[EXPERIMENTAL] WASM SITL - Run INAV firmware in browser

.github/scripts/check-pg-versions.sh

@@ -0,0 +1,226 @@
+#!/bin/bash
+#
+# Check if parameter group struct modifications include version increments
+# This prevents settings corruption when struct layout changes without version bump
+#
+# Exit codes:
+#   0 - No issues found
+#   1 - Potential issues detected (will post comment)
+#   2 - Script error
+
+set -euo pipefail
+
+# Output file for issues found
+ISSUES_FILE=$(mktemp)
+trap "rm -f $ISSUES_FILE" EXIT
+
+# Color output for local testing
+if [ -t 1 ]; then
+    RED='\033[0;31m'
+    GREEN='\033[0;32m'
+    YELLOW='\033[1;33m'
+    NC='\033[0m' # No Color
+else
+    RED=''
+    GREEN=''
+    YELLOW=''
+    NC=''
+fi
+
+echo "🔍 Checking for Parameter Group version updates..."
+
+# Get base and head commits
+BASE_REF=${GITHUB_BASE_REF:-}
+HEAD_REF=${GITHUB_HEAD_REF:-}
+
+if [ -z "$BASE_REF" ] || [ -z "$HEAD_REF" ]; then
+    echo "⚠️  Warning: Not running in GitHub Actions PR context"
+    echo "Using git diff against HEAD~1 for local testing"
+    BASE_COMMIT="HEAD~1"
+    HEAD_COMMIT="HEAD"
+else
+    BASE_COMMIT="origin/$BASE_REF"
+    HEAD_COMMIT="HEAD"
+fi
+
+# Get list of changed files
+CHANGED_FILES=$(git diff --name-only $BASE_COMMIT..$HEAD_COMMIT | grep -E '\.(c|h)$' || true)
+
+if [ -z "$CHANGED_FILES" ]; then
+    echo "✅ No C/H files changed"
+    exit 0
+fi
+
+echo "📁 Changed files:"
+echo "$CHANGED_FILES" | sed 's/^/  /'
+
+# Function to extract PG info from a file
+check_file_for_pg_changes() {
+    local file=$1
+    local diff_output=$(git diff $BASE_COMMIT..$HEAD_COMMIT -- "$file")
+
+    # Check if file contains PG_REGISTER in current version
+    if ! git show $HEAD_COMMIT:"$file" 2>/dev/null | grep -q "PG_REGISTER"; then
+        return 0
+    fi
+
+    echo "  🔎 Checking $file (contains PG_REGISTER)"
+
+    # Extract all PG_REGISTER lines from the diff (both old and new)
+    local pg_registers=$(echo "$diff_output" | grep -E "^[-+].*PG_REGISTER" || true)
+
+    if [ -z "$pg_registers" ]; then
+        # PG_REGISTER exists but wasn't changed
+        # Still need to check if the struct changed
+        pg_registers=$(git show $HEAD_COMMIT:"$file" | grep "PG_REGISTER" || true)
+    fi
+
+    # Process each PG registration
+    while IFS= read -r pg_line; do
+        [ -z "$pg_line" ] && continue
+
+        # Extract struct name and version
+        # Pattern: PG_REGISTER.*\((\w+),\s*(\w+),\s*PG_\w+,\s*(\d+)\)
+        if [[ $pg_line =~ PG_REGISTER[^(]*\(([^,]+),([^,]+),([^,]+),([^)]+)\) ]]; then
+            local struct_type="${BASH_REMATCH[1]}"
+            local pg_name="${BASH_REMATCH[2]}"
+            local pg_id="${BASH_REMATCH[3]}"
+            local version="${BASH_REMATCH[4]}"
+
+            # Clean up whitespace
+            struct_type=$(echo "$struct_type" | xargs)
+            version=$(echo "$version" | xargs)
+
+            echo "    📋 Found: $struct_type (version $version)"
+
+            # Check if this struct's typedef was modified in ANY changed file
+            local struct_pattern="typedef struct ${struct_type%_t}_s"
+            local struct_body_diff=""
+            local struct_found_in=""
+
+            # Search all changed files for this struct definition
+            while IFS= read -r changed_file; do
+                [ -z "$changed_file" ] && continue
+
+                local file_diff=$(git diff $BASE_COMMIT..$HEAD_COMMIT -- "$changed_file")
+                local struct_in_file=$(echo "$file_diff" | sed -n "/${struct_pattern}/,/\}.*${struct_type};/p")
+
+                if [ -n "$struct_in_file" ]; then
+                    struct_body_diff="$struct_in_file"
+                    struct_found_in="$changed_file"
+                    echo "    🔍 Found struct definition in $changed_file"
+                    break
+                fi
+            done <<< "$CHANGED_FILES"
+
+            local struct_changes=$(echo "$struct_body_diff" | grep -E "^[-+]" \
+                | grep -v -E "^[-+]\s*(typedef struct|}|//|\*)" \
+                | sed -E 's://.*$::' \
+                | sed -E 's:/\*.*\*/::' \
+                | tr -d '[:space:]')
+
+            if [ -n "$struct_changes" ]; then
+                echo "    ⚠️  Struct definition modified in $struct_found_in"
+
+                # Check if version was incremented in PG_REGISTER
+                local old_version=$(echo "$diff_output" | grep "^-.*PG_REGISTER.*$struct_type" | grep -oP ',\s*\K\d+(?=\s*\))' || echo "")
+                local new_version=$(echo "$diff_output" | grep "^+.*PG_REGISTER.*$struct_type" | grep -oP ',\s*\K\d+(?=\s*\))' || echo "")
+
+                # Find line number of PG_REGISTER for error reporting
+                local line_num=$(git show $HEAD_COMMIT:"$file" | grep -n "PG_REGISTER.*$struct_type" | cut -d: -f1 | head -1)
+
+                if [ -n "$old_version" ] && [ -n "$new_version" ]; then
+                    # PG_REGISTER was modified - check if version increased
+                    if [ "$new_version" -le "$old_version" ]; then
+                        echo "    ❌ Version NOT incremented ($old_version → $new_version)"
+                        cat >> $ISSUES_FILE << EOF
+### \`$struct_type\` ($file:$line_num)
+- **Struct modified:** Field changes detected in $struct_found_in
+- **Version status:** ❌ Not incremented (version $version)
+- **Recommendation:** Increment version from $old_version to $(($old_version + 1))
+
+EOF
+                    else
+                        echo "    ✅ Version incremented ($old_version → $new_version)"
+                    fi
+                elif [ -z "$old_version" ] && [ -z "$new_version" ]; then
+                    # PG_REGISTER wasn't modified but struct was - THIS IS THE BUG!
+                    echo "    ❌ PG_REGISTER not modified, version still $version"
+                    cat >> $ISSUES_FILE << EOF
+### \`$struct_type\` ($file:$line_num)
+- **Struct modified:** Field changes detected in $struct_found_in
+- **Version status:** ❌ Not incremented (still version $version)
+- **Recommendation:** Increment version to $(($version + 1)) in $file
+
+EOF
+                else
+                    # One exists but not the other - unusual edge case
+                    echo "    ⚠️  Unusual version change pattern detected"
+                    cat >> $ISSUES_FILE << EOF
+### \`$struct_type\` ($file:$line_num)
+- **Struct modified:** Field changes detected in $struct_found_in
+- **Version status:** ⚠️ Unusual change pattern (old: ${old_version:-none}, new: ${new_version:-none})
+- **Current version:** $version
+- **Recommendation:** Manually verify version increment
+
+EOF
+                fi
+            else
+                echo "    ✅ Struct unchanged"
+            fi
+        fi
+    done <<< "$pg_registers"
+}
+
+# Build list of files to check (changed files + companions with PG_REGISTER)
+echo "🔍 Building file list including companions with PG_REGISTER..."
+FILES_TO_CHECK=""
+ALREADY_ADDED=""
+
+while IFS= read -r file; do
+    [ -z "$file" ] && continue
+
+    # Add this file to check list
+    if ! echo "$ALREADY_ADDED" | grep -qw "$file"; then
+        FILES_TO_CHECK="$FILES_TO_CHECK$file"$'\n'
+        ALREADY_ADDED="$ALREADY_ADDED $file"
+    fi
+
+    # Determine companion file (.c <-> .h)
+    local companion=""
+    if [[ "$file" == *.c ]]; then
+        companion="${file%.c}.h"
+    elif [[ "$file" == *.h ]]; then
+        companion="${file%.h}.c"
+    fi
+
+    # If companion exists and contains PG_REGISTER, add it to check list
+    if [ -n "$companion" ]; then
+        if git show $HEAD_COMMIT:"$companion" 2>/dev/null | grep -q "PG_REGISTER"; then
+            if ! echo "$ALREADY_ADDED" | grep -qw "$companion"; then
+                echo "  📎 Adding $companion (companion of $file with PG_REGISTER)"
+                FILES_TO_CHECK="$FILES_TO_CHECK$companion"$'\n'
+                ALREADY_ADDED="$ALREADY_ADDED $companion"
+            fi
+        fi
+    fi
+done <<< "$CHANGED_FILES"
+
+# Check each file (including companions)
+while IFS= read -r file; do
+    [ -z "$file" ] && continue
+    check_file_for_pg_changes "$file"
+done <<< "$FILES_TO_CHECK"
+
+# Check if any issues were found
+if [ -s $ISSUES_FILE ]; then
+    echo ""
+    echo "${YELLOW}⚠️  Potential PG version issues detected${NC}"
+    echo "Output saved to: $ISSUES_FILE"
+    cat $ISSUES_FILE
+    exit 1
+else
+    echo ""
+    echo "${GREEN}✅ No PG version issues detected${NC}"
+    exit 0
+fi

.github/workflows/README.md

@@ -0,0 +1,127 @@
+# GitHub Actions Workflows
+
+This directory contains automated CI/CD workflows for the INAV project.
+
+## Active Workflows
+
+### Build and Test
+
+#### `ci.yml` - Build Firmware
+**Triggers:** Pull requests, pushes to maintenance branches
+**Purpose:** Compiles INAV firmware for all targets to verify builds succeed
+**Matrix:** 15 parallel build jobs for faster CI
+
+#### `nightly-build.yml` - Nightly Builds
+**Triggers:** Scheduled nightly
+**Purpose:** Creates nightly development builds for testing
+
+### Documentation
+
+#### `docs.yml` - Documentation Build
+**Triggers:** Pull requests affecting documentation
+**Purpose:** Validates documentation builds correctly
+
+### Code Quality
+
+#### `pg-version-check.yml` - Parameter Group Version Check
+**Triggers:** Pull requests to maintenance-9.x and maintenance-10.x
+**Purpose:** Detects parameter group struct modifications and verifies version increments
+**Why:** Prevents settings corruption when struct layout changes without version bump
+
+**How it works:**
+1. Scans changed .c/.h files for `PG_REGISTER` entries
+2. Detects if associated struct typedefs were modified
+3. Checks if the PG version parameter was incremented
+4. Posts helpful comment if version not incremented
+
+**Reference:** See `docs/development/parameter_groups/` for PG system documentation
+
+**Script:** `.github/scripts/check-pg-versions.sh`
+
+**When to increment PG versions:**
+- ✅ Adding/removing fields from struct
+- ✅ Changing field types or sizes
+- ✅ Reordering fields
+- ✅ Adding/removing packing attributes
+- ❌ Only changing `PG_RESET_TEMPLATE` default values
+- ❌ Only changing comments
+
+### Pull Request Helpers
+
+#### `pr-branch-suggestion.yml` - Branch Targeting Suggestion
+**Triggers:** PRs targeting master branch
+**Purpose:** Suggests using maintenance-9.x or maintenance-10.x instead
+
+#### `non-code-change.yaml` - Non-Code Change Detection
+**Triggers:** Pull requests
+**Purpose:** Detects PRs with only documentation/formatting changes
+
+## Configuration Files
+
+- `../.github/stale.yml` - Stale issue/PR management
+- `../.github/no-response.yml` - Auto-close issues without response
+- `../.github/issue_label_bot.yaml` - Automatic issue labeling
+
+## Adding New Workflows
+
+When adding workflows:
+
+1. **Use descriptive names** - Make purpose clear from filename
+2. **Document in this README** - Add entry above with purpose and triggers
+3. **Set appropriate permissions** - Principle of least privilege
+4. **Test in fork first** - Verify before submitting to main repo
+5. **Handle errors gracefully** - Don't block CI unnecessarily
+
+### Common Patterns
+
+**Checkout with history:**
+```yaml
+- uses: actions/checkout@v4
+  with:
+    fetch-depth: 0
+```
+
+**Post PR comments:**
+```yaml
+- uses: actions/github-script@v7
+  with:
+    script: |
+      await github.rest.issues.createComment({
+        owner: context.repo.owner,
+        repo: context.repo.repo,
+        issue_number: context.issue.number,
+        body: 'Comment text'
+      });
+```
+
+**Run bash scripts:**
+```yaml
+- run: bash .github/scripts/script-name.sh
+  env:
+    GITHUB_BASE_REF: ${{ github.base_ref }}
+```
+
+## Permissions
+
+Workflows use GitHub's fine-grained permissions:
+
+- `contents: read` - Read repository code
+- `pull-requests: write` - Post/update PR comments
+- `actions: read` - Read workflow run data
+
+## Local Testing
+
+Scripts in `.github/scripts/` can be run locally:
+
+```bash
+cd inav
+export GITHUB_BASE_REF=maintenance-9.x
+export GITHUB_HEAD_REF=feature-branch
+bash .github/scripts/check-pg-versions.sh
+```
+
+## References
+
+- [GitHub Actions Documentation](https://docs.github.com/en/actions)
+- [Workflow Syntax](https://docs.github.com/en/actions/reference/workflow-syntax-for-github-actions)
+- [GitHub Script Action](https://github.com/actions/github-script)

.github/workflows/ci.yml

@@ -256,11 +256,15 @@ jobs:
           for f in ./build_SITL/*_SITL.exe; do
             mv $f $(echo $f | sed -e 's/_[0-9]\+\.[0-9]\+\.[0-9]\+//')
           done
+      - name: Copy cygwin1.dll
+        run: cp /bin/cygwin1.dll ./build_SITL/
       - name: Upload artifacts
         uses: actions/upload-artifact@v4
         with:
           name: ${{ env.BUILD_NAME }}_SITL-WIN
-          path: ./build_SITL/*.exe
+          path: |
+            ./build_SITL/*.exe
+            ./build_SITL/cygwin1.dll
 
   test:
     #needs: [build]

.github/workflows/nightly-build.yml

@@ -2,11 +2,12 @@ name: Build pre-release
 # Don't enable CI on push, just on PR. If you
 # are working on the main repo and want to trigger
 # a CI build submit a draft PR.
-on: 
+on:
   push:
     branches:
       - master
       - maintenance-8.x.x
+      - maintenance-9.x
     paths:
       - 'src/**'
       - '.github/**'