firmware_build.yml

name: Build Spinal Firmware
on : [push, pull_request, workflow_dispatch]

jobs:
  build:
    runs-on: ubuntu-latest
    container:
      image: ghcr.io/ut-dragon-lab/stm32cubeide_1.8.0_build_env:latest

    steps:
      - name: Checkout code
        uses: actions/checkout@v4
        with:
          # submodules too
          submodules: recursive
          
      - name: Install ROS packages with rosdep # Setup Github ws as a catkin ws
        shell: bash
        run: |
          source /opt/ros/noetic/setup.bash
          rm /etc/ros/rosdep/sources.list.d/20-default.list
          sudo rosdep init
          rosdep update
          mkdir -p ~/catkin_ws/src
          ln -s $GITHUB_WORKSPACE ~/catkin_ws/src/jsk_aerial_robot
          cd ~/catkin_ws
          rosdep install -y -r --from-paths src --ignore-src --rosdistro noetic
        
      # - name: Build Spinal as ROS Package # Build Spinal to generate ROS libraries
      #   run: |
      #     source /opt/ros/noetic/setup.bash
      #     cd ~/catkin_ws
      #     catkin config --cmake-args -Dcatkin_DIR=/opt/ros/noetic/share/catkin/cmake
      #     catkin build -p 1 -j 1 spinal
      #     source devel/setup.bash
      #   shell: bash

      - name: Build Spinal H7 as STM32CubeIDE project # Build Spinal H7 firmware with STM32CubeIDE
        shell: bash
        run: |
          # set default result to avoid build interruption
          set +e
          for i in {1..5}; do
          echo "=== Attempt #$i for H7 Build ==="
           #build ros packages related to spinla firmware
            source /opt/ros/noetic/setup.bash
            cd ~/catkin_ws
            catkin config --cmake-args -Dcatkin_DIR=/opt/ros/noetic/share/catkin/cmake
            catkin build -p 1 -j 1 spinal
            source devel/setup.bash

            # back to default workspace
            cd $GITHUB_WORKSPACE

            /opt/st/stm32cubeide_1.8.0/stm32cubeide -nosplash \
              -application org.eclipse.cdt.managedbuilder.core.headlessbuild \
              -data ~/STM32CubeIDE/workspace_1.8.0/ \
              -import aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/STM32CubeIDE/ \
              -cleanBuild spinal/Debug \
              -vmargs -Dorg.eclipse.cdt.core.build.parallel=true \
                      -Dorg.eclipse.cdt.core.build.parallel.threads=12
            
            # check build result
            if [ $? -eq 0 ]; then
              echo "Build Spinal H7 succeeded on attempt #$i."
              exit 0  # success
            else
              echo "Build Spinal H7 failed on attempt #$i."
            fi
          done

          echo "All 5 attempts for Spinal H7 have failed."
          exit 1

      - name: Clean up STM32CubeIDE # Clean up STM32CubeIDE WS to build same name project
        shell: bash
        run: |
          rm -rf ~/STM32CubeIDE/workspace_1.8.0/.metadata

      - name: Build Spinal F7 as STM32CubeIDE project # Build Spinal F7 firmware with STM32CubeIDE
        shell: bash
        run: |
          set +e
          for i in {1..5}; do
          echo "=== Attempt #$i for F7 Build ==="
          #build ros packages related to spinla firmware
          source /opt/ros/noetic/setup.bash
          cd ~/catkin_ws
          catkin config --cmake-args -Dcatkin_DIR=/opt/ros/noetic/share/catkin/cmake
          catkin build -p 1 -j 1 spinal
          source devel/setup.bash

          # back to default workspace
          cd $GITHUB_WORKSPACE
          
            /opt/st/stm32cubeide_1.8.0/stm32cubeide -nosplash \
              -application org.eclipse.cdt.managedbuilder.core.headlessbuild \
              -data ~/STM32CubeIDE/workspace_1.8.0/ \
              -import aerial_robot_nerve/spinal/mcu_project/boards/stm32F7/STM32CubeIDE/ \
              -cleanBuild spinal/Debug \
              -vmargs -Dorg.eclipse.cdt.core.build.parallel=true \
                      -Dorg.eclipse.cdt.core.build.parallel.threads=12

            if [ $? -eq 0 ]; then
              echo "Build Spinal F7 succeeded on attempt #$i."
              exit 0  #success
            else
              echo "Build Spinal F7 failed on attempt #$i."
            fi
          done
          
          echo "All 5 attempts for Spinal F7 have failed."
          exit 1

      - name: Build Neuron F4 as STM32CubeIDE project # Build Neuron F4 firmware with STM32CubeIDE
        run: |
          /opt/st/stm32cubeide_1.8.0/stm32cubeide -nosplash \
            -application org.eclipse.cdt.managedbuilder.core.headlessbuild \
            -data ~/STM32CubeIDE/workspace_1.8.0/ \
            -import aerial_robot_nerve/neuron/neuron_f4//STM32CubeIDE/ \
            -cleanBuild neuron/Debug \
            -vmargs -Dorg.eclipse.cdt.core.build.parallel=true \
            -Dorg.eclipse.cdt.core.build.parallel.threads=12

      - name: Upload Spinal H7 artifacts # Upload required Spinal H7 files for flash.
        uses: actions/upload-artifact@v4
        with:
          name: SpinalH7.artifacts
          path: aerial_robot_nerve/spinal/mcu_project/boards/stm32H7/STM32CubeIDE/Debug/spinal.*

      - name: Upload Spinal F7 artifacts # Upload required Spinal F7 files for flash.
        uses: actions/upload-artifact@v4
        with:
          name: SpinalF7.artifacts
          path: aerial_robot_nerve/spinal/mcu_project/boards/stm32F7/STM32CubeIDE/Debug/spinal.*

      - name: Upload Neuron F4 artifacts # Upload required Neuron F4 files for flash.
        uses: actions/upload-artifact@v4
        with:
          name: NeuronF4.artifacts
          path: aerial_robot_nerve/neuron/neuron_f4/STM32CubeIDE/Debug/neuron.*