name: CI

on:
  push:
    branches: [main]
  pull_request:

env:
  CARGO_TERM_COLOR: always

jobs:
  lint-and-test:
    name: fmt / clippy / test / doc
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4
      - uses: dtolnay/rust-toolchain@stable
        with:
          components: rustfmt, clippy
      - uses: Swatinem/rust-cache@v2
      - name: rustfmt
        run: cargo fmt --all -- --check
      - name: clippy
        run: cargo clippy --workspace --all-targets -- -D warnings
      - name: test
        run: cargo test --workspace
      - name: doc
        env:
          RUSTDOCFLAGS: -D warnings
        run: cargo doc --workspace --no-deps
      # 整定工具的可选 feature 不在默认 clippy/test 里，单独编译一次防止腐烂。
      - name: chassis-tune plot feature
        run: cargo check -p chassis-tune --features plot --all-targets
      # 自动整定的确定性冒烟：同 seed 必须逐位一致，且最优解必须通过验收阈值。
      - name: tune smoke (deterministic, no hardware)
        run: |
          cargo run --release -p chassis-tune -- sweep \
            --samples 64 --top-k 3 --max-iters 40 --ensemble 2 --seed 7 \
            --out-dir target/tune-smoke
          cargo run --release -p chassis-tune -- sweep \
            --samples 64 --top-k 3 --max-iters 40 --ensemble 2 --seed 7 \
            --out-dir target/tune-smoke-again
          diff target/tune-smoke/trials.csv target/tune-smoke-again/trials.csv

  vcan-integration:
    name: vcan0 integration (real kernel CAN stack)
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4
      - uses: dtolnay/rust-toolchain@stable
      - uses: Swatinem/rust-cache@v2
      - name: set up vcan0
        run: |
          sudo modprobe vcan
          sudo ip link add dev vcan0 type vcan
          sudo ip link set up vcan0
      - name: run vcan tests
        run: cargo test -p dji-esc-socketcan -- --ignored --test-threads 1

  cross-aarch64:
    name: cross check aarch64
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4
      - uses: dtolnay/rust-toolchain@stable
        with:
          targets: aarch64-unknown-linux-gnu
      - uses: Swatinem/rust-cache@v2
      - run: cargo check --workspace --target aarch64-unknown-linux-gnu

  build-armv7:
    name: build armv7 static (board target)
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4
      - uses: dtolnay/rust-toolchain@stable
        with:
          targets: armv7-unknown-linux-musleabihf
      - uses: Swatinem/rust-cache@v2
      - run: cargo build --release -p chassisd --target armv7-unknown-linux-musleabihf
      # 台架工具与整定工具同样要在板端跑（真机后端常直接跑在 T153 上）。
      - run: cargo build --release -p chassis-bench --bin chassis-spin --target armv7-unknown-linux-musleabihf
      - run: cargo build --release -p chassis-tune --target armv7-unknown-linux-musleabihf

  coverage:
    name: coverage (llvm-cov)
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4
      - uses: dtolnay/rust-toolchain@stable
      - uses: Swatinem/rust-cache@v2
      - uses: taiki-e/install-action@cargo-llvm-cov
      - run: cargo llvm-cov --workspace --lcov --output-path lcov.info
      - uses: actions/upload-artifact@v4
        with:
          name: coverage-lcov
          path: lcov.info