ci.yml

# NOTE:
#
# When adding support for a new chip to `esp-hal`, there are a number of
# updates which must be made to the CI workflow in order to reflect this; the
# changes are:
#
# 1.) In the 'esp-hal' job, add the name of the chip to the `matrix.soc` array.
# 1a.) If the device has a low-power core (which is supported in
#      `esp-lp-hal`), then update the `if` condition to build prerequisites.
# 2.) In the 'msrv-riscv' job, add checks as needed for the new chip.

name: CI

on:
  pull_request:
  push:
    branches-ignore:
      - "gh-readonly-queue/**"
  merge_group:
  workflow_dispatch:

env:
  CARGO_TERM_COLOR: always
  GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
  MSRV: "1.76.0"

# Cancel any currently running workflows from the same PR, branch, or
# tag when a new workflow is triggered.
#
# https://stackoverflow.com/a/66336834
concurrency:
  cancel-in-progress: true
  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}

jobs:
  # --------------------------------------------------------------------------
  # Build Packages

  esp-hal:
    name: esp-hal (${{ matrix.device.soc }})
    runs-on: ubuntu-latest
    env:
      SSID: SSID
      PASSWORD: PASSWORD
      STATIC_IP: 1.1.1.1
      GATEWAY_IP: 1.1.1.1
      HOST_IP: 1.1.1.1

    strategy:
      fail-fast: false
      matrix:
        device: [
            # RISC-V devices:
            { soc: "esp32c2", target: "riscv32imc-unknown-none-elf" },
            { soc: "esp32c3", target: "riscv32imc-unknown-none-elf" },
            { soc: "esp32c6", target: "riscv32imac-unknown-none-elf" },
            { soc: "esp32h2", target: "riscv32imac-unknown-none-elf" },
            # Xtensa devices:
            { soc: "esp32", target: "xtensa-esp32-none-elf" },
            { soc: "esp32s2", target: "xtensa-esp32s2-none-elf" },
            { soc: "esp32s3", target: "xtensa-esp32s3-none-elf" },
          ]

    steps:
      - uses: actions/checkout@v4

      # Install the Rust stable and nightly toolchains for RISC-V devices:
      - if: ${{ !contains(fromJson('["esp32", "esp32s2", "esp32s3"]'), matrix.device.soc) }}
        uses: dtolnay/rust-toolchain@v1
        with:
          target: riscv32imc-unknown-none-elf,riscv32imac-unknown-none-elf
          toolchain: stable
          components: rust-src
      - if: ${{ !contains(fromJson('["esp32", "esp32s2", "esp32s3"]'), matrix.device.soc) }}
        uses: dtolnay/rust-toolchain@v1
        with:
          target: riscv32imc-unknown-none-elf,riscv32imac-unknown-none-elf
          toolchain: nightly
          components: rust-src
      # Install the Rust toolchain for Xtensa devices:
      - if: contains(fromJson('["esp32", "esp32s2", "esp32s3"]'), matrix.device.soc)
        uses: esp-rs/xtensa-toolchain@v1.5
        with:
          buildtargets: ${{ matrix.device.soc }}
          default: true
          ldproxy: false

      - uses: Swatinem/rust-cache@v2

      # Build all supported examples for the low-power core first (if present):
      - if: contains(fromJson('["esp32c6", "esp32s2", "esp32s3"]'), matrix.device.soc)
        name: Build prerequisites (esp-lp-hal)
        run: cargo xtask build-examples esp-lp-hal ${{ matrix.device.soc }}

      # Make sure we're able to build the HAL without the default features
      # enabled:
      - name: Build (no features)
        run: |
          cargo xtask build-package \
            --no-default-features \
            --features=${{ matrix.device.soc }} \
            --target=${{ matrix.device.target }} \
            esp-hal
      # Build all supported examples for the specified device:
      - name: Build (examples)
        run: cargo xtask build-examples esp-hal ${{ matrix.device.soc }}
      # Check doc-tests
      - name: Check doc-tests
        run: cargo xtask run-doc-test esp-hal ${{ matrix.device.soc }}
      - name: Check documentation
        run:  RUSTDOCFLAGS="-D warnings" cargo xtask build-documentation --packages esp-hal --chips ${{ matrix.device.soc }}

  esp-lp-hal:
    runs-on: ubuntu-latest

    strategy:
      fail-fast: false
      matrix:
        soc: ["esp32c6", "esp32s2", "esp32s3"]

    steps:
      - uses: actions/checkout@v4

      # Install the Rust stable and nightly toolchains for RISC-V devices:
      - uses: dtolnay/rust-toolchain@v1
        with:
          target: riscv32imc-unknown-none-elf,riscv32imac-unknown-none-elf
          toolchain: stable
          components: rust-src
      - uses: dtolnay/rust-toolchain@v1
        if: ${{ !contains(fromJson('["esp32s2", "esp32s3"]'), matrix.soc) }}
        with:
          target: riscv32imc-unknown-none-elf,riscv32imac-unknown-none-elf
          toolchain: nightly
          components: rust-src
      # Install the Rust toolchain for Xtensa devices:
      - if: contains(fromJson('["esp32s2", "esp32s3"]'), matrix.soc)
        uses: esp-rs/xtensa-toolchain@v1.5
        with:
          buildtargets: ${{ matrix.soc }}
          default: true
          ldproxy: false


      - uses: Swatinem/rust-cache@v2

      # Build all supported examples for the specified device:
      - name: Build examples
        run: cargo xtask build-examples esp-lp-hal ${{ matrix.soc }}
      - name: Check documentation
        run:  RUSTDOCFLAGS="-D warnings" cargo xtask build-documentation --packages esp-lp-hal --chips ${{ matrix.soc }}
  esp-riscv-rt:
    runs-on: ubuntu-latest

    steps:
      - uses: actions/checkout@v4
      - uses: dtolnay/rust-toolchain@v1
        with:
          target: riscv32imc-unknown-none-elf,riscv32imac-unknown-none-elf
          toolchain: stable
          components: rust-src
      - uses: Swatinem/rust-cache@v2

      # Build for all RISC-V targets (no features):
      - name: Build esp-riscv-rt (riscv32imc, no features)
        run: cd esp-riscv-rt/ && cargo build --target=riscv32imc-unknown-none-elf
      - name: Build esp-riscv-rt (riscv32imac, no features)
        run: cd esp-riscv-rt/ && cargo build --target=riscv32imac-unknown-none-elf
      # Build for all RISC-V targets (all features):
      - name: Build esp-riscv-rt (riscv32imc, all features)
        run: cd esp-riscv-rt/ && cargo build --target=riscv32imc-unknown-none-elf --features=ci
      - name: Build esp-riscv-rt (riscv32imac, all features)
        run: cd esp-riscv-rt/ && cargo build --target=riscv32imac-unknown-none-elf --features=ci

  esp-println:
    name: esp-println (${{ matrix.device.soc }})
    runs-on: ubuntu-latest

    strategy:
      fail-fast: false
      matrix:
        device: [
            # RISC-V devices:
            { soc: "esp32c2", target: "riscv32imc-unknown-none-elf" },
            { soc: "esp32c3", target: "riscv32imc-unknown-none-elf" },
            { soc: "esp32c6", target: "riscv32imac-unknown-none-elf" },
            { soc: "esp32h2", target: "riscv32imac-unknown-none-elf" },
            # Xtensa devices:
            { soc: "esp32", target: "xtensa-esp32-none-elf" },
            { soc: "esp32s2", target: "xtensa-esp32s2-none-elf" },
            { soc: "esp32s3", target: "xtensa-esp32s3-none-elf" },
          ]

    steps:
      - uses: actions/checkout@v4

      # Install the Rust stable and nightly toolchains for RISC-V devices:
      - if: ${{ !contains(fromJson('["esp32", "esp32s2", "esp32s3"]'), matrix.device.soc) }}
        uses: dtolnay/rust-toolchain@v1
        with:
          target: riscv32imc-unknown-none-elf,riscv32imac-unknown-none-elf
          toolchain: stable
          components: rust-src
      - if: ${{ !contains(fromJson('["esp32", "esp32s2", "esp32s3"]'), matrix.device.soc) }}
        uses: dtolnay/rust-toolchain@v1
        with:
          target: riscv32imc-unknown-none-elf,riscv32imac-unknown-none-elf
          toolchain: nightly
          components: rust-src
      # Install the Rust toolchain for Xtensa devices:
      - if: contains(fromJson('["esp32", "esp32s2", "esp32s3"]'), matrix.device.soc)
        uses: esp-rs/xtensa-toolchain@v1.5
        with:
          buildtargets: ${{ matrix.device.soc }}
          default: true
          ldproxy: false

      - uses: Swatinem/rust-cache@v2

      # Make sure we're able to build with the default features and most common features enabled
      - name: Build (no features)
        run: |
          cargo xtask build-package \
            --features=${{ matrix.device.soc }},log \
            --target=${{ matrix.device.target }} \
            esp-println

      # So #1678 doesn't reoccur ('defmt-espflash,auto')
      - name: Build (with feature 'defmt-espflash')
        run: |
          cargo xtask build-package \
            --features=${{ matrix.device.soc }},log,defmt-espflash \
            --target=${{ matrix.device.target }} \
            esp-println
      - name: Check documentation
        run:  RUSTDOCFLAGS="-D warnings" cargo xtask build-documentation --packages esp-println --chips ${{ matrix.device.soc }}
  extras:
    runs-on: ubuntu-latest

    steps:
      - uses: actions/checkout@v4
      - uses: dtolnay/rust-toolchain@v1
        with:
          toolchain: stable
      - uses: Swatinem/rust-cache@v2

      - name: Install dependencies
        run: sudo apt-get update && sudo apt-get -y install musl-tools libudev-dev pkg-config
      # Build the extra crates
      - name: Build the bench-server
        run: cd extras/bench-server && cargo build
      - name: Build esp-wifishark
        run: cd extras/esp-wifishark && cargo build
      - name: Build ieee802154-sniffer
        run: cd extras/ieee802154-sniffer && cargo build

  # --------------------------------------------------------------------------
  # MSRV

  msrv-riscv:
    runs-on: ubuntu-latest
    env:
      RUSTC_BOOTSTRAP: 1

    steps:
      - uses: actions/checkout@v4
      - uses: dtolnay/rust-toolchain@v1
        with:
          target: riscv32imc-unknown-none-elf,riscv32imac-unknown-none-elf
          toolchain: ${{ env.MSRV }}
          components: rust-src
      - uses: Swatinem/rust-cache@v2

      # Verify the MSRV for all RISC-V chips.
      - name: msrv (esp-hal)
        run: |
          cargo xtask build-package --features=esp32c2,ci --target=riscv32imc-unknown-none-elf   esp-hal
          cargo xtask build-package --features=esp32c3,ci --target=riscv32imc-unknown-none-elf   esp-hal
          cargo xtask build-package --features=esp32c6,ci --target=riscv32imac-unknown-none-elf  esp-hal
          cargo xtask build-package --features=esp32h2,ci --target=riscv32imac-unknown-none-elf  esp-hal
      - name: msrv (esp-lp-hal)
        run: |
          cargo xtask build-package --features=esp32c6 --target=riscv32imac-unknown-none-elf esp-lp-hal
          cargo xtask build-package --features=esp32s2 --target=riscv32imc-unknown-none-elf  esp-lp-hal
          cargo xtask build-package --features=esp32s3 --target=riscv32imc-unknown-none-elf  esp-lp-hal

  msrv-xtensa:
    runs-on: ubuntu-latest
    env:
      RUSTC_BOOTSTRAP: 1

    steps:
      - uses: actions/checkout@v4
      - uses: esp-rs/xtensa-toolchain@v1.5
        with:
          ldproxy: false
          version: ${{ env.MSRV }}
      - uses: Swatinem/rust-cache@v2

      # Verify the MSRV for all Xtensa chips:
      - name: msrv (esp-hal)
        run: |
          cargo xtask build-package --toolchain=esp --features=esp32,ci   --target=xtensa-esp32-none-elf   esp-hal
          cargo xtask build-package --toolchain=esp --features=esp32s2,ci --target=xtensa-esp32s2-none-elf esp-hal
          cargo xtask build-package --toolchain=esp --features=esp32s3,ci --target=xtensa-esp32s3-none-elf esp-hal

  # --------------------------------------------------------------------------
  # Lint & Format

  clippy:
    runs-on: ubuntu-latest

    steps:
      - uses: actions/checkout@v4
      # We use the 'esp' toolchain for *all* targets, in order to get a
      # semi-stable and consistent set of lints for all targets:
      - uses: esp-rs/xtensa-toolchain@v1.5
        with:
          default: true
          ldproxy: false
      - uses: Swatinem/rust-cache@v2

      # Lint all packages:
      - run: cargo xtask lint-packages

  rustfmt:
    runs-on: ubuntu-latest

    steps:
      - uses: actions/checkout@v4
      # Some of the configuration items in 'rustfmt.toml' require the 'nightly'
      # release channel:
      - uses: dtolnay/rust-toolchain@v1
        with:
          toolchain: nightly
          components: rustfmt
      - uses: Swatinem/rust-cache@v2

      # Check the formatting of all packages:
      - run: cargo xtask fmt-packages --check

  # --------------------------------------------------------------------------
  # Tests

  hil:
    name: HIL Test | ${{ matrix.target.soc }}
    runs-on: ubuntu-latest

    strategy:
      fail-fast: false
      matrix:
        target:
          # RISC-V devices:
          - soc: esp32c2
            rust-target: riscv32imc-unknown-none-elf
          - soc: esp32c3
            rust-target: riscv32imc-unknown-none-elf
          - soc: esp32c6
            rust-target: riscv32imac-unknown-none-elf
          - soc: esp32h2
            rust-target: riscv32imac-unknown-none-elf
          # Xtensa devices:
          - soc: esp32
          - soc: esp32s2
          - soc: esp32s3

    steps:
      - uses: actions/checkout@v4
        # Install the Rust toolchain for RISC-V devices:

      - if: ${{ !contains(fromJson('["esp32", "esp32s2", "esp32s3"]'), matrix.target.soc) }}
        uses: dtolnay/rust-toolchain@v1
        with:
          target: ${{ matrix.target.rust-target }}
          toolchain: nightly
          components: rust-src
      # Install the Rust toolchain for Xtensa devices:
      - if: contains(fromJson('["esp32", "esp32s2", "esp32s3"]'), matrix.target.soc)
        uses: esp-rs/xtensa-toolchain@v1.5
        with:
          buildtargets: ${{ matrix.target.soc }}
          default: true
          ldproxy: false

      - uses: Swatinem/rust-cache@v2
      - run: cargo xtask build-tests ${{ matrix.target.soc }}