98 lines
3.3 KiB
YAML
98 lines
3.3 KiB
YAML
name: CI
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on:
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push:
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branches: [main]
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pull_request:
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env:
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CARGO_TERM_COLOR: always
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jobs:
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lint-and-test:
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name: fmt / clippy / test / doc
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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- uses: dtolnay/rust-toolchain@stable
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with:
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components: rustfmt, clippy
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- uses: Swatinem/rust-cache@v2
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- name: rustfmt
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run: cargo fmt --all -- --check
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- name: clippy
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run: cargo clippy --workspace --all-targets -- -D warnings
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- name: test
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run: cargo test --workspace
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- name: doc
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env:
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RUSTDOCFLAGS: -D warnings
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run: cargo doc --workspace --no-deps
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# 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。
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- name: chassis-tune plot feature
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run: cargo check -p chassis-tune --features plot --all-targets
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# 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。
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- name: tune smoke (deterministic, no hardware)
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run: |
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cargo run --release -p chassis-tune -- sweep \
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--samples 64 --top-k 3 --max-iters 40 --ensemble 2 --seed 7 \
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--out-dir target/tune-smoke
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cargo run --release -p chassis-tune -- sweep \
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--samples 64 --top-k 3 --max-iters 40 --ensemble 2 --seed 7 \
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--out-dir target/tune-smoke-again
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diff target/tune-smoke/trials.csv target/tune-smoke-again/trials.csv
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vcan-integration:
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name: vcan0 integration (real kernel CAN stack)
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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- uses: dtolnay/rust-toolchain@stable
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- uses: Swatinem/rust-cache@v2
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- name: set up vcan0
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run: |
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sudo modprobe vcan
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sudo ip link add dev vcan0 type vcan
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sudo ip link set up vcan0
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- name: run vcan tests
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run: cargo test -p dji-esc-socketcan -- --ignored --test-threads 1
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cross-aarch64:
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name: cross check aarch64
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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- uses: dtolnay/rust-toolchain@stable
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with:
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targets: aarch64-unknown-linux-gnu
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- uses: Swatinem/rust-cache@v2
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- run: cargo check --workspace --target aarch64-unknown-linux-gnu
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build-armv7:
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name: build armv7 static (board target)
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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- uses: dtolnay/rust-toolchain@stable
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with:
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targets: armv7-unknown-linux-musleabihf
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- uses: Swatinem/rust-cache@v2
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- run: cargo build --release -p chassisd --target armv7-unknown-linux-musleabihf
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# 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）。
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- run: cargo build --release -p chassis-bench --bin chassis-spin --target armv7-unknown-linux-musleabihf
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- run: cargo build --release -p chassis-tune --target armv7-unknown-linux-musleabihf
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coverage:
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name: coverage (llvm-cov)
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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- uses: dtolnay/rust-toolchain@stable
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- uses: Swatinem/rust-cache@v2
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- uses: taiki-e/install-action@cargo-llvm-cov
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- run: cargo llvm-cov --workspace --lcov --output-path lcov.info
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- uses: actions/upload-artifact@v4
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with:
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name: coverage-lcov
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path: lcov.info
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