name: Continuous Integration

on:
  push:
    branches: [master, staging, trying]
  pull_request:
    branches: [master]

env:
  CARGO_TERM_COLOR: always

jobs:
  style:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v2
      - uses: actions-rs/toolchain@v1
        with:
          profile: minimal
          toolchain: nightly
          target: thumbv7em-none-eabihf
          override: true
          components: rustfmt, clippy
      - name: cargo fmt --check
        uses: actions-rs/cargo@v1
        with:
          command: fmt
          args: --all -- --check
      - uses: actions-rs/clippy-check@v1
        continue-on-error: true
        with:
          token: ${{ secrets.GITHUB_TOKEN }}

  compile:
    runs-on: ubuntu-latest
    strategy:
      matrix:
        toolchain:
          - stable
          - beta
    steps:
      - uses: actions/checkout@v2
      - name: Install Rust ${{ matrix.toolchain }}
        uses: actions-rs/toolchain@v1
        with:
          toolchain: ${{ matrix.toolchain }}
          target: thumbv7em-none-eabihf
          override: true
          components: llvm-tools-preview
      - name: cargo check
        uses: actions-rs/cargo@v1
        with:
          command: check
          args: --verbose
      - name: cargo build
        uses: actions-rs/cargo@v1
        with:
          command: build
      - name: cargo build release
        uses: actions-rs/cargo@v1
        with:
          command: build
          args: --release
      - name: cargo-binutils
        uses: actions-rs/cargo@v1
        with:
          command: install
          args: cargo-binutils
      - name: cargo objcopy
        uses: actions-rs/cargo@v1
        with:
          command: objcopy
          args: --release -- -O binary stabilizer.bin
      - uses: actions/upload-artifact@v1
        with:
          name: stabilizer_${{ github.sha }}_bin
          path: |
            ./target/thumbv7em-none-eabihf/release/stabilizer
            ./stabilizer.bin

  test:
    runs-on: ubuntu-latest
    strategy:
      matrix:
        toolchain:
          - stable
          - beta
    steps:
      - uses: actions/checkout@v2
      - name: Install Rust ${{ matrix.toolchain }}
        uses: actions-rs/toolchain@v1
        with:
          toolchain: ${{ matrix.toolchain }}
      - name: cargo test
        uses: actions-rs/cargo@v1
        with:
          command: test
          args: --package dsp --target=x86_64-unknown-linux-gnu
      - name: cargo bench
        uses: actions-rs/cargo@v1
        with:
          command: bench
          args: --package dsp --target=x86_64-unknown-linux-gnu
      - uses: actions/upload-artifact@v1
        with:
          name: stabilizer_${{ github.sha }}_criterion
          path: ./dsp/target/criterion

  # Tell bors about it
  # https://github.com/rtic-rs/cortex-m-rtic/blob/8a4f9c6b8ae91bebeea0791680f89375a78bffc6/.github/workflows/build.yml#L566-L603
  ci-success:
    name: ci
    if: github.event_name == 'push' && success()
    needs:
      - style
      - compile
      - test
    runs-on: ubuntu-latest
    steps:
      - name: Mark the job as a success
        run: exit 0
  ci-failure:
    name: ci
    if: github.event_name == 'push' && !success()
    needs:
      - style
      - compile
      - test
    runs-on: ubuntu-latest
    steps:
      - name: Mark the job as a failure
        run: exit 1