StarPilot/.github/workflows/compile_bluescreens.yaml

name: Compile Bluescreens

on:
  workflow_dispatch:
    inputs:
      target_ref:
        description: "Branch to build and publish back to"
        type: string
        default: "bluescreensonly2"
        required: true
      jobs:
        description: "Optional parallel job count passed to ./build"
        type: string
        default: "12"
        required: false
      enable_scons_cache:
        description: "Enable SCons cache for faster incremental builds"
        type: boolean
        default: true
        required: false
      build_all:
        description: "Build everything"
        type: boolean
        default: true
        required: false
      build_ui:
        description: "Build UI (selfdrive/ui)"
        type: boolean
        default: true
        required: false
      build_params:
        description: "Build params Python extension"
        type: boolean
        default: false
        required: false
      build_cereal:
        description: "Build cereal messaging bridge"
        type: boolean
        default: false
        required: false
      build_panda:
        description: "Build panda firmware outputs"
        type: boolean
        default: true
        required: false
      build_modeld:
        description: "Build modeld Python extension"
        type: boolean
        default: false
        required: false
      build_controls:
        description: "Build controls solvers + locationd generated models"
        type: boolean
        default: false
        required: false

concurrency:
  group: compile-bluescreens-${{ inputs.target_ref }}
  cancel-in-progress: false

permissions:
  contents: write

env:
  GIT_EMAIL: "168790843+firestar5683@users.noreply.github.com"
  GIT_NAME: "StarPilot Build Bot"
  TARGET_REF: ${{ inputs.target_ref }}

jobs:
  build_and_push:
    runs-on: [self-hosted, truenas, starpilot-build]
    timeout-minutes: 720
    steps:
      - name: Validate target branch
        shell: bash
        run: |
          set -euo pipefail

          if [[ -z "${TARGET_REF}" ]]; then
            echo "target_ref is required." >&2
            exit 1
          fi

          if [[ "${TARGET_REF}" == refs/heads/* ]]; then
            echo "BUILD_BRANCH=${TARGET_REF#refs/heads/}" >> "$GITHUB_ENV"
          else
            echo "BUILD_BRANCH=${TARGET_REF}" >> "$GITHUB_ENV"
          fi

      - name: Checkout target branch
        uses: actions/checkout@v4
        with:
          ref: ${{ env.BUILD_BRANCH }}
          fetch-depth: 0
          submodules: recursive

      - name: Configure git identity
        shell: bash
        run: |
          set -euo pipefail
          git config user.name "$GIT_NAME"
          git config user.email "$GIT_EMAIL"
          git config http.postBuffer 104857600

      - name: Ensure branch exists on origin
        shell: bash
        run: |
          set -euo pipefail
          git ls-remote --exit-code --heads origin "refs/heads/${BUILD_BRANCH}" >/dev/null

      - name: Link persistent sysroot
        shell: bash
        run: |
          set -euo pipefail
          ls -ld /runner /runner/sysroots /runner/sysroots/default || true
          ls -ld /runner/sysroots/default/usr /runner/sysroots/default/usr/local /runner/sysroots/default/usr/local/lib || true
          rm -rf .comma_sysroot
          ln -s /runner/sysroots/default .comma_sysroot
          ls -ld .comma_sysroot .comma_sysroot/usr .comma_sysroot/usr/local .comma_sysroot/usr/local/lib

      - name: Run Bluescreens build
        shell: bash
        env:
          SP_ENABLE_SCONS_CACHE: ${{ inputs.enable_scons_cache && '1' || '0' }}
        run: |
          set -euo pipefail

          RUNNER_HOST_ROOT="/mnt/Apparition/My_App_Data/starpilot-runner"
          if [[ "${GITHUB_WORKSPACE}" != /runner/_work/* ]]; then
            echo "Unexpected GITHUB_WORKSPACE: ${GITHUB_WORKSPACE}" >&2
            exit 1
          fi

          WORKSPACE_REL="${GITHUB_WORKSPACE#/runner}"
          export COMMA_HOST_ROOT_DIR="${RUNNER_HOST_ROOT}${WORKSPACE_REL}"
          export COMMA_HOST_SYSROOT_DIR="${RUNNER_HOST_ROOT}/sysroots/default"
          export COMMA_HOST_CACHE_DIR="${RUNNER_HOST_ROOT}/cache/work"
          export COMMA_HOST_VENV_DIR="${RUNNER_HOST_ROOT}/cache/venv-linux-arm64"
          export COMMA_SYSROOT_DIR="/runner/sysroots/default"

          echo "GITHUB_WORKSPACE=${GITHUB_WORKSPACE}"
          echo "COMMA_HOST_ROOT_DIR=${COMMA_HOST_ROOT_DIR}"
          echo "COMMA_HOST_SYSROOT_DIR=${COMMA_HOST_SYSROOT_DIR}"
          echo "COMMA_HOST_CACHE_DIR=${COMMA_HOST_CACHE_DIR}"
          echo "COMMA_HOST_VENV_DIR=${COMMA_HOST_VENV_DIR}"

          JOBS="${{ inputs.jobs }}"

          if [[ "${{ inputs.build_all }}" == "true" ]]; then
            if [[ -n "${JOBS}" ]]; then
              ./build "${JOBS}"
            else
              ./build
            fi
            exit 0
          fi

          TARGETS=()
          [[ "${{ inputs.build_ui }}" == "true" ]] && TARGETS+=("selfdrive/ui/ui")
          [[ "${{ inputs.build_params }}" == "true" ]] && TARGETS+=("common/params_pyx.so")
          [[ "${{ inputs.build_cereal }}" == "true" ]] && TARGETS+=("cereal/messaging/bridge")
          if [[ "${{ inputs.build_panda }}" == "true" ]]; then
            TARGETS+=(
              "panda/board/obj/panda.bin.signed"
              "panda/board/obj/panda_h7.bin.signed"
              "panda/board/obj/panda_remote.bin.signed"
              "panda/board/obj/panda_h7_remote.bin.signed"
              "panda/board/obj/panda_jungle_h7.bin.signed"
              "panda/board/obj/body_h7.bin.signed"
            )
          fi
          [[ "${{ inputs.build_modeld }}" == "true" ]] && TARGETS+=("selfdrive/modeld/models/commonmodel_pyx.so")
          if [[ "${{ inputs.build_controls }}" == "true" ]]; then
            TARGETS+=(
              "selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so"
              "selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so"
              "selfdrive/locationd/models/generated/car.cpp"
              "selfdrive/locationd/models/generated/pose.cpp"
            )
          fi

          if [[ ${#TARGETS[@]} -eq 0 ]]; then
            echo "No partial targets selected; defaulting to UI + panda"
            TARGETS=("selfdrive/ui/ui" "panda/board/obj/panda.bin.signed")
          fi

          echo "Running partial build for targets: ${TARGETS[*]}"
          if [[ -n "${JOBS}" ]]; then
            ./build "${JOBS}" "${TARGETS[@]}"
          else
            ./build "$(nproc)" "${TARGETS[@]}"
          fi

      - name: Commit build output
        shell: bash
        run: |
          set -euo pipefail

          if [[ -z "$(git status --porcelain --untracked-files=no)" ]]; then
            echo "No build output changes detected."
            exit 0
          fi

          git add -u
          git commit -m "build"

      - name: Push build commit
        shell: bash
        run: |
          set -euo pipefail
          git push origin "HEAD:refs/heads/${BUILD_BRANCH}"