name: CMake ARM

on:
  workflow_dispatch:
  push:
    paths:
      - 'src/**'
      - 'examples/**'
      - 'lib/**'
      - 'hw/**'
      - 'test/hil/**'
      - 'tools/get_deps.py'
      - '.github/workflows/cmake_arm.yml'
  pull_request:
    branches: [ master ]
    paths:
      - 'src/**'
      - 'examples/**'
      - 'lib/**'
      - 'hw/**'
      - 'test/hil/**'
      - 'tools/get_deps.py'
      - '.github/workflows/cmake_arm.yml'

concurrency:
  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
  cancel-in-progress: true

jobs:
  # ---------------------------------------
  # Build ARM family
  # ---------------------------------------
  build-arm:
    runs-on: ubuntu-latest
    strategy:
      fail-fast: false
      matrix:
        family:
          # Alphabetical order
          - 'imxrt'
          - 'kinetis_k kinetis_kl'
          - 'lpc17 lpc18 lpc40 lpc43'
          - 'lpc54 lpc55'
          - 'mcx'
          - 'nrf'
          - 'ra'
          - 'rp2040'
          - 'samd21'
          - 'samd51'
          - 'stm32f0'
          - 'stm32f1'
          - 'stm32f4'
          - 'stm32f7'
          - 'stm32g0'
          - 'stm32g4'
          - 'stm32h5'
          - 'stm32h7'
          - 'stm32l4'
          - 'stm32u5'
    steps:
    - name: Setup Python
      uses: actions/setup-python@v5
      with:
        python-version: '3.x'

    - name: Install ARM GCC
      uses: carlosperate/arm-none-eabi-gcc-action@v1
      with:
        release: '11.2-2022.02'

    - name: Install Ninja
      run: sudo apt install -y ninja-build

    - name: Checkout TinyUSB
      uses: actions/checkout@v4

    - name: Checkout pico-sdk for rp2040
      if: matrix.family == 'rp2040'
      uses: actions/checkout@v4
      with:
        repository: raspberrypi/pico-sdk
        ref: develop
        path: pico-sdk

    - name: Get Dependencies
      run: python3 tools/get_deps.py ${{ matrix.family }}

    - name: Build
      run: python tools/build_cmake.py ${{ matrix.family }} -DCMAKE_BUILD_TYPE=MinSizeRel
      env:
        # for rp2040, there is no harm if defined for other families
        PICO_SDK_PATH: ${{ github.workspace }}/pico-sdk

    - name: Upload Artifacts for Hardware Testing (rp2040)
      if: matrix.family == 'rp2040' && github.repository_owner == 'hathach'
      uses: actions/upload-artifact@v4
      with:
        name: raspberry_pi_pico
        path: |
          cmake-build/cmake-build-raspberry_pi_pico/*/*/*.elf

    - name: Upload Artifacts for Hardware Testing (nRF)
      if: matrix.family == 'nrf' && github.repository_owner == 'hathach'
      uses: actions/upload-artifact@v4
      with:
        name: feather_nrf52840_express
        path: |
          cmake-build/cmake-build-feather_nrf52840_express/*/*/*.elf

    - name: Upload Artifacts for Hardware Testing (samd51)
      if: matrix.family == 'samd51' && github.repository_owner == 'hathach'
      uses: actions/upload-artifact@v4
      with:
        name: itsybitsy_m4
        path: |
          cmake-build/cmake-build-itsybitsy_m4/*/*/*.bin

  # ---------------------------------------
  # Hardware in the loop (HIL)
  # Current self-hosted instance is running on an RPI4. For attached hardware checkout hil_pi4.json
  # ---------------------------------------
  hil-test:
    # run only with hathach's commit due to limited resource on RPI4
    if: github.repository_owner == 'hathach'
    needs: build-arm
    runs-on: [self-hosted, rp2040, nrf52840, hardware-in-the-loop]
    strategy:
      fail-fast: false
      matrix:
        board:
          - 'feather_nrf52840_express'
          - 'itsybitsy_m4'
          - 'raspberry_pi_pico'
    steps:
      - name: Clean workspace
        run: |
          echo "Cleaning up previous run"
          rm -rf "${{ github.workspace }}"
          mkdir -p "${{ github.workspace }}"

        # USB bus on rpi4 is not stable, reset it before testing
      - name: Reset USB bus
        run: |
          lsusb
          lsusb -t
          # reset VIA Labs 2.0 hub
          sudo usbreset 001/002

          # legacy code
          #for port in $(lspci | grep USB | cut -d' ' -f1); do
          #    echo -n "0000:${port}"| sudo tee /sys/bus/pci/drivers/xhci_hcd/unbind;
          #    sleep 0.1;
          #    echo -n "0000:${port}" | sudo tee /sys/bus/pci/drivers/xhci_hcd/bind;
          #done

      - name: Checkout test/hil
        uses: actions/checkout@v4
        with:
          sparse-checkout: test/hil

      - name: Download Artifacts
        uses: actions/download-artifact@v4
        with:
          name: ${{ matrix.board }}
          path: cmake-build/cmake-build-${{ matrix.board }}

      - name: Test on actual hardware
        run: |
          python3 test/hil/hil_test.py --board ${{ matrix.board }} hil_pi4.json