firmware-ci.yml

name: Firmware CI
on:
  push:
    branches:
      - main
    paths:
      - .github/workflows/firmware-ci.yml
      - firmware/**
      - networking/firmware_protocol/**
  pull_request:
    paths:
      - .github/workflows/firmware-ci.yml
      - firmware/**
      - networking/firmware_protocol/**
  workflow_dispatch:

jobs:
  fmt:
    name: Format
    runs-on: ubuntu-latest
    defaults:
      run:
        working-directory: ./firmware
    steps:
      - uses: actions/checkout@v3

      - name: Cache cargo dependencies
        uses: Swatinem/rust-cache@v2
        with:
          workspaces: "./firmware -> target/"

      - name: Check formatting
        run: cargo fmt --check --all

  build:
    name: Build
    runs-on: ubuntu-latest
    continue-on-error: ${{ matrix.net == 'net-wifi' }} # Continue if wifi fails because it's not fully working currently
    strategy:
      matrix:
        mcu: [mcu-esp32c3, mcu-esp32, mcu-nrf52840, mcu-nrf52832]
        net: [net-stubbed, net-wifi, net-ble]
        log: [log-rtt, log-usb-serial, log-uart]
        include:
          - mcu: mcu-esp32c3
            target: riscv32imc-unknown-none-elf
          - mcu: mcu-esp32
            target: xtensa-esp32-none-elf
            espname: esp32 # needed for passing to xtensa action
          - mcu: mcu-nrf52840
            target: thumbv7em-none-eabihf
            boot: nrf-boot-s140
          - mcu: mcu-nrf52832
            target: thumbv7em-none-eabihf
            boot: nrf-boot-s132

        exclude:
          - mcu: mcu-esp32
            log: log-usb-serial
          - mcu: mcu-esp32
            log: log-rtt
          - mcu: mcu-nrf52832
            log: log-usb-serial

          - mcu: mcu-nrf52840
            net: net-wifi
          - mcu: mcu-nrf52832
            net: net-wifi

          - mcu: mcu-nrf52840
            net: net-ble
          - mcu: mcu-nrf52832
            net: net-ble

    env:
      FEATURES: ${{ format('{0},{1},{2},{3},imu-stubbed,fusion-stubbed', matrix.mcu,  matrix.net, matrix.log, matrix.boot) }}
    defaults:
      run:
        working-directory: ./firmware
  
    steps:
      - uses: actions/checkout@v3

      - name: Use .env.template as .env
        run: |
          cp .env.template .env

      - name: Install Xtensa toolchain
        if: startsWith(matrix.target, 'xtensa')
        uses: esp-rs/xtensa-toolchain@v1.3
        with:
          ldproxy: false
          buildtargets: ${{ matrix.espname }}
      - if: startsWith(matrix.target, 'xtensa')
        run: rustup override set esp

      - name: Cache cargo dependencies
        uses: Swatinem/rust-cache@v2
        with:
          workspaces: "./firmware -> target/"
          env-vars: "FEATURES"
          cache-on-failure: ${{ matrix.net == 'net-wifi' }} # Again, wifi doesnt fully work currently.

      - uses: taiki-e/install-action@v1
        with:
          tool: clippy-sarif,sarif-fmt

      - name: Clippy lints
        run: |
          cargo clippy --target ${{ matrix.target }} --no-default-features --features $FEATURES --message-format=json |
          clippy-sarif | tee results.sarif | sarif-fmt && sed  -i 's/"uri": "/"uri": "firmware\//g' results.sarif

      - name: Build
        run: cargo build --target ${{ matrix.target }} --no-default-features --features $FEATURES

      - name: Upload SARIF file
        if: ${{ success() }}
        uses: github/codeql-action/upload-sarif@v2
        with:
          sarif_file: firmware/results.sarif
          category: ${{ env.FEATURES }}