tiiuae-pixhawk-and-saluki.yaml

name: tiiuae-pixhawk-and-saluki

on:
  push:
    branches: [ main ]
    tags:
      - 'v1.14.0-*'
  pull_request:
    branches: [ main ]
  # Allows you to run this workflow manually from the Actions tab
  workflow_dispatch:
    inputs:
      jfrog-upload:
        description: 'upload to UAE Artifactory'
        required: false
        default: false
        type: boolean
      saluki-v2-manual-fpga-version:
        description: 'saluki-v2 optional fpga version (e.g. sha-3b85ccc)'
        required: false
        default: ''
        type: string
      saluki-v3-manual-fpga-version:
        description: 'saluki-v3 optional fpga version (e.g. sha-3b85ccc)'
        required: false
        default: ''
        type: string
      saluki-pi-manual-fpga-version:
        description: 'saluki-pi optional fpga version (e.g. sha-cd7bb6b)'
        required: false
        default: ''
        type: string
      saluki-fmu2-manual-fpga-version:
        description: 'saluki-fmu2 optional fpga version (e.g. sha-cd7bb6b)'
        required: false
        default: ''
        type: string
permissions:
  contents: read
  packages: write

env:
  saluki_fpga_repo: "ghcr.io/tiiuae/saluki-fpga"
  saluki_pi_fpga_version: "4.16.0"
  saluki_v2_fpga_version: "4.16.0"
  saluki_v3_fpga_version: "4.16.0"
  saluki_fmu2_fpga_version: "4.16.0"

jobs:
  fc_matrix:
    strategy:
      fail-fast: false
      matrix:
        product: [saluki-v2_default, saluki-v2_amp, saluki-v2_flat, saluki-pi_default, saluki-pi_amp, saluki-pi_flat, saluki-v3_default, saluki-v3_amp, saluki-v3_flat, saluki-nxp93_flat, saluki-nxp93_default]
        include:
          - product: saluki-v2_custom_keys
            keys: Tools/saluki-sec-scripts/custom_keys/saluki-v2/px4_bin_ed25519_private.pem
          - product: saluki-v3_custom_keys
            keys: Tools/saluki-sec-scripts/custom_keys/saluki-v3/px4_bin_ed25519_private.pem
          - product: saluki-pi_custom_keys
            keys: Tools/saluki-sec-scripts/custom_keys/saluki-pi/px4_bin_ed25519_private.pem

    uses: ./.github/workflows/tiiuae-pixhawk-and-saluki-builder.yaml
    with:
      product: ${{ matrix.product }}
      keys: ${{ matrix.keys }}
      # old workflow had condition to run only if PR is done to current repo (or triggered with other event)
      enabled: ${{ github.event.pull_request.head.repo.full_name == github.repository || github.event_name == 'push' || github.event_name == 'workflow_dispatch' }}
    secrets: inherit

  variables:
    runs-on: ubuntu-latest
    outputs:
      jfrog_upload: ${{ steps.variables.outputs.jfrog_upload }}
      saluki_v2_fpga_version: ${{ steps.variables.outputs.saluki_v2_fpga_version }}
      saluki_v3_fpga_version: ${{ steps.variables.outputs.saluki_v3_fpga_version }}
      saluki_pi_fpga_version: ${{ steps.variables.outputs.saluki_pi_fpga_version }}
      saluki_fmu2_fpga_version: ${{ steps.variables.outputs.saluki_fmu2_fpga_version }}
    steps:
      - name: Print input variables
        id: variables
        run: |
          # use saluki-v2-fpga default version if custom is not provided
          saluki_v2_fpga_version=${{ env.saluki_v2_fpga_version }}
          if [ -n "${{ github.event.inputs.saluki-v2-manual-fpga-version }}" ]; then
            saluki_v2_fpga_version=${{ github.event.inputs.saluki-v2-manual-fpga-version }}
          fi

          # use saluki-v3-fpga default version if custom is not provided
          saluki_v3_fpga_version=${{ env.saluki_v3_fpga_version }}
          if [ -n "${{ github.event.inputs.saluki-v3-manual-fpga-version }}" ]; then
            saluki_v3_fpga_version=${{ github.event.inputs.saluki-v3-manual-fpga-version }}
          fi

          # use saluki-pi-fpga default version if custom is not provided
          saluki_pi_fpga_version=${{ env.saluki_pi_fpga_version }}
          if [ -n "${{ github.event.inputs.saluki-pi-manual-fpga-version }}" ]; then
            saluki_pi_fpga_version=${{ github.event.inputs.saluki-pi-manual-fpga-version }}
          fi

          # use saluki-fmu2-fpga default version if custom is not provided
          saluki_fmu2_fpga_version=${{ env.saluki_fmu2_fpga_version }}
          if [ -n "${{ github.event.inputs.saluki-fmu2-manual-fpga-version }}" ]; then
            saluki_fmu2_fpga_version=${{ github.event.inputs.saluki-fmu2-manual-fpga-version }}
          fi

          echo "saluki_v2_fpga_version=${saluki_v2_fpga_version}" >> $GITHUB_OUTPUT
          echo "saluki_v3_fpga_version=${saluki_v3_fpga_version}" >> $GITHUB_OUTPUT
          echo "saluki_pi_fpga_version=${saluki_pi_fpga_version}" >> $GITHUB_OUTPUT
          echo "saluki_fmu2_fpga_version=${saluki_fmu2_fpga_version}" >> $GITHUB_OUTPUT
          echo "jfrog_upload=${{ github.event.inputs.jfrog-upload }}" >> $GITHUB_OUTPUT

          echo "saluki_v2_fpga_version: ${saluki_v2_fpga_version}"
          echo "saluki_v3_fpga_version: ${saluki_v3_fpga_version}"
          echo "saluki_pi_fpga_version: ${saluki_pi_fpga_version}"
          echo "saluki_fmu2_fpga_version: ${saluki_fmu2_fpga_version}"
          echo "jfrog_upload: ${{ github.event.inputs.jfrog-upload }}"

  px4fwupdater:
    name: build px4fwupdater
    runs-on: ubuntu-latest
    needs:
      - fc_matrix
    steps:
      - name: Checkout px4-firmware
        uses: actions/checkout@v4
        with:
          path: px4-firmware
          fetch-depth: 0
      - name: Download pixhawk artifacts
        uses: actions/download-artifact@v4
        with:
          pattern: saluki-*
          path: bin
          merge-multiple: true
      - name: Run px4-firmware px4fwupdater build
        run: |
          set -eux
          mkdir -p bin
          cd px4-firmware/
          ./clone_public.sh
          ./build.sh ../bin/ px4fwupdater
          ls ../bin
      - name: Upload px4fwupdater to tmp storage
        uses: actions/upload-artifact@v4
        with:
          name: pixhawk
          path: bin/
          retention-days: 1
          overwrite: true

  upload-px4fwupdater:
    name: upload px4fwupdater to docker registry
    runs-on: ubuntu-latest
    env:
      FPGA_DIR: fpga
    needs:
      - px4fwupdater
      - variables
    steps:
      - name: Checkout px4-firmware
        uses: actions/checkout@v4
        with:
          path: px4-firmware
          fetch-depth: 0
      - name: Set up QEMU
        uses: docker/setup-qemu-action@v3
        with:
          platforms: arm64
      - name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v3
      - name: Download pixhawk artifacts
        uses: actions/download-artifact@v4
        with:
          path: bin
          pattern: saluki-*
          merge-multiple: true
      - name: Firmware flasher - Container metadata
        id: containermeta # referenced from later step
        uses: docker/metadata-action@v5
        with:
          images: ghcr.io/tiiuae/px4-firmware
          tags: |
            type=ref,event=branch
            type=ref,event=pr
            type=semver,pattern={{version}}
            type=sha
      - name: Login to GitHub Container Registry
        uses: docker/login-action@v3
        with:
          registry: ghcr.io
          username: ${{ github.actor }}
          password: ${{ secrets.GITHUB_TOKEN }}
      - name: fetch fpga files
        run: |
          echo "fetching fpga files from ${{ env.saluki_fpga_repo }}"
          px4-firmware/Tools/fetch-fpga-files.sh ${{ env.saluki_fpga_repo }}:${{ needs.variables.outputs.saluki_v2_fpga_version }} saluki_v2 ${{ env.FPGA_DIR }}/saluki-v2
          px4-firmware/Tools/fetch-fpga-files.sh ${{ env.saluki_fpga_repo }}:${{ needs.variables.outputs.saluki_v3_fpga_version }} saluki_v3 ${{ env.FPGA_DIR }}/saluki-v3
          px4-firmware/Tools/fetch-fpga-files.sh ${{ env.saluki_fpga_repo }}:${{ needs.variables.outputs.saluki_pi_fpga_version }} saluki_pi ${{ env.FPGA_DIR }}/saluki-pi
          px4-firmware/Tools/fetch-fpga-files.sh ${{ env.saluki_fpga_repo }}:${{ needs.variables.outputs.saluki_fmu2_fpga_version }} saluki_fmu2 ${{ env.FPGA_DIR }}/saluki-fmu2

          # combine fpga json files to one file
          python px4-firmware/Tools/collect_json_files.py ${{ env.FPGA_DIR }} ${{ env.FPGA_DIR }}/fpga-file-info.json

          # generate saluki file info json with project basic info
          # fetched info from git so has to be ran inside the repo
          pushd px4-firmware
          Tools/generate_basic_build_info.sh ../build_basic_info.json
          popd

          # combine saluki file info json with fpga json and px4 json files to one file
          python px4-firmware/Tools/compile_px4_build_info.py saluki_file_info.json bin ${{ env.FPGA_DIR }}/fpga-file-info.json build_basic_info.json

      - name: Firmware flasher - Build and push
        uses: docker/build-push-action@v5
        with:
          push: true
          context: .
          # build for x86 and arm64
          platforms: linux/amd64,linux/arm64
          file: px4-firmware/Tools/px_uploader.Dockerfile
          tags: ${{ steps.containermeta.outputs.tags }}
          labels: ${{ steps.containermeta.outputs.labels }}
          build-args: |
            "saluki_fpga_directory=${{ env.FPGA_DIR }}"
      - name: Build overview
        run: |
          echo "### Build overview:" >> $GITHUB_STEP_SUMMARY
          echo "Build version: ${{ steps.containermeta.outputs.tags }}"
          echo "Build labels: ${{ steps.containermeta.outputs.labels }}"
          echo "Build args:"
          echo "  saluki_pi_fpga_version: ${{ needs.variables.outputs.saluki_pi_fpga_version }}"
          echo "  saluki_v2_fpga_version: ${{ needs.variables.outputs.saluki_v2_fpga_version }}"
          echo "  saluki_v3_fpga_version: ${{ needs.variables.outputs.saluki_v3_fpga_version }}"
          echo "  saluki_fmu2_fpga_version: ${{ needs.variables.outputs.saluki_fmu2_fpga_version }}"

          # in case more than one tag is generated, use the one which mentions commit sha
          if (( $(echo "${{ steps.containermeta.outputs.tags }}" | wc -l) > 1 )); then
            container_name=$(echo "${{ steps.containermeta.outputs.tags }}" | grep ':sha-' | head -n 1)
          else
            container_name="${{ steps.containermeta.outputs.tags }}"
          fi
          echo "Container name: ${container_name}"

          # display mermaid flowchart
          echo '```mermaid'   >> $GITHUB_STEP_SUMMARY
          echo "flowchart LR" >> $GITHUB_STEP_SUMMARY

          # inputs
          echo "FPGA-V2[(Saluki-v2 FPGA<br>${{ needs.variables.outputs.saluki_v2_fpga_version }})]" >> $GITHUB_STEP_SUMMARY
          echo "FPGA-V3[(Saluki-v3 FPGA<br>${{ needs.variables.outputs.saluki_v3_fpga_version }})]" >> $GITHUB_STEP_SUMMARY
          echo "FPGA-PI[(Saluki-pi FPGA<br>${{ needs.variables.outputs.saluki_pi_fpga_version }})]" >> $GITHUB_STEP_SUMMARY
          echo "FPGA-FMU2[(Saluki-fmu2 FPGA<br>${{ needs.variables.outputs.saluki_fmu2_fpga_version }})]" >> $GITHUB_STEP_SUMMARY
          echo "PX4-SHA[${{ github.repository }}<br>$GITHUB_REF]" >> $GITHUB_STEP_SUMMARY

          # build
          echo "BUILD[build PX4 fwupdater]"                  >> $GITHUB_STEP_SUMMARY

          # output
          echo "OUTPUT[($(echo ${container_name}|sed 's/:/<br>/'))]" >> $GITHUB_STEP_SUMMARY

          # links
          echo "PX4-SHA --> BUILD"                 >> $GITHUB_STEP_SUMMARY
          echo "FPGA-V2 --> BUILD"                 >> $GITHUB_STEP_SUMMARY
          echo "FPGA-V3 --> BUILD"                 >> $GITHUB_STEP_SUMMARY
          echo "FPGA-PI --> BUILD"                 >> $GITHUB_STEP_SUMMARY
          echo "FPGA-FMU2 --> BUILD"               >> $GITHUB_STEP_SUMMARY

          echo "BUILD --> OUTPUT"                  >> $GITHUB_STEP_SUMMARY
          # end mermaid flowchart
          echo '```'                               >> $GITHUB_STEP_SUMMARY

          # set variables for container name and date
          CONTAINER_DATE=$(date +%s)
          PX4_TMP_CONTAINER_NAME="tmp_px4_container_$CONTAINER_DATE"
          px4_github_sha=$(echo "${{ github.sha }}" | cut -c1-7)

          echo "# Flashing this package to your Saluki" >> $GITHUB_STEP_SUMMARY
          echo "## Get these px4 firmware files to your computer" >> $GITHUB_STEP_SUMMARY
          echo "To get these files to you computer, you can use the following command" >> $GITHUB_STEP_SUMMARY
          echo "The command will create a temporary \`$PX4_TMP_CONTAINER_NAME\` container, copy the firmware files to directory \`px4-firmware_${px4_github_sha}\` and remove the temporary container" >> $GITHUB_STEP_SUMMARY

          # compose docker cp command
          docker_cp_cmd='docker cp $(docker create --name '
          docker_cp_cmd+="$PX4_TMP_CONTAINER_NAME $container_name"
          docker_cp_cmd+='):/firmware '
          docker_cp_cmd+=px4-firmware_${px4_github_sha}
          docker_cp_cmd+=' && docker rm '
          docker_cp_cmd+=$PX4_TMP_CONTAINER_NAME

          # echo docker cp command to summary
          echo '```shell' >> $GITHUB_STEP_SUMMARY
          echo "${docker_cp_cmd}" >> $GITHUB_STEP_SUMMARY
          echo '```' >> $GITHUB_STEP_SUMMARY

          # separator
          echo '---' >> $GITHUB_STEP_SUMMARY

          echo "## Flash this px4 firmware to your Saluki by using fpga-flashing tool" >> $GITHUB_STEP_SUMMARY
          echo "fpga-flashing is separate tool: https://github.com/tiiuae/fpga-flashing/" >> $GITHUB_STEP_SUMMARY
          echo "### Flash px4 firmware" >> $GITHUB_STEP_SUMMARY
          echo "To flash this px4 firmware and FPGA to your Saluki with fpga-flashing, you can use the following command:" >> $GITHUB_STEP_SUMMARY
          flash_tool_cmd='./flash.sh  --update-package '
          flash_tool_cmd+=$container_name
          flash_tool_cmd+=' --px4'
          echo '```shell' >> $GITHUB_STEP_SUMMARY
          echo "${flash_tool_cmd}" >> $GITHUB_STEP_SUMMARY
          echo '```' >> $GITHUB_STEP_SUMMARY

          # separator
          echo '---' >> $GITHUB_STEP_SUMMARY

          echo "### Zeroize and flash FPGA and PX4" >> $GITHUB_STEP_SUMMARY
          echo "To zeroize the device as new and flash px4 firmware, FPGA and RD certificate to your Saluki with fpga-flashing -tool, you can use the following command:" >> $GITHUB_STEP_SUMMARY
          echo "please notice that FPGA flashing needs FlashPro connected" >> $GITHUB_STEP_SUMMARY
          flash_tool_cmd='./flash.sh  --update-package '
          flash_tool_cmd+=$container_name
          flash_tool_cmd+=' --zeroize --fpga --px4 --rdc'
          echo '```shell' >> $GITHUB_STEP_SUMMARY
          echo "${flash_tool_cmd}" >> $GITHUB_STEP_SUMMARY
          echo '```' >> $GITHUB_STEP_SUMMARY
          echo 'For more info please see: https://github.com/tiiuae/fpga-flashing/#usage' >> $GITHUB_STEP_SUMMARY

  upload-px4fwupdater-uae:
    name: upload px4fwupdater to UAE docker registry
    # temporarily disabled until we get new token from UAR
    if: false
    runs-on: ubuntu-latest
    needs:
      - px4fwupdater
      - variables
    steps:
      - name: Checkout px4-firmware
        uses: actions/checkout@v4
        with:
          path: px4-firmware
          fetch-depth: 0
      - name: Download pixhawk artifacts
        uses: actions/download-artifact@v4
        with:
          pattern: pixhawk
          path: bin
      - name: Firmware flasher - Container metadata
        id: containermeta # referenced from later step
        uses: docker/metadata-action@v5
        with:
          images: artifactory.ssrcdevops.tii.ae/tiiuae/px4-firmware
          tags: |
            type=ref,event=branch
            type=ref,event=pr
            type=semver,pattern={{version}}
            type=sha
      - name: Login to SSRC JFrog Container Registry
        uses: docker/login-action@v3
        with:
          registry: artifactory.ssrcdevops.tii.ae
          username: ${{ secrets.UAE_RT_USER }}
          password: ${{ secrets.UAE_RT_APIKEY }}
      # have to login to ghcr as well to download fpga and BL
      - name: Login to GitHub Container Registry
        uses: docker/login-action@v3
        with:
          registry: ghcr.io
          username: ${{ github.actor }}
          password: ${{ secrets.GITHUB_TOKEN }}
      - name: Firmware flasher - Build and push
        uses: docker/build-push-action@v5
        with:
          push: true
          context: .
          file: px4-firmware/Tools/px_uploader.Dockerfile
          tags: ${{ steps.containermeta.outputs.tags }}
          labels: ${{ steps.containermeta.outputs.labels }}
          build-args: |
            "saluki_pi_fpga_version=${{ needs.variables.outputs.saluki_pi_fpga_version }}"
            "saluki_v2_fpga_version=${{ needs.variables.outputs.saluki_v2_fpga_version }}"
            "saluki_v3_fpga_version=${{ needs.variables.outputs.saluki_v3_fpga_version }}"
            "saluki_fmu2_fpga_version=${{ needs.variables.outputs.saluki_fmu2_fpga_version }}"

  artifactory-uae:
    name: upload builds to UAE artifactory
    if: ${{ github.event_name != 'workflow_dispatch' || inputs.jfrog-upload == true }}
    runs-on: ubuntu-latest
    needs:
      - px4fwupdater
      - fc_matrix
    steps:
      - name: Download pixhawk artifacts
        uses: actions/download-artifact@v4
        with:
          path: bin
          merge-multiple: true
      - uses: jfrog/setup-jfrog-cli@v4
        env:
          JF_ENV_1: ${{ secrets.UAE_ARTIFACTORY_TOKEN }}
      - name: Upload px4-firmware build to Artifactory
        env:
          ARTIFACTORY_GEN_REPO: gen-public-local
          BUILD_NAME_PX4: px4-firmware
          CI: true
        run: |
          set -exu

          pr_or_empty=""
          latest_link=""
          if [ ${{ github.event_name }} == 'pull_request' ]; then
            latest_link="pr/"
            pr_or_empty="pr/${{ github.head_ref || github.ref_name }}/"
          fi

          newline=$'\n'
          artifactory_links="| target | link |
          |--------|------|"
          artifactory_base_url="https://artifactory.ssrcdevops.tii.ae/artifactory/"

          for pkg in $(find bin -type f|sort); do

            file_name=$(basename $pkg)
            ext="${file_name##*.}"
            target_path=""
            pkg_name=$(echo $file_name | sed -r -e 's/-[0-9]+\.[0-9]+\.[0-9]+-.*//g')

            if [[ $file_name = px4_fmu* ]]; then
              target_path="pixhawk"
            elif [[ $file_name = ssrc_saluki* ]]; then
              target_path="saluki"
            else
              echo "$pkg ignored"
              continue
            fi

            artifactory_path=$ARTIFACTORY_GEN_REPO/builds/px4-firmware/${target_path}/${pr_or_empty}
            artifactory_latest_path=$ARTIFACTORY_GEN_REPO/builds/px4-firmware/${target_path}/${latest_link}latest/${pkg_name}.${ext}

            jfrog rt u --target-props COMMIT="$GITHUB_SHA" \
              --build-name "$BUILD_NAME_PX4" \
              --build-number "$GITHUB_SHA" \
              "$pkg" \
              "${artifactory_path}$file_name"

            # link to latest
            jfrog rt cp --flat \
              "${artifactory_path}$file_name" \
              "${artifactory_latest_path}"

            # append every file to artifactory_links
            artifactory_links+="${newline}| ${pkg_name} | ${artifactory_base_url}${artifactory_path}${file_name} |"
          done

          # export artifactory linds as gh step summary
          echo "### UAE Artifactory links:" >> $GITHUB_STEP_SUMMARY
          echo "${artifactory_links}" >> $GITHUB_STEP_SUMMARY

      - name: Upload px4-fwupdater build to Artifactory
        # disabled as token doesnt allow deb upload
        if: false
        env:
          ARTIFACTORY_DEB_REPO: debian-public-local
          DISTRIBUTION: focal
          COMPONENT: fog-sw
          ARCHITECTURE: amd64
          BUILD_NAME_DEB: px4-fwupdater
          CI: true
        run: |
          set -exu
          pkg=$(find bin -name 'px4fwupdater*.deb')
          pkg_name=$(basename $pkg)
          jfrog rt u --deb "$DISTRIBUTION/$COMPONENT/$ARCHITECTURE" \
                     --target-props COMMIT="$GITHUB_SHA" \
                     --build-name "$BUILD_NAME_DEB" \
                     --build-number "$GITHUB_SHA" \
                     "$pkg" \
                     "$ARTIFACTORY_DEB_REPO/$pkg_name"