From 93b6f72bb0afe809c9acbdd80c7b1858395ae771 Mon Sep 17 00:00:00 2001
From: Ramon Roche <mrpollo@gmail.com>
Date: Thu, 21 Nov 2024 17:12:29 -0800
Subject: [PATCH] ci: build targets using px4-dev container

---
 .github/workflows/build_all_targets.yml | 14 ++++++++-
 Tools/ci/generate_board_targets_json.py |  7 ++---
 Tools/ci/package_build_artifacts.sh     | 41 +++++++++++++------------
 3 files changed, 37 insertions(+), 25 deletions(-)

diff --git a/.github/workflows/build_all_targets.yml b/.github/workflows/build_all_targets.yml
index e6d0ece2897a..db6d572e4fb5 100644
--- a/.github/workflows/build_all_targets.yml
+++ b/.github/workflows/build_all_targets.yml
@@ -71,6 +71,11 @@ jobs:
         with:
           fetch-depth: 0
 
+      - name: Install ccache
+        run: |
+          apt-get --quiet -y update && DEBIAN_FRONTEND=noninteractive apt-get --quiet -y install \
+            ccache
+
       - name: Git ownership workaround
         run: git config --system --add safe.directory '*'
 
@@ -92,9 +97,16 @@ jobs:
             ccache -s
             ccache -z
 
+      - name: Missing dependencies for ${{ matrix.arch }}
+        if: contains(fromJSON('["aarch64", "armhf"]'), matrix.arch)
+        run: |
+          apt-get --quiet -y update && DEBIAN_FRONTEND=noninteractive apt-get --quiet -y install \
+            g++-aarch64-linux-gnu \
+            g++-arm-linux-gnueabihf
+
       - name: Building [${{ matrix.group }}]
         run: |
-            ./Tools/ci/build_all_runner.sh ${{matrix.targets}}
+            ./Tools/ci/build_all_runner.sh ${{matrix.targets}} ${{matrix.arch}}
 
       - name: Arrange Build Artifacts
         run: |
diff --git a/Tools/ci/generate_board_targets_json.py b/Tools/ci/generate_board_targets_json.py
index c5c86f782fb4..67e792154886 100755
--- a/Tools/ci/generate_board_targets_json.py
+++ b/Tools/ci/generate_board_targets_json.py
@@ -87,20 +87,17 @@ def process_target(px4board_file, target_name):
 
     if platform not in excluded_platforms:
         # get the container based on the platform and toolchain
+        container = 'ghcr.io/px4/px4-dev:main'
         if platform == 'posix':
-            container = 'px4io/px4-dev-base-focal:2021-09-08'
             group = 'base'
             if toolchain:
                 if toolchain.startswith('aarch64'):
-                    container = 'px4io/px4-dev-aarch64:2022-08-12'
                     group = 'aarch64'
                 elif toolchain == 'arm-linux-gnueabihf':
-                    container = 'px4io/px4-dev-armhf:2023-06-26'
                     group = 'armhf'
                 else:
                     if verbose: print(f'unmatched toolchain: {toolchain}')
         elif platform == 'nuttx':
-            container = 'px4io/px4-dev-nuttx-focal:2022-08-12'
             group = 'nuttx'
         else:
             if verbose: print(f'unmatched platform: {platform}')
@@ -124,7 +121,7 @@ def process_target(px4board_file, target_name):
 # - Events
 metadata_targets = ['airframe_metadata', 'parameters_metadata', 'extract_events']
 grouped_targets['base'] = {}
-grouped_targets['base']['container'] = 'px4io/px4-dev-base-focal:2021-09-08'
+grouped_targets['base']['container'] = 'ghcr.io/px4/px4-dev:main'
 grouped_targets['base']['manufacturers'] = {}
 grouped_targets['base']['manufacturers']['px4'] = []
 grouped_targets['base']['manufacturers']['px4'] += metadata_targets
diff --git a/Tools/ci/package_build_artifacts.sh b/Tools/ci/package_build_artifacts.sh
index a665e295df71..2b487f7632e3 100755
--- a/Tools/ci/package_build_artifacts.sh
+++ b/Tools/ci/package_build_artifacts.sh
@@ -4,8 +4,9 @@ mkdir artifacts
 cp **/**/*.px4 artifacts/
 cp **/**/*.elf artifacts/
 for build_dir_path in build/*/ ; do
+  build_dir_path=${build_dir_path::${#build_dir_path}-1}
   build_dir=${build_dir_path#*/}
-  build_dir=${build_dir::${#build_dir}-1}
+  target_name=$build_dir
   mkdir artifacts/$build_dir
   find artifacts/ -maxdepth 1 -type f -name "*$build_dir*"
   # Airframe
@@ -26,21 +27,23 @@ for build_dir_path in build/*/ ; do
   echo "----------"
 done
 
-# general metadata
-mkdir artifacts/_general/
-cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
-# Airframe
-cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
-# Parameters
-cp artifacts/px4_sitl_default/parameters.xml artifacts/_general/
-cp artifacts/px4_sitl_default/parameters.json artifacts/_general/
-cp artifacts/px4_sitl_default/parameters.json.xz artifacts/_general/
-# Actuators
-cp artifacts/px4_sitl_default/actuators.json artifacts/_general/
-cp artifacts/px4_sitl_default/actuators.json.xz artifacts/_general/
-# Events
-cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
-# ROS 2 msgs
-cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
-# Module Docs
-ls -la artifacts/_general/
+if [ -d artifacts/px4_sitl_default ]; then
+  # general metadata
+  mkdir artifacts/_general/
+  cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
+  # Airframe
+  cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
+  # Parameters
+  cp artifacts/px4_sitl_default/parameters.xml artifacts/_general/
+  cp artifacts/px4_sitl_default/parameters.json artifacts/_general/
+  cp artifacts/px4_sitl_default/parameters.json.xz artifacts/_general/
+  # Actuators
+  cp artifacts/px4_sitl_default/actuators.json artifacts/_general/
+  cp artifacts/px4_sitl_default/actuators.json.xz artifacts/_general/
+  # Events
+  cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
+  # ROS 2 msgs
+  cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
+  # Module Docs
+  ls -la artifacts/_general/
+fi