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

name: Windows SITL build

# Build px4_sitl_default for Windows on both supported toolchains:
#   - MinGW-w64 cross-compile from Ubuntu (gate for the platforms/posix
#     Windows shim layer and ld --wrap socket plumbing)
#   - Native MSVC on a Windows runner (gate for the _MSC_VER paths in
#     the shim headers and the MSVC-only sources under
#     src/px4/windows/posix, e.g. socket_msvc.cpp / sys/time.cpp)

on:
  push:
    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: read

jobs:
  build:
    name: Windows SITL (${{ matrix.toolchain }})
    runs-on: ${{ matrix.runner }}
    strategy:
      fail-fast: false
      matrix:
        include:
          - toolchain: MinGW
            runner: ubuntu-24.04
            artifact: px4-sitl-windows-x86_64-mingw
          - toolchain: MSVC
            runner: windows-2022
            artifact: px4-sitl-windows-x86_64-msvc

    steps:
      - uses: actions/checkout@v4
        with:
          submodules: recursive
          fetch-depth: 0

      # ---- MinGW cross-build path (Ubuntu host) ----

      - name: Install MinGW-w64 + PX4 base deps
        if: matrix.toolchain == 'MinGW'
        run: |
          sudo apt-get update
          # The *-posix variants of gcc/g++ ship winpthreads which PX4
          # needs for std::thread and pthread_*.
          sudo apt-get install -y --no-install-recommends \
              mingw-w64 \
              g++-mingw-w64-x86-64-posix \
              gcc-mingw-w64-x86-64-posix \
              cmake ninja-build ccache \
              python3 python3-pip python3-jinja2 python3-yaml \
              python3-toml python3-numpy python3-packaging \
              python3-jsonschema python3-future \
              python3-kconfiglib
          # python3-pyros-genmsg is not packaged in Ubuntu noble; install
          # it via pip alongside empy. PX4's msg/uxrce_dds/flight_tasks/
          # zenoh generators rely on the empy 3.x Interpreter API, hence
          # the <4 pin (matches Tools/setup/requirements.txt).  Use
          # --break-system-packages on Ubuntu 24.04 where pip refuses to
          # touch the system site-packages by default.
          python3 -m pip install --user --break-system-packages "empy>=3.3,<4" pyros-genmsg || \
              python3 -m pip install --user "empy>=3.3,<4" pyros-genmsg

      - name: Setup ccache (MinGW)
        if: matrix.toolchain == 'MinGW'
        uses: hendrikmuhs/ccache-action@v1.2
        with:
          key: ccache-windows-sitl-mingw
          max-size: 500M

      - name: Cross-build px4.exe (MinGW)
        if: matrix.toolchain == 'MinGW'
        env:
          CMAKE_ARGS: -DCMAKE_TOOLCHAIN_FILE=Toolchain-mingw-w64-x86_64
        run: make px4_sitl_default

      # ---- MSVC native path (Windows host) ----

      - name: Setup Python (MSVC)
        if: matrix.toolchain == 'MSVC'
        uses: actions/setup-python@v6
        with:
          python-version: '3.11'

      - name: Install Python deps (MSVC)
        if: matrix.toolchain == 'MSVC'
        shell: pwsh
        run: |
          python -m pip install --upgrade pip
          # empy pinned <4: PX4's msg/uxrce_dds/flight_tasks/zenoh generators
          # use the empy 3.x Interpreter(...options={em.RAW_OPT: True,
          # em.BUFFERED_OPT: True}) API removed in empy 4.x. Matches the pin
          # in Tools/setup/requirements.txt and Tools/setup/windows.ps1.
          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 deep in cmake configure. Use
          # `import kconfiglib` (not `menuconfig`) because the menuconfig
          # entry point pulls in the standard `curses` module which is not
          # shipped on Windows Pythons by default.
          python -c "import kconfiglib; print(kconfiglib.__file__)"

      - name: Install Ninja (MSVC)
        if: matrix.toolchain == 'MSVC'
        uses: seanmiddleditch/gha-setup-ninja@v5

      - name: Install GNU make (MSVC)
        if: matrix.toolchain == 'MSVC'
        shell: pwsh
        run: choco install -y make --no-progress

      - name: Enable MSVC environment (x64)
        if: matrix.toolchain == 'MSVC'
        uses: ilammy/msvc-dev-cmd@v1
        with:
          arch: x64

      # Run the standard top-level make target. With cl.exe + ninja on
      # PATH (the previous step exports them via $GITHUB_ENV), the
      # Makefile's existing Ninja branch picks the Ninja generator and
      # cmake auto-detects MSVC as the host compiler — same entry point
      # as Linux/macOS, no toolchain file needed.
      #
      # Pin Python3_ROOT_DIR to the setup-python interpreter so cmake's
      # find_package(Python3) does not pick up the runner-image's other
      # Python (3.12) where kconfiglib is not installed.
      - name: Native-build px4.exe (MSVC)
        if: matrix.toolchain == 'MSVC'
        shell: bash
        env:
          CMAKE_ARGS: -DPython3_ROOT_DIR=${{ env.pythonLocation }} -DPython3_FIND_STRATEGY=LOCATION
        run: make px4_sitl_default

      # ---- Common ----

      - name: Upload px4.exe artifact
        if: success()
        uses: actions/upload-artifact@v4
        with:
          name: ${{ matrix.artifact }}
          path: build/px4_sitl_default/bin/px4.exe
          if-no-files-found: error
          retention-days: 14