name: Tests

on:
  pull_request:
    branches: [master, devel]
  push:
    branches: [master, devel]
    tags: ['fw-v*']

jobs:
  compile:
    strategy:
      fail-fast: false
      matrix:
        os: [ubuntu-latest, windows-latest, macOS-latest]
        board_version: [v3.6-56V]
        debug: [true]

        include:
          - {os: ubuntu-latest, board_version: v3.2, debug: false}
          - {os: ubuntu-latest, board_version: v3.3, debug: false}
          - {os: ubuntu-latest, board_version: v3.4-24V, debug: false}
          - {os: ubuntu-latest, board_version: v3.4-48V, debug: false}
          - {os: ubuntu-latest, board_version: v3.5-24V, debug: false}
          - {os: ubuntu-latest, board_version: v3.5-48V, debug: false}
          - {os: ubuntu-latest, board_version: v3.6-24V, debug: false}
          - {os: ubuntu-latest, board_version: v3.6-56V, debug: false}

    runs-on: ${{ matrix.os }}
    outputs:
      channel: ${{ steps.release-info.outputs.channel }}
      version: ${{ steps.release-info.outputs.version }}
    steps:
      - uses: actions/checkout@v2
        with:
          fetch-depth: 0 # fetch entire history to get version information

      - name: Get release name and channel
        id: release-info
        shell: python
        run: |
          if "${{ github.event_name == 'push' && startsWith(github.ref, 'refs/tags/fw-v0.5.') }}" == "true":
            channel = "master"
            version = "${{ github.ref }}"[len("refs/tags/fw-v"):]

          else:
            channel = "none"
            version = "${{ github.sha }}"

          print("::set-output name=channel::" + channel)
          print("::set-output name=version::" + version)

      - name: Install prerequisites (Debian)
        if: startsWith(matrix.os, 'ubuntu-')
        run: |
          DEBIAN_VERSION="$(lsb_release --release --short)"
          echo Debian version: $DEBIAN_VERSION
          if [ "$DEBIAN_VERSION" == "16.04" ]; then
            # Ubuntu 16.04 (Debian 9) is on ARM GCC 4.9 which is too old for us
            sudo add-apt-repository ppa:team-gcc-arm-embedded/ppa
            sudo apt-get update
            sudo apt-get install gcc-arm-embedded
          else
            sudo apt-get install gcc-arm-none-eabi
          fi

          if ! (apt-cache search tup | grep "^tup - "); then
            sudo add-apt-repository ppa:jonathonf/tup
            sudo apt-get update
          fi

          sudo apt-get install tup

          sudo apt install python3 python3-yaml python3-jinja2 python3-jsonschema

      - name: Install prerequisites (macOS)
        if: startsWith(matrix.os, 'macOS-')
        run: |
          brew install armmbed/formulae/arm-none-eabi-gcc
          # See https://github.com/osxfuse/osxfuse/issues/801#issuecomment-833419942
          brew install --cask macfuse
          brew install gromgit/fuse/tup-mac
          pip3 install PyYAML Jinja2 jsonschema

        
      - name: Cache chocolatey
        uses: actions/cache@v2
        if: startsWith(matrix.os, 'windows-')
        with:
          path: C:\Users\runneradmin\AppData\Local\Temp\chocolatey\gcc-arm-embedded
          key: ${{ runner.os }}-gcc-arm-embedded
          restore-keys: |
            ${{ runner.os }}-gcc-arm-embedded

      - name: Install prerequisites (Windows)
        if: startsWith(matrix.os, 'windows-')
        run: |
          Invoke-WebRequest -Uri "http://gittup.org/tup/win32/tup-latest.zip" -OutFile ".\tup-latest.zip"
          Expand-Archive ".\tup-latest.zip" -DestinationPath ".\tup-latest" -Force
          echo "$(Resolve-Path .)\tup-latest" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append

          choco install gcc-arm-embedded # downloads https://developer.arm.com/-/media/Files/downloads/gnu-rm/9-2019q4/gcc-arm-none-eabi-9-2019-q4-major-win32.zip
          
          pip install PyYAML Jinja2 jsonschema

      - name: Prepare Compilation
        run: |
          # for debugging
          arm-none-eabi-gcc --version
          python --version

          cd ${{ github.workspace }}/Firmware
          echo "CONFIG_BOARD_VERSION=${{ matrix.board_version }}" >> tup.config
          echo "CONFIG_STRICT=true" >> tup.config
          echo "CONFIG_DEBUG=${{ matrix.debug }}" >> tup.config
          mkdir -p autogen
          python ../tools/odrive/version.py --output autogen/version.c
          cat autogen/version.c
          tup init
          tup generate ./tup_build.sh
      
      - name: Compile (Unix)
        if: "!startsWith(matrix.os, 'windows-')"
        run: |
          cd ${{ github.workspace }}/Firmware
          bash -xe ./tup_build.sh

      - name: Compile (Windows)
        if: startsWith(matrix.os, 'windows-')
        run: |
          cd ${{ github.workspace }}/Firmware
          mv tup_build.sh tup_build.bat # in reality this is a .bat script on windows
          .\tup_build.bat

      - name: Upload binary as artifact
        if: ${{ matrix.os == 'ubuntu-latest' && matrix.debug == false }}
        uses: actions/upload-artifact@v2
        with:
          name: firmware-${{ matrix.board_version }}
          path: |
            Firmware/build/ODriveFirmware.elf
            Firmware/build/ODriveFirmware.bin
            Firmware/build/ODriveFirmware.hex

      - name: Copy firmware to temp folder
        run: |
          mkdir ${{ github.workspace }}/out
          cp ${{ github.workspace }}/Firmware/build/ODriveFirmware.elf ${{ github.workspace }}/out/firmware.elf

      - name: Parse and format matrix.board_version
        if: ${{ matrix.os == 'ubuntu-latest' }}
        id: format-board-version
        run: |
          formatted_version=$(echo "${{ matrix.board_version }}" | sed 's/v\([0-9]\+\)\.\([0-9]\+\)-\([0-9]\+\)V/\1.\2.\3/')
          echo "Formatted board version: $formatted_version"
          echo "::set-output name=formatted_board_version::$formatted_version"

      - name: Upload firmware to ODrive release system
        if: ${{ steps.release-info.outputs.channel == 'master' && matrix.os == 'ubuntu-latest' && matrix.debug == false && (startsWith(matrix.board_version, 'v3.5-') || startsWith(matrix.board_version, 'v3.6-')) }}
        uses: ./.github/actions/upload-release
        with:
          release_type: firmware
          version: ${{ steps.release-info.outputs.version }}
          src_dir: out
          do_access_key: ${{ secrets.DIGITALOCEAN_ACCESS_KEY }}
          do_secret_key: ${{ secrets.DIGITALOCEAN_SECRET_KEY }}
          odrive_api_key: ${{ secrets.ODRIVE_API_KEY }}
          board: ${{ steps.format-board-version.outputs.formatted_board_version }}
          app: default
          variant: public

  make-release:
    needs: [compile] # require all builds to succeed before we actually make the release
    if: needs.compile.outputs.channel == 'master'
    strategy:
      fail-fast: false
    runs-on: ubuntu-latest
    steps:
      - name: Checkout git repository
        uses: actions/checkout@v2

      - name: Install Python dependencies
        run: pip install aiohttp appdirs

      - name: Add version to release channel
        uses: ./.github/actions/add-version-to-channel
        with:
          release_type: firmware
          channel: ${{ needs.compile.outputs.channel }}
          version: ${{ needs.compile.outputs.version }}
          odrive_api_key: ${{ secrets.ODRIVE_API_KEY }}

  code-checks:
    strategy:
      fail-fast: false
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v2

      - name: Check that we're not using std::isnan
        run: |
          cd ${{ github.workspace }}/Firmware

          if grep 'std::isnan' -R .; then
            echo "Don't use std::isnan because it's not compatible with '-ffast-math'. Use is_nan() instead."
            return 1;
          fi

  #    TODO:
  #     - check if enums.py is consistent with yaml
  #     - clang-format check
  #     - check if interface_generator outputs the same thing with Python 3.5 and Python 3.8