name: CI

on:
  push:
    branches: [main]
  pull_request:

env:
  CARGO_TERM_COLOR: always

jobs:
  lint-and-test:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4
      - uses: dtolnay/rust-toolchain@stable
        with:
          components: rustfmt, clippy
      - uses: Swatinem/rust-cache@v2
      - run: cargo fmt --all -- --check
      - run: cargo clippy --workspace --all-targets -- -D warnings
      - run: cargo test --workspace --all-targets
      - name: enforce flat crate source
        run: test -z "$(find crates/*/src -mindepth 2 -type d -print)"
      - name: forbid unsafe and no_std markers
        run: "! rg '\\bunsafe\\b|libc|no_std' crates Cargo.toml -g '*.rs' -g '*.toml'"
      - name: optional plot feature
        run: cargo check -p chassis-tune --features plot --all-targets
      - name: deterministic tuning smoke
        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:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4
      - uses: dtolnay/rust-toolchain@stable
      - uses: Swatinem/rust-cache@v2
      - run: |
          sudo modprobe vcan
          sudo ip link add dev vcan0 type vcan
          sudo ip link set up vcan0
      - run: cargo test -p socketcan@0.1.0 --test vcan -- --ignored --test-threads 1

  cross-check:
    runs-on: ubuntu-latest
    strategy:
      matrix:
        target: [aarch64-unknown-linux-gnu, armv7-unknown-linux-musleabihf]
    steps:
      - uses: actions/checkout@v4
      - uses: dtolnay/rust-toolchain@stable
        with:
          targets: ${{ matrix.target }}
      - uses: Swatinem/rust-cache@v2
      - run: cargo check --workspace --target ${{ matrix.target }}

  build-armv7:
    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 -p spin -p chassis-tune --target armv7-unknown-linux-musleabihf