name: CI

on:
  push:
    branches: [master]
  pull_request:

permissions:
  contents: read

concurrency:
  group: ${{ github.workflow }}-${{ github.ref }}
  cancel-in-progress: true

env:
  CARGO_TERM_COLOR: always

jobs:
  ci:
    runs-on: ubuntu-latest
    timeout-minutes: 20
    steps:
      - name: Checkout
        uses: actions/checkout@11d5960a326750d5838078e36cf38b85af677262 # v4.4.0

      # Keep in sync with rust-toolchain.toml.
      - name: Install Rust toolchain
        uses: dtolnay/rust-toolchain@683b588c487a69d01f6c6ddf40f036ff682cc2c8 # master
        with:
          toolchain: 1.99.0
          components: rustfmt, clippy
          targets: thumbv7em-none-eabihf

      - name: Cache cargo registry and target
        uses: Swatinem/rust-cache@6323deb102c322ba6fcbdcafc7e3dddab59af2b6 # v2.9.2

      # System library for tines-bt's bluer crate (D-Bus dev headers); the
      # workspace build links libdbus-sys against system dbus-1. Keep in sync
      # with Dockerfile.ros2.
      - name: Install system dependencies
        run: |
          sudo apt-get update
          sudo apt-get install -y --no-install-recommends libdbus-1-dev pkg-config

      # The semver gate in scripts/ci.sh compares tines-core against the
      # published 1.0.0; a prebuilt binary keeps this fast (a from-source
      # install would dominate the job). Pinned by version and SHA-256, like
      # the actions above; bump both together.
      - name: Install cargo-semver-checks
        env:
          CSC_VERSION: v0.51.0
          CSC_SHA256: cacadafaa5cd27ae6d05a74a103266917ebab4c5e43c898360e177d4fbf06a65
        run: |
          curl -fsSLo csc.tar.gz "https://github.com/obi1kenobi/cargo-semver-checks/releases/download/${CSC_VERSION}/cargo-semver-checks-x86_64-unknown-linux-gnu.tar.gz"
          echo "${CSC_SHA256}  csc.tar.gz" | sha256sum -c -
          tar xzf csc.tar.gz -C "$HOME/.cargo/bin" cargo-semver-checks
          rm csc.tar.gz

      - name: Run CI gate
        run: sh scripts/ci.sh

  msrv:
    runs-on: ubuntu-latest
    timeout-minutes: 20
    steps:
      - name: Checkout
        uses: actions/checkout@11d5960a326750d5838078e36cf38b85af677262 # v4.4.0

      # Keep in sync with tines-core/Cargo.toml `rust-version`.
      - name: Install Rust toolchain
        uses: dtolnay/rust-toolchain@683b588c487a69d01f6c6ddf40f036ff682cc2c8 # master
        with:
          toolchain: 1.82.0
          targets: thumbv7em-none-eabihf

      - name: Cache cargo registry and target
        uses: Swatinem/rust-cache@6323deb102c322ba6fcbdcafc7e3dddab59af2b6 # v2.9.2

      # Build only: the MSRV promise covers building tines-core, not its
      # dev-dependencies. proptest pulls in crates that need edition 2024,
      # which 1.82 can't parse, so `cargo test` can't run here. The tests run
      # on the pinned toolchain in the `ci` job. `+1.82.0` overrides
      # rust-toolchain.toml.
      - name: Build tines-core on MSRV
        run: |
          cargo +1.82.0 build --locked -p tines-core
          cargo +1.82.0 build --locked -p tines-core --no-default-features
          cargo +1.82.0 build --locked -p tines-core --no-default-features --target thumbv7em-none-eabihf