name: Build

on:
  push:
    branches: [ '*' ]
  pull_request:
    branches: [ master ]
  workflow_dispatch:

jobs:
  build_linux:
    runs-on: ubuntu-latest
    env:
        ARDUINO_SKETCH_ALWAYS_EXPORT_BINARIES: 1
    steps:
    - uses: actions/checkout@v4
    - name: Install Arduino CLI
      run: curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=/usr/local/bin sh
    - name: Build firmware for ESP32
      run: make
    - name: Build firmware for ESP32-C3
      run: make BOARD=esp32:esp32:esp32c3
    - name: Build firmware for ESP32-S3
      run: make BOARD=esp32:esp32:esp32s3:CDCOnBoot=cdc
    - name: Build firmware for ESP32-S3 with QSPI PSRAM
      run: make BOARD=esp32:esp32:esp32s3:CDCOnBoot=cdc,PSRAM=enabled EXTRA=--output-dir=flix/build/esp32.esp32.esp32s3.qspi
    - name: Build firmware for ESP32-S3 with OPI PSRAM
      run: make BOARD=esp32:esp32:esp32s3:CDCOnBoot=cdc,PSRAM=opi EXTRA=--output-dir=flix/build/esp32.esp32.esp32s3.opi
    - name: Build firmware for Flix2
      run: make BOARD=esp32:esp32:esp32s3:FlashSize=4M,CDCOnBoot=cdc,PSRAM=opi EXTRA='--build-property "compiler.cpp.extra_flags=-DFLIX2" --output-dir=flix/build/esp32.esp32.flix2'
    - name: Build firmware for STM32F4
      run: |
        arduino-cli core install STMicroelectronics:stm32 --additional-urls https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json  
        make BOARD=STMicroelectronics:stm32:GenF4
    - name: Upload binaries
      uses: actions/upload-artifact@v4
      with:
        name: firmware-binary
        path: flix/build
    - name: Check c_cpp_properties.json
      run: tools/check_c_cpp_properties.py

  build_macos:
    runs-on: macos-latest
    steps:
    - uses: actions/checkout@v4
    - name: Install Arduino CLI
      run: brew install arduino-cli
    - name: Build firmware
      run: make
    - name: Check c_cpp_properties.json
      run: tools/check_c_cpp_properties.py

  build_windows:
    runs-on: windows-latest
    steps:
    - uses: actions/checkout@v4
    - name: Install Arduino CLI
      run: choco install arduino-cli
    - name: Install Make
      run: choco install make
    - name: Build firmware
      run: make
    - name: Check c_cpp_properties.json
      run: python3 tools/check_c_cpp_properties.py

  build_simulator:
    runs-on: ubuntu-latest
    container:
      image: ubuntu:20.04
    steps:
    - name: Install dependencies
      run: |
        apt-get update
        DEBIAN_FRONTEND=noninteractive apt-get install -y curl wget build-essential cmake g++ pkg-config gnupg2 lsb-release sudo
    - name: Install Arduino CLI
      run: curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | BINDIR=/usr/local/bin sh
    - uses: actions/checkout@v4
    - name: Install Gazebo
      run: |
        sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
        wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
        sudo apt-get update
        sudo apt-get install -y gazebo11 libgazebo11-dev
    - name: Install SDL2
      run: sudo apt-get install -y libsdl2-dev
    - name: Build simulator
      run: make build_simulator
    - uses: actions/upload-artifact@v4
      with:
        name: gazebo-plugin-binary
        path: gazebo/build/*.so
        retention-days: 1

  build_simulator_macos:
    runs-on: macos-latest
    if: github.event_name == 'workflow_dispatch'
    steps:
    - name: Install Arduino CLI
      run: brew install arduino-cli
    - uses: actions/checkout@v4
    - name: Clean up python binaries # Workaround for https://github.com/actions/setup-python/issues/577
      run: |
        rm -f /usr/local/bin/2to3*
        rm -f /usr/local/bin/idle3*
        rm -f /usr/local/bin/pydoc3*
        rm -f /usr/local/bin/python3*
        rm -f /usr/local/bin/python3*-config
    - name: Install Gazebo
      run: brew update && brew tap osrf/simulation && brew install gazebo11
    - name: Install SDL2
      run: brew install sdl2
    - name: Build simulator
      run: make build_simulator