Revise HAL description in README #3
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| name: Build and Test | |
| on: | |
| push: | |
| branches: [ main, develop ] | |
| pull_request: | |
| branches: [ main, develop ] | |
| workflow_dispatch: | |
| inputs: | |
| debug_enabled: | |
| description: 'Enable debug output' | |
| required: false | |
| default: 'false' | |
| jobs: | |
| build-and-test: | |
| runs-on: ubuntu-latest | |
| strategy: | |
| matrix: | |
| build_type: [Debug, Release] | |
| compiler: [gcc, clang] | |
| include: | |
| - compiler: gcc | |
| cc: gcc-11 | |
| cxx: g++-11 | |
| - compiler: clang | |
| cc: clang-14 | |
| cxx: clang++-14 | |
| steps: | |
| - name: Checkout repository | |
| uses: actions/checkout@v4 | |
| - name: Install dependencies | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install -y \ | |
| build-essential \ | |
| cmake \ | |
| pkg-config \ | |
| libxml2-dev \ | |
| ${{ matrix.cc }} \ | |
| ${{ matrix.cxx }} | |
| - name: Configure CMake | |
| env: | |
| CC: ${{ matrix.cc }} | |
| CXX: ${{ matrix.cxx }} | |
| run: | | |
| mkdir -p build | |
| cd build | |
| cmake .. \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| -DBUILD_TESTS=ON \ | |
| -DBUILD_EXAMPLES=ON \ | |
| -DBUILD_RT=ON | |
| - name: Build project | |
| run: | | |
| cd build | |
| cmake --build . --config ${{ matrix.build_type }} -j$(nproc) | |
| - name: Run tests | |
| run: | | |
| cd build | |
| ctest --output-on-failure --verbose -C ${{ matrix.build_type }} | |
| - name: Upload test results | |
| if: always() | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: test-results-${{ matrix.compiler }}-${{ matrix.build_type }} | |
| path: build/Testing/ | |
| - name: Generate test summary | |
| if: always() | |
| run: | | |
| cd build | |
| echo "## Test Results (${{ matrix.compiler }} - ${{ matrix.build_type }})" >> $GITHUB_STEP_SUMMARY | |
| ctest --output-on-failure -C ${{ matrix.build_type }} 2>&1 | tee test_output.txt || true | |
| if [ -f test_output.txt ]; then | |
| echo '```' >> $GITHUB_STEP_SUMMARY | |
| cat test_output.txt >> $GITHUB_STEP_SUMMARY | |
| echo '```' >> $GITHUB_STEP_SUMMARY | |
| fi | |
| coverage: | |
| runs-on: ubuntu-latest | |
| needs: build-and-test | |
| steps: | |
| - name: Checkout repository | |
| uses: actions/checkout@v4 | |
| - name: Install dependencies | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install -y \ | |
| build-essential \ | |
| cmake \ | |
| pkg-config \ | |
| libxml2-dev \ | |
| lcov | |
| - name: Configure with coverage | |
| run: | | |
| mkdir -p build | |
| cd build | |
| cmake .. \ | |
| -DCMAKE_BUILD_TYPE=Debug \ | |
| -DBUILD_TESTS=ON \ | |
| -DCMAKE_CXX_FLAGS="--coverage" \ | |
| -DCMAKE_C_FLAGS="--coverage" | |
| - name: Build with coverage | |
| run: | | |
| cd build | |
| cmake --build . -j$(nproc) | |
| - name: Run tests with coverage | |
| run: | | |
| cd build | |
| ctest --output-on-failure || true | |
| - name: Generate coverage report | |
| run: | | |
| cd build | |
| lcov --capture --directory . --output-file coverage.info || true | |
| lcov --remove coverage.info '/usr/*' '*/tests/*' '*/examples/*' --output-file coverage_filtered.info || true | |
| lcov --list coverage_filtered.info || true | |
| - name: Upload coverage report | |
| if: always() | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: coverage-report | |
| path: build/coverage_filtered.info | |
| realtime-configuration-check: | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: Checkout repository | |
| uses: actions/checkout@v4 | |
| - name: Check RT kernel availability | |
| run: | | |
| echo "## Real-Time Configuration Check" >> $GITHUB_STEP_SUMMARY | |
| echo "### Kernel Information" >> $GITHUB_STEP_SUMMARY | |
| echo '```' >> $GITHUB_STEP_SUMMARY | |
| uname -a >> $GITHUB_STEP_SUMMARY | |
| echo '```' >> $GITHUB_STEP_SUMMARY | |
| echo "### RT Kernel Check" >> $GITHUB_STEP_SUMMARY | |
| if uname -v | grep -i preempt; then | |
| echo "PREEMPT support detected" >> $GITHUB_STEP_SUMMARY | |
| else | |
| echo "PREEMPT RT kernel not detected (expected in CI)" >> $GITHUB_STEP_SUMMARY | |
| fi | |
| - name: Check scheduling capabilities | |
| run: | | |
| echo "### Scheduling Capabilities" >> $GITHUB_STEP_SUMMARY | |
| echo '```' >> $GITHUB_STEP_SUMMARY | |
| echo "SCHED_FIFO min priority: $(getconf _SC_THREAD_PRIORITY_MIN 2>/dev/null || echo 'N/A')" >> $GITHUB_STEP_SUMMARY | |
| echo "SCHED_FIFO max priority: $(getconf _SC_THREAD_PRIORITY_MAX 2>/dev/null || echo 'N/A')" >> $GITHUB_STEP_SUMMARY | |
| echo '```' >> $GITHUB_STEP_SUMMARY | |
| - name: Check CPU information | |
| run: | | |
| echo "### CPU Information" >> $GITHUB_STEP_SUMMARY | |
| echo '```' >> $GITHUB_STEP_SUMMARY | |
| lscpu | grep -E "^CPU\(s\)|^Model name|^Thread" >> $GITHUB_STEP_SUMMARY || echo "CPU info not available" >> $GITHUB_STEP_SUMMARY | |
| echo '```' >> $GITHUB_STEP_SUMMARY | |
| echo "### CPU Isolation Recommendations" >> $GITHUB_STEP_SUMMARY | |
| echo "For production real-time systems:" >> $GITHUB_STEP_SUMMARY | |
| echo "1. Use \`isolcpus\` kernel parameter to reserve CPUs" >> $GITHUB_STEP_SUMMARY | |
| echo "2. Pin RT tasks to isolated CPUs using \`sched_setaffinity()\`" >> $GITHUB_STEP_SUMMARY | |
| echo "3. Move IRQs away from RT CPUs via \`/proc/irq/*/smp_affinity\`" >> $GITHUB_STEP_SUMMARY | |
| echo "4. Set CPU governor to 'performance': \`cpufreq-set -g performance\`" >> $GITHUB_STEP_SUMMARY | |
| echo "5. Lock memory with \`mlockall(MCL_CURRENT | MCL_FUTURE)\`" >> $GITHUB_STEP_SUMMARY |