name: Checks

on:
  push:
    branches:
    - 'main'
    paths-ignore:
      - 'docs/**'
  pull_request:
    branches:
      - '**'
    paths-ignore:
      - 'docs/**'

permissions:
  contents: read

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

jobs:
  gate_checks:
    name: Gate Checks [${{ matrix.check }}]
    runs-on: [runs-on,runner=2cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
    container:
      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
    strategy:
      fail-fast: true
      matrix:
        check: [
          "check_format",
          "check_newlines",
          "validate_module_configs",
          "shellcheck_all",
          "module_documentation",
        ]
    steps:
      - uses: runs-on/action@v2
      - uses: actions/checkout@v6
        with:
          fetch-depth: 1
      - name: Configure Git Safe Directory
        run: git config --system --add safe.directory '*'

      - name: Building [${{ matrix.check }}]
        env:
          PX4_SBOM_DISABLE: 1
        run: make ${{ matrix.check }}

  tests-linux:
    name: Unit Tests (linux)
    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
    container:
      image: ghcr.io/px4/px4-dev:v1.17.0-rc2
    permissions:
      contents: write
    env:
      GIT_COMMITTER_EMAIL: bot@px4.io
      GIT_COMMITTER_NAME: PX4BuildBot
    steps:
      - uses: runs-on/action@v2
      - uses: actions/checkout@v6
        with:
          fetch-depth: 1
      - name: Configure Git Safe Directory
        run: git config --system --add safe.directory '*'

      - uses: ./.github/actions/setup-ccache
        id: ccache
        with:
          cache-key-prefix: ccache-sitl
          max-size: 300M

      - name: Build and run unit tests
        env:
          PX4_SBOM_DISABLE: 1
        run: make tests

      - uses: ./.github/actions/save-ccache
        if: always()
        with:
          cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}

      - name: Auto-update EKF change indication baselines
        if: github.event_name == 'push'
        uses: stefanzweifel/git-auto-commit-action@v7
        with:
          file_pattern: 'src/modules/ekf2/test/change_indication/*.csv'
          commit_user_name: ${{ env.GIT_COMMITTER_NAME }}
          commit_user_email: ${{ env.GIT_COMMITTER_EMAIL }}
          commit_message: |
            [AUTO COMMIT] update EKF change indication

            See .github/workflows/checks.yml for more details

      - name: Check for EKF functional changes
        run: git diff --exit-code
        working-directory: src/modules/ekf2/test/change_indication

  tests-windows-msvc:
    name: Unit Tests (windows-msvc)
    # Native Windows host is required: the gtest binaries under
    # platforms/posix/src/px4/windows/tests/ exercise the _MSC_VER paths
    # in the shim headers and the MSVC-only sources (socket_msvc.cpp,
    # sys/time.cpp, etc.). The shim CMakeLists is gated on WIN32 in
    # platforms/posix/CMakeLists.txt, so a Linux runner cannot stand in.
    runs-on: windows-2022
    steps:
      - uses: actions/checkout@v6
        with:
          submodules: recursive
          fetch-depth: 1

      - name: Setup Python
        uses: actions/setup-python@v6
        with:
          python-version: '3.11'

      - name: Install Python deps
        shell: pwsh
        run: |
          python -m pip install --upgrade pip
          # empy pinned <4: PX4 generators use the empy 3.x Interpreter API
          # removed in 4.x. Matches Tools/setup/requirements.txt and the
          # compile_windows workflow.
          python -m pip install jinja2 pyyaml toml numpy packaging jsonschema future "empy>=3.3,<4" pyros-genmsg kconfiglib
          # Verify kconfiglib import on the same Python that CMake will
          # pick so we fail loud here rather than during cmake configure.
          python -c "import kconfiglib; print(kconfiglib.__file__)"

      - name: Install Ninja
        uses: seanmiddleditch/gha-setup-ninja@v5

      - name: Enable MSVC environment (x64)
        uses: ilammy/msvc-dev-cmd@v1
        with:
          arch: x64

      # Configure with the px4_sitl_test board, which flips
      # CMAKE_TESTING=ON and pulls in the Windows shim test subdirectory
      # via px4_posix_windows_add_tests() (see platforms/posix/CMakeLists.txt).
      # Pin Python3_ROOT_DIR to the setup-python interpreter so cmake's
      # find_package(Python3) does not pick the runner image's other Python
      # where kconfiglib is not installed. We invoke cmake directly here
      # rather than `make px4_sitl_test` so we only configure and can then
      # build a narrow set of targets in the next step.
      - name: Configure (px4_sitl_test)
        shell: pwsh
        run: |
          cmake -S . -B build/px4_sitl_test -G Ninja `
            -DCONFIG=px4_sitl_test `
            -DPython3_ROOT_DIR="$env:pythonLocation" `
            -DPython3_FIND_STRATEGY=LOCATION

      # Build only the Windows shim gtest binaries. The full test_results
      # ctest target also pulls in fuzztest and the px4 binary, neither of
      # which we need to gate the shim layer here. Names are emitted by
      # px4_add_unit_gtest() with a `unit-` prefix (see cmake/px4_add_gtest.cmake).
      - name: Build Windows shim unit tests
        shell: pwsh
        run: |
          cmake --build build/px4_sitl_test --target unit-test_windows_shim_headers unit-test_windows_shim_runtime unit-test_windows_shim_poll unit-test_windows_shim_io

      - name: Run Windows shim unit tests
        shell: pwsh
        run: |
          $tests = @(
            'unit-test_windows_shim_headers',
            'unit-test_windows_shim_runtime',
            'unit-test_windows_shim_poll',
            'unit-test_windows_shim_io'
          )
          $failed = $false
          foreach ($name in $tests) {
            $exe = Get-ChildItem -Path build\px4_sitl_test -Filter "$name.exe" -Recurse -ErrorAction SilentlyContinue | Select-Object -First 1
            if ($null -eq $exe) {
              Write-Host "::error::Test binary not found: $name"
              $failed = $true
              continue
            }
            Write-Host "=== Running $($exe.Name) ==="
            & $exe.FullName --gtest_color=yes
            if ($LASTEXITCODE -ne 0) {
              Write-Host "::error::$name failed with exit $LASTEXITCODE"
              $failed = $true
            }
          }
          if ($failed) { exit 1 }