package.yml

name: Package (.deb)

# Builds Debian packages of px4_msgs for amd64 and arm64 using the bundled
# builder container (see container/Dockerfile and scripts/build_deb_host.sh).
# Packages are uploaded as build artifacts and, on a GitHub release, attached
# to the release. This automates the package generation step towards publishing
# official PX4-hosted packages.
on:
  release:
    types: [published]
  workflow_dispatch:

defaults:
  run:
    shell: bash

permissions:
  contents: write

jobs:
  deb:
    name: "Build .deb (${{ matrix.ros2_distro }} / ${{ matrix.arch }})"
    runs-on: ubuntu-latest
    strategy:
      fail-fast: false
      matrix:
        ros2_distro: [humble, jazzy, kilted, rolling, lyrical]
        arch: [amd64, arm64]
    steps:
      - uses: actions/checkout@v7

      - name: Set up QEMU
        uses: docker/setup-qemu-action@v4

      - name: Set up Docker Buildx
        uses: docker/setup-buildx-action@v4

      - name: Build the px4_msgs-builder image
        uses: docker/build-push-action@v7
        with:
          context: .
          file: container/Dockerfile
          platforms: linux/${{ matrix.arch }}
          build-args: |
            ROS_DISTRO=${{ matrix.ros2_distro }}
          tags: px4io/px4_msgs-builder:${{ matrix.ros2_distro }}
          load: true
          # Cache the builder image layers (apt/rosdep/bloom install) across runs.
          cache-from: type=gha,scope=${{ matrix.ros2_distro }}-${{ matrix.arch }}
          cache-to: type=gha,mode=max,scope=${{ matrix.ros2_distro }}-${{ matrix.arch }}

      - name: Build the Debian package
        run: |
          mkdir -p out
          docker run --rm --platform "linux/${{ matrix.arch }}" \
            -v "${{ github.workspace }}":/src \
            -v "${{ github.workspace }}/out":/artifacts \
            "px4io/px4_msgs-builder:${{ matrix.ros2_distro }}" \
            /usr/local/bin/build.sh
          ls -lh out/

      - name: Upload build artifacts
        uses: actions/upload-artifact@v7
        with:
          name: px4_msgs-deb-${{ matrix.ros2_distro }}-${{ matrix.arch }}
          path: out/*.deb
          if-no-files-found: error

      - name: Attach packages to release
        if: github.event_name == 'release'
        env:
          GH_TOKEN: ${{ github.token }}
        run: gh release upload "${{ github.event.release.tag_name }}" out/*.deb --clobber