feat(firmware): Mini firmware as mini/ variant on the root stewart-…
#26
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| name: Unit Tests | |
| on: | |
| push: | |
| branches: [ phoenix, main ] | |
| paths: | |
| - 'Controller/main/InverseKinematics.cpp' | |
| - 'Controller/main/AxisScaling.cpp' | |
| - 'Controller/main/MotionCueing.cpp' | |
| - 'Controller/include/**' | |
| - 'stewart-core' # shared submodule gitlink — the math under test lives here now | |
| - 'tests/**' | |
| - '.github/workflows/unit_tests.yml' | |
| pull_request: | |
| branches: [ phoenix, main ] | |
| paths: | |
| - 'Controller/main/InverseKinematics.cpp' | |
| - 'Controller/main/AxisScaling.cpp' | |
| - 'Controller/main/MotionCueing.cpp' | |
| - 'Controller/include/**' | |
| - 'stewart-core' # shared submodule gitlink — the math under test lives here now | |
| - 'tests/**' | |
| - '.github/workflows/unit_tests.yml' | |
| jobs: | |
| unit-tests: | |
| name: C Math Module Tests | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| matrix: | |
| os: [ubuntu-latest, windows-latest] | |
| steps: | |
| - name: Checkout repository | |
| uses: actions/checkout@v4 | |
| with: | |
| submodules: 'recursive' # stewart-core supplies the math sources under test | |
| - name: Install Linux dependencies | |
| if: runner.os == 'Linux' | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install -y cmake build-essential | |
| - name: Configure CMake | |
| run: cmake -S tests -B tests/build -DCMAKE_BUILD_TYPE=Release | |
| - name: Build tests | |
| run: cmake --build tests/build --config Release | |
| - name: Run tests (Linux) | |
| if: runner.os == 'Linux' | |
| run: ./tests/build/stewart-tests | |
| - name: Run tests (Windows) | |
| if: runner.os == 'Windows' | |
| run: .\tests\build\Release\stewart-tests.exe |