |
          cargo nextest run --locked --verbose
          bash .github/sccache-summary.sh

  build-linux-x86_64:
    needs: frontend
    runs-on: ubuntu-24.04
    env:
      SKIP_FRONTEND: 1
    steps:
      - uses: actions/checkout@v6.0.3
        with:
          submodules: "recursive"

      - name: Configure sccache
        uses: actions/github-script@v9.0.0
        with:
          script: |
            core.exportVariable('ACTIONS_RESULTS_URL', process.env.ACTIONS_RESULTS_URL || '');
            core.exportVariable('ACTIONS_RUNTIME_TOKEN', process.env.ACTIONS_RUNTIME_TOKEN || '');

      - uses: mozilla-actions/sccache-action@v0.0.10
        with:
          disable_annotations: true

      - name: Export sccache environment
        shell: bash
        run: |
          SCCACHE_DIR="${SCCACHE_DIR:-$HOME/.cache/sccache}"
          echo "SCCACHE_DIR=$SCCACHE_DIR" >> "$GITHUB_ENV"
          mkdir -p "$SCCACHE_DIR"
          echo "SCCACHE_GHA_ENABLED=true" >> "$GITHUB_ENV"

      - uses: actions/download-artifact@v8.0.1
        with:
          name: webpage-dist
          path: src/webpage/dist

      - uses: dtolnay/rust-toolchain@v1
        with:
          toolchain: stable
          targets: x86_64-unknown-linux-musl

      - uses: Swatinem/rust-cache@v2.9.1
        with:
          shared-key: build-x86_64-unknown-linux-musl
          cache-bin: true
          cache-on-failure: true

      - name: Add Cargo bin to PATH
        run: echo "$CARGO_HOME/bin" >> "$GITHUB_PATH"

      - name: Install build dependencies - Cargo-Binstall
        uses: cargo-bins/cargo-binstall@v1.20.0
        with:
          version: "1.20.0"

      - name: Install build dependencies - Cross
        run: |
          if [[ ! -x "$CARGO_HOME/bin/cross" ]]; then
            cargo binstall -y cross --force
          fi

      - name: Building x86_64-unknown-linux-musl
        run: cross build --release --locked --target x86_64-unknown-linux-musl --verbose

      - name: Stage binary
        shell: bash
        run: |
          mkdir -p package
          cp target/x86_64-unknown-linux-musl/release/${{ github.event.repository.name }} package/${{ github.event.repository.name }}
          cp package/${{ github.event.repository.name }} ${{ github.event.repository.name }}-x86_64-unknown-linux-musl

      - uses: actions/upload-artifact@v7.0.1
        with:
          name: ${{ github.event.repository.name }}-x86_64-unknown-linux-musl
          path: package/
          retention-days: 1

      - uses: svenstaro/upload-release-action@2.11.5
        name: Upload binaries to release
        if: ${{ github.event_name == 'push' }}
        with:
          repo_token: ${{ secrets.GITHUB_TOKEN }}
          file: ${{ github.event.repository.name }}-x86_64-unknown-linux-musl
          asset_name: ${{ github.event.repository.name }}-x86_64-unknown-linux-musl
          tag: ${{ github.ref }}
          prerelease: ${{ !startsWith(github.ref, 'refs/tags/') }}
          overwrite: true

  build:
    needs: frontend
    runs-on: ${{ matrix.os }}
    env:
      SKIP_FRONTEND: 1
    strategy:
      fail-fast: false
      matrix:
        include:
          - os: macos-15
            TARGET: aarch64-apple-darwin

          - os: macos-15-intel
            TARGET: x86_64-apple-darwin

          - os: ubuntu-24.04
            TARGET: arm-unknown-linux-musleabihf

          - os: ubuntu-24.04
            TARGET: aarch64-unknown-linux-musl

          - os: ubuntu-24.04
            TARGET: armv7-unknown-linux-musleabihf

          - os: windows-2025
            TARGET: x86_64-pc-windows-msvc
            EXTENSION: .exe

    steps:
      - name: Building ${{ matrix.TARGET }}
        run: echo "${{ matrix.TARGET }}"

      - uses: actions/checkout@v6.0.3
        with:
          submodules: "recursive"
          fetch-tags: true

      - name: Configure sccache
        uses: actions/github-script@v9.0.0
        with:
          script: |
            core.exportVariable('ACTIONS_RESULTS_URL', process.env.ACTIONS_RESULTS_URL || '');
            core.exportVariable('ACTIONS_RUNTIME_TOKEN', process.env.ACTIONS_RUNTIME_TOKEN || '');

      - uses: mozilla-actions/sccache-action@v0.0.10
        with:
          disable_annotations: true

      - name: Export sccache environment
        shell: bash
        run: |
          SCCACHE_DIR="${SCCACHE_DIR:-$HOME/.cache/sccache}"
          echo "SCCACHE_DIR=$SCCACHE_DIR" >> "$GITHUB_ENV"
          mkdir -p "$SCCACHE_DIR"
          echo "SCCACHE_GHA_ENABLED=true" >> "$GITHUB_ENV"
          if [[ "${{ contains(matrix.TARGET, 'linux') }}" != "true" ]]; then
            echo "RUSTC_WRAPPER=$SCCACHE_PATH" >> "$GITHUB_ENV"
            "$SCCACHE_PATH" --start-server
          fi

      - uses: actions/download-artifact@v8.0.1
        with:
          name: webpage-dist
          path: src/webpage/dist

      - uses: dtolnay/rust-toolchain@v1
        with:
          toolchain: stable
          targets: ${{ matrix.TARGET }}

      - uses: Swatinem/rust-cache@v2.9.1
        with:
          shared-key: build-${{ matrix.TARGET }}
          cache-bin: true
          cache-on-failure: true

      - name: Add Cargo bin to PATH
        if: ${{ contains(matrix.TARGET, 'linux') }}
        run: echo "$CARGO_HOME/bin" >> "$GITHUB_PATH"

      - name: Install build dependencies - Cargo-Binstall
        if: ${{ contains(matrix.TARGET, 'linux') }}
        uses: cargo-bins/cargo-binstall@v1.20.0
        with:
          version: "1.20.0"

      - name: Install build dependencies - Cross
        if: ${{ contains(matrix.TARGET, 'linux') }}
        run: |
          if [[ ! -x "$CARGO_HOME/bin/cross" ]]; then
            cargo binstall -y cross --force
          fi

      - name: Building linux for ${{ matrix.TARGET }}
        if: ${{ contains(matrix.TARGET, 'linux') }}
        run: cross build --release --locked --target ${{ matrix.TARGET }} --verbose

      - name: Building non linux for ${{ matrix.TARGET }}
        if: ${{ !contains(matrix.TARGET, 'linux') }}
        run: |
          cargo build --release --locked --target ${{ matrix.TARGET }} --verbose
          bash .github/sccache-summary.sh

      - name: Rename
        shell: bash
        run: cp target/${{ matrix.TARGET }}/release/${{ github.event.repository.name }}${{ matrix.EXTENSION }} ${{ github.event.repository.name }}-${{ matrix.TARGET }}${{ matrix.EXTENSION }}

      - uses: actions/upload-artifact@v7.0.1
        with:
          name: ${{ github.event.repository.name }}-${{ matrix.TARGET }}${{ matrix.EXTENSION }}
          path: ${{ github.event.repository.name }}-${{ matrix.TARGET }}${{ matrix.EXTENSION }}

      - uses: svenstaro/upload-release-action@2.11.5
        name: Upload binaries to release
        if: ${{ github.event_name == 'push' }}
        with:
          repo_token: ${{ secrets.GITHUB_TOKEN }}
          file: ${{ github.event.repository.name }}-${{ matrix.TARGET }}${{ matrix.EXTENSION }}
          asset_name: ${{ github.event.repository.name }}-${{ matrix.TARGET }}${{ matrix.EXTENSION }}
          tag: ${{ github.ref }}
          prerelease: ${{ !startsWith(github.ref, 'refs/tags/') }}
          overwrite: true

  test-endpoints:
    needs: build-linux-x86_64
    runs-on: ubuntu-latest
    strategy:
      fail-fast: false
      matrix:
        include:
          - name: "UDP Test"
            server_endpoints: "udpout:127.0.0.1:14550 udpin:127.0.0.1:14551"
            client_endpoints: "udpin:127.0.0.1:14550 udpout:127.0.0.1:14551"
          - name: "TCP Test"
            server_endpoints: "tcpout:127.0.0.1:5761 tcpin:127.0.0.1:5760"
            client_endpoints: "tcpin:127.0.0.1:5761 tcp:127.0.0.1:5760"

    steps:
      - uses: actions/checkout@v6.0.3
        with:
          submodules: "recursive"

      - uses: actions/download-artifact@v8.0.1
        with:
          name: ${{ github.event.repository.name }}-x86_64-unknown-linux-musl
          path: bin

      - name: Install the latest version of uv
        uses: astral-sh/setup-uv@v8.2.0
        with:
          version: "0.11.19"

      - name: Run mavlink-server
        run: |
          chmod +x bin/${{ github.event.repository.name }}
          ./bin/${{ github.event.repository.name }} ${{ matrix.server_endpoints }} &
          sleep 5

      - name: Run Python Heartbeat Test
        run: |
          cd tests/scripts
          uv run test_heartbeat.py ${{ matrix.client_endpoints }}

  test-arm-vehicle:
    needs: build-linux-x86_64
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v6.0.3
        with:
          submodules: "recursive"

      - uses: actions/download-artifact@v8.0.1
        with:
          name: ${{ github.event.repository.name }}-x86_64-unknown-linux-musl
          path: bin

      - name: Set up Python
        uses: actions/setup-python@v6.2.0
        with:
          python-version: "3.13"

      - name: Install system dependencies
        run: |
          sudo apt-get update
          sudo apt-get install -y build-essential

      - name: Install the latest version of uv
        uses: astral-sh/setup-uv@v8.2.0
        with:
          version: "0.11.19"

      - name: Run vehicle arming test
        env:
          MAVLINK_SERVER_BIN: ${{ github.workspace }}/bin/${{ github.event.repository.name }}
        run: |
          chmod +x "$MAVLINK_SERVER_BIN"
          cd tests/python
          uv run main.py