path: root/.github/workflows/build.yml

name: Build

on:
  workflow_dispatch:
  push:
    branches: [master]
  pull_request:
  release:
    types: [ published ]

concurrency:
  group: ${{ github.workflow }}-${{ github.event_name == 'push' && github.sha || github.ref }}
  cancel-in-progress: ${{ github.ref != 'refs/heads/master' }}

jobs:
  # Check if the code changes and we need to run ci build
  # Cannot use paths filter in the on-event since we want this workflow to run even when there are no code changes, to register the commit chain
  check-paths:
    runs-on: ubuntu-latest
    permissions:
      contents: read
      pull-requests: read
    outputs:
      code_changed: ${{ steps.filter.outputs.code }}
    steps:
      - uses: actions/checkout@v6
        with:
          fetch-depth: 2  # Needed for push commit comparison
      - uses: dorny/paths-filter@v4
        id: filter
        with:
          filters: |
            code:
              - 'src/**'
              - 'examples/**'
              - 'lib/**'
              - 'hw/**'
              - 'test/hil/**'
              - 'tools/build.py'
              - 'tools/get_deps.py'
              - '.github/actions/**'
              - '.github/workflows/build.yml'
              - '.github/workflows/build_util.yml'
              - '.github/workflows/ci_set_matrix.py'

  set-matrix:
    runs-on: ubuntu-latest
    outputs:
      json: ${{ steps.set-matrix-json.outputs.matrix }}
      hil_json: ${{ steps.set-matrix-json.outputs.hil_matrix }}
      # one pair per rig job: hil-tinyusb (tinyusb.json minus esptool boards),
      # hil-tinyusb-esp (esptool boards only), hil-tinyusb (hfp.json)
      hil_args_tinyusb: ${{ steps.hil-select.outputs.args_tinyusb }}
      hil_run_tinyusb: ${{ steps.hil-select.outputs.run_tinyusb }}
      hil_args_tinyusb_esp: ${{ steps.hil-select.outputs.args_tinyusb_esp }}
      hil_run_tinyusb_esp: ${{ steps.hil-select.outputs.run_tinyusb_esp }}
      hil_args_hfp: ${{ steps.hil-select.outputs.args_hfp }}
      hil_run_hfp: ${{ steps.hil-select.outputs.run_hfp }}
    steps:
      - name: Checkout TinyUSB
        uses: actions/checkout@v6
        with:
          fetch-depth: 0

      - name: HIL selection (PR only)
        id: hil-select
        if: github.event_name == 'pull_request'
        env:
          BASE_REF: ${{ github.base_ref }}
        run: |
          # Best-effort by design: set-matrix gates cmake, hil-build and every rig job,
          # so a missing origin/<base>, a shallow-clone hiccup or a selector traceback
          # must fall back to the FULL matrix (no --select, run=true, no args) instead
          # of failing the job. Same fail-open shape as pr_comment.yml's `|| true`.
          SELECT_JSON=''
          if ! python3 test/hil/test_hil_select.py; then
            echo "::error::hil_select unit tests failed - falling back to the full HIL matrix"
          elif ! SELECT_JSON=$(python3 test/hil/hil_select.py --base "origin/$BASE_REF" test/hil/tinyusb.json test/hil/hfp.json); then
            echo "::warning::hil_select failed - falling back to the full HIL matrix"
            SELECT_JSON=''
          fi

          # One args/run pair per rig job, split by flasher: a job whose own subset is
          # empty skips explicitly instead of running a board filter that matches zero
          # boards ("No tests were run." exits 0 and would read as a green HIL run).
          OUT=''
          if [ -n "$SELECT_JSON" ]; then
            OUT=$(SELECT_JSON="$SELECT_JSON" python3 -c '
          import json, os
          s = json.loads(os.environ["SELECT_JSON"])
          tin = s.get("args_flasher", {}).get("tinyusb.json", {})
          legs = (("tinyusb", " ".join(a for f, a in sorted(tin.items()) if f != "esptool" and a)),
                  ("tinyusb_esp", tin.get("esptool", "")),
                  ("hfp", s.get("args", {}).get("hfp.json", "")))
          for key, a in legs:
              print("args_" + key + "=" + a)
              print("run_" + key + "=" + ("true" if (s.get("full") or a) else "false"))
          ') || OUT=''
            if [ -z "$OUT" ]; then
              echo "::warning::hil_select output unusable - falling back to the full HIL matrix"
              SELECT_JSON=''
            fi
          fi
          if [ -z "$OUT" ]; then
            OUT=$(for k in tinyusb tinyusb_esp hfp; do printf 'args_%s=\nrun_%s=true\n' "$k" "$k"; done)
          fi
          echo "$OUT"
          { echo "select=$SELECT_JSON"; echo "$OUT"; } >> $GITHUB_OUTPUT

      - name: Generate matrix json
        id: set-matrix-json
        env:
          SELECT: ${{ steps.hil-select.outputs.select }}
        run: |
          # build matrix
          MATRIX_JSON=$(python .github/workflows/ci_set_matrix.py)
          echo "matrix=$MATRIX_JSON"
          echo "matrix=$MATRIX_JSON" >> $GITHUB_OUTPUT

          # HIL matrix (merged from tinyusb + hifiphile configs), scoped on PRs.
          # Scoping is best-effort too: fall back to the unscoped (full) matrix.
          HIL_MATRIX_JSON=''
          if [ -n "$SELECT" ]; then
            HIL_MATRIX_JSON=$(python test/hil/hil_ci_set_matrix.py --select "$SELECT" test/hil/tinyusb.json test/hil/hfp.json) || HIL_MATRIX_JSON=''
            if [ -z "$HIL_MATRIX_JSON" ]; then
              echo "::warning::scoped HIL matrix failed - falling back to the full HIL matrix"
            fi
          fi
          if [ -z "$HIL_MATRIX_JSON" ]; then
            HIL_MATRIX_JSON=$(python test/hil/hil_ci_set_matrix.py test/hil/tinyusb.json test/hil/hfp.json)
          fi
          echo "hil_matrix=$HIL_MATRIX_JSON"
          echo "hil_matrix=$HIL_MATRIX_JSON" >> $GITHUB_OUTPUT

  # ------------------------------------------------------------------------------
  # CMake build: only one board per family (first alphabetically). Full build is done by CircleCI in PR
  # Note:
  # For Make and IAR build: will be done on CircleCI only (one random per family as well)
  # ------------------------------------------------------------------------------
  cmake:
    needs: [ check-paths, set-matrix ]
    uses: ./.github/workflows/build_util.yml
    strategy:
      fail-fast: false
      matrix:
        toolchain:
          - 'aarch64-gcc'
          #- 'arm-clang'
          - 'arm-gcc'
          #- 'esp-idf'
          - 'ft9xx-gcc'
          - 'msp430-gcc'
          - 'riscv-gcc'
    with:
      build-system: 'cmake'
      toolchain: ${{ matrix.toolchain }}
      build-args: ${{ toJSON(fromJSON(needs.set-matrix.outputs.json)[matrix.toolchain]) }}
      build-options: '--one-first'
      upload-metrics: true
      upload-artifacts: false
      upload-membrowse: true
      code-changed: ${{ needs.check-paths.outputs.code_changed == 'true' }}
    secrets: inherit

  code-metrics:
    needs: [ check-paths, cmake ]
    if: needs.check-paths.outputs.code_changed == 'true'
    runs-on: ubuntu-latest
    permissions:
      pull-requests: write
      contents: write
    steps:
      - name: Checkout TinyUSB
        uses: actions/checkout@v6
        with:
          fetch-tags: ${{ github.event_name == 'release' }}

      - name: Download Artifacts
        uses: actions/download-artifact@v5
        with:
          pattern: metrics-*
          path: cmake-build
          merge-multiple: true

      - name: Aggregate Code Metrics
        run: |
          python tools/get_deps.py
          python tools/metrics.py combine -j -m -f tinyusb/src cmake-build/*/metrics.json

      - name: Upload Metrics Artifact
        if: github.event_name == 'push' || github.event_name == 'release'
        uses: actions/upload-artifact@v7
        with:
          name: metrics-tinyusb
          path: metrics.json

      - name: Download Base Branch Metrics
        if: github.event_name == 'pull_request' || github.event_name == 'workflow_dispatch'
        uses: dawidd6/action-download-artifact@v11
        with:
          workflow: build.yml
          workflow_conclusion: ''
          branch: ${{ github.base_ref }}
          name: metrics-tinyusb
          path: base-metrics
        continue-on-error: true

      - name: Download Previous Release Asset
        if: github.event_name == 'release'
        env:
          GH_TOKEN: ${{ github.token }}
        run: |
          PREV_TAG=$(git tag --sort=-creatordate | head -n 2 | tail -n 1)
          echo "Previous Release: $PREV_TAG"
          echo "PREV_TAG=$PREV_TAG" >> $GITHUB_ENV

          mkdir -p base-metrics
          gh release download $PREV_TAG -p metrics.json -D base-metrics || echo "No metrics.json found in $PREV_TAG release"

      - name: Compare with Base Branch
        if: github.event_name != 'push'
        run: |
          if [ -f base-metrics/metrics.json ]; then
            python tools/metrics.py compare -m -f tinyusb/src base-metrics/metrics.json metrics.json
            cat metrics_compare.md
          else
            echo "No base metrics found, skipping comparison"
            cp metrics.md metrics_compare.md
          fi

      - name: Upload Release Assets
        if: github.event_name == 'release'
        env:
          GH_TOKEN: ${{ github.token }}
        run: |
          CURR_TAG=${{ github.event.release.tag_name }}
          COMPARE_FILE="metrics_compare_${CURR_TAG}-${PREV_TAG}.md"
          mv metrics_compare.md $COMPARE_FILE
          gh release upload $CURR_TAG metrics.json $COMPARE_FILE

      - name: Upload Metrics Comment Artifact
        if: github.event_name == 'pull_request'
        uses: actions/upload-artifact@v7
        with:
          name: metrics-comment
          path: |
            metrics_compare.md
            metrics.json

      - name: Post Code Metrics as PR Comment
        if: (github.event_name == 'workflow_dispatch') || (github.event_name == 'pull_request' && github.event.pull_request.head.repo.fork == false)
        uses: marocchino/sticky-pull-request-comment@v2
        with:
          header: code-metrics
          path: metrics_compare.md

  # ---------------------------------------
  # Keep the metrics baseline available on no-code-change pushes
  # The code-metrics job only runs (and uploads metrics-tinyusb) when code changed, so a
  # workflow/docs-only push to master would leave the latest run without a baseline for PRs
  # to compare against. Carry the previous artifact forward so the baseline is never missing.
  # ---------------------------------------
  metrics-carry-forward:
    needs: [ check-paths ]
    if: github.event_name == 'push' && needs.check-paths.outputs.code_changed != 'true'
    runs-on: ubuntu-latest
    steps:
      - name: Download previous metrics baseline from this branch
        uses: dawidd6/action-download-artifact@v11
        with:
          workflow: build.yml
          workflow_conclusion: ''      # any conclusion, matching the PR-side baseline download
          search_artifacts: true       # scan back past runs that lack the artifact (e.g. earlier no-code pushes)
          branch: ${{ github.ref_name }}
          name: metrics-tinyusb
          path: .
          if_no_artifact_found: warn
        continue-on-error: true        # best-effort: never make a no-code push red

      - name: Re-publish baseline so the latest run keeps it
        if: hashFiles('metrics.json') != ''
        uses: actions/upload-artifact@v7
        with:
          name: metrics-tinyusb
          path: metrics.json

  # ---------------------------------------
  # Build Make/CMake on Windows/MacOS
  # ---------------------------------------
  build-os:
    needs: [ check-paths ]
    if: needs.check-paths.outputs.code_changed == 'true'
    uses: ./.github/workflows/build_util.yml
    strategy:
      fail-fast: false
      matrix:
        os: [ windows-latest, macos-latest ]
        build-system: [ 'make', 'cmake' ]
    with:
      os: ${{ matrix.os }}
      build-system: ${{ matrix.build-system }}
      toolchain: 'arm-gcc-${{ matrix.os }}'
      build-args: '["stm32h7rs"]'
      build-options: '--one-random'

  # ---------------------------------------
  # Zephyr
  # ---------------------------------------
  zephyr:
    needs: [ check-paths ]
    # skip zephyr build due to failed build, fix later
    if: false
    #if: needs.check-paths.outputs.code_changed == 'true'
    runs-on: ubuntu-latest
    steps:
      - name: Checkout TinyUSB
        uses: actions/checkout@v6

      - name: Setup Zephyr project
        uses: zephyrproject-rtos/action-zephyr-setup@v1
        with:
          app-path: examples
          toolchains: arm-zephyr-eabi

      - name: Build
        run: |
          west build -b nrf52840dk -d examples/device/cdc_msc/build examples/device/cdc_msc -- -DRTOS=zephyr
          west build -b nrf52840dk -d examples/device/msc_dual_lun/build examples/device/msc_dual_lun -- -DRTOS=zephyr

  # ---------------------------------------
  # Hardware in the loop (HIL)
  # Run on PR only (hil-tinyusb), hil-hfp-iar only run on non-forked PR
  # ---------------------------------------
  hil-build:
    needs: [ check-paths, set-matrix ]
    if: needs.check-paths.outputs.code_changed == 'true' && github.repository_owner == 'hathach'
    uses: ./.github/workflows/build_util.yml
    strategy:
      fail-fast: false
      matrix:
        # These names are the bucket keys of test/hil/hil_ci_set_matrix.py: every
        # non-esptool roster board must land in one of them (esptool boards go to
        # 'esp-idf', built by hil-build-esp below). hil_ci_set_matrix.py rejects a
        # board whose "toolchain" is not a bucket, so a new bucket must be added in
        # both places.
        #
        # INVARIANT the PR-scoped skip cascade rests on: hil_run_tinyusb / hil_run_hfp
        # true => hil-build has at least one non-empty leg. It holds because those
        # flags count only non-esptool boards and every such board builds here. It
        # would break if an esptool board were added to hfp.json, because
        # hil_args_hfp is NOT flasher-split: the hfp leg of hil-tinyusb would want to
        # run while hil-build (and therefore that leg) skipped.
        toolchain:
          - 'arm-gcc'
          - 'riscv-gcc'
    with:
      build-system: 'cmake'
      toolchain: ${{ matrix.toolchain }}
      build-args: ${{ toJSON(fromJSON(needs.set-matrix.outputs.hil_json)[matrix.toolchain]) }}
      upload-artifacts: true

  # esp-idf builds are by far the slowest; keep them out of hil-build so the main
  # hil-tinyusb run starts as soon as the fast toolchains finish (esp boards get
  # their own hil-tinyusb-esp run gated only on this job)
  hil-build-esp:
    needs: [ check-paths, set-matrix ]
    if: needs.check-paths.outputs.code_changed == 'true' && github.repository_owner == 'hathach'
    uses: ./.github/workflows/build_util.yml
    with:
      build-system: 'cmake'
      toolchain: 'esp-idf'
      build-args: ${{ toJSON(fromJSON(needs.set-matrix.outputs.hil_json)['esp-idf']) }}
      upload-artifacts: true

  # ---------------------------------------
  # Hardware in the loop (HIL)
  # self-hosted on local VM, for attached hardware checkout HIL_JSON
  # ---------------------------------------
  hil-tinyusb:
    needs: [ hil-build, set-matrix ]
    name: hil-tinyusb (${{ matrix.display }})
    strategy:
      fail-fast: false
      matrix:
        include:
          - display: tinyusb.json
            runner: [ self-hosted, X64, hathach, hardware-in-the-loop ]
            hil_json: test/hil/tinyusb.json
            # esptool-flashed (espressif) boards run in hil-tinyusb-esp,
            # gated on the slow esp-idf build
            test_args: '--exclude-flasher esptool'
          - display: hfp.json
            runner: [ self-hosted, Linux, X64, hifiphile ]
            hil_json: test/hil/hfp.json
            test_args: ''
    runs-on: ${{ matrix.runner }}
    env:
      HIL_JSON: ${{ matrix.hil_json }}
    steps:
      - name: Set HIL report dir (per run+job; persists across run attempts)
        run: |
          # one report dir per (run id, job): re-run attempts find their own report/spec,
          # and interleaved runs of other PRs/jobs on the same runner cannot clobber them
          BASE="$(dirname "$GITHUB_WORKSPACE")/hil-report"
          # prune per-run dirs older than 2 weeks
          find "$BASE" -mindepth 1 -maxdepth 1 -type d -mtime +14 -exec rm -rf {} + 2>/dev/null || true
          echo "HIL_REPORT_DIR=$BASE/${GITHUB_RUN_ID}-$(basename "${{ matrix.display }}" .json)" >> "$GITHUB_ENV"

      - name: Get re-run spec from previous attempt
        if: github.run_attempt != '1'
        run: |
          # the report dir is keyed by run id, so a spec here can only have been
          # written by an earlier attempt of THIS run
          SPEC="$HIL_REPORT_DIR/$(basename "${{ env.HIL_JSON }}").failed"
          RERUN_ARGS=""
          [ -f "$SPEC" ] && RERUN_ARGS=$(cat "$SPEC")
          echo "RERUN_ARGS=$RERUN_ARGS"
          echo "RERUN_ARGS=$RERUN_ARGS" >> $GITHUB_ENV

      - name: Clean workspace
        run: |
          echo "Cleaning up for the first run"
          rm -rf "${{ github.workspace }}"
          mkdir -p "${{ github.workspace }}"

      - name: Checkout TinyUSB
        uses: actions/checkout@v6

      - name: Download Artifacts
        uses: actions/download-artifact@v5
        with:
          pattern: binaries-*
          path: cmake-build
          merge-multiple: true

      - name: Test on actual hardware
        # Single attempt per test (--retry 1), no in-run second pass: a broken fixture
        # fails fast instead of holding the runner (and other PRs' HIL jobs) for hours.
        env:
          # tinyusb.json minus the esptool boards (they run in hil-tinyusb-esp): each
          # job gates on its own flasher subset, never on a rig-wide flag
          SEL_ARGS_TINYUSB: ${{ needs.set-matrix.outputs.hil_args_tinyusb }}
          SEL_RUN_TINYUSB: ${{ needs.set-matrix.outputs.hil_run_tinyusb }}
          SEL_ARGS_HFP: ${{ needs.set-matrix.outputs.hil_args_hfp }}
          SEL_RUN_HFP: ${{ needs.set-matrix.outputs.hil_run_hfp }}
        run: |
          case "$HIL_JSON" in
            *tinyusb.json) SEL_ARGS="$SEL_ARGS_TINYUSB"; SEL_RUN="$SEL_RUN_TINYUSB" ;;
            *hfp.json)     SEL_ARGS="$SEL_ARGS_HFP";     SEL_RUN="$SEL_RUN_HFP" ;;
          esac
          if [ "$SEL_RUN" = "false" ]; then
            echo "HIL skipped by PR selection (no affected boards on this rig)"
            # leave a marker so the combined PR comment says so instead of dropping the
            # section (and leaving a stale table from an earlier push in its place)
            mkdir -p "$HIL_REPORT_DIR"
            echo "_Skipped by PR selection: no affected boards on this rig._" > "$HIL_REPORT_DIR/hil_report.md"
            exit 0
          fi
          # a re-run spec is already a subset of the selection (only the boards/tests
          # that failed); -b/-bt accumulate, so keeping SEL_ARGS here would re-run the
          # entire original selection instead of just what failed
          if [ -n "$RERUN_ARGS" ]; then SEL_ARGS=''; fi
          python3 test/hil/hil_test.py --retry 1 ${{ matrix.test_args }} $SEL_ARGS ${{ env.HIL_JSON }} $RERUN_ARGS

      - name: Upload HIL report
        if: always() && github.event_name == 'pull_request'
        uses: actions/upload-artifact@v7
        with:
          name: hil-report-${{ matrix.display }}
          path: ${{ env.HIL_REPORT_DIR }}/hil_report.md
          if-no-files-found: ignore
          overwrite: true

  # ---------------------------------------
  # Hardware in the loop (HIL) - espressif boards only
  # Same rig as hil-tinyusb (tinyusb.json) but gated only on the slow esp-idf build,
  # so the main run does not wait for it. Per-board flocks arbitrate the shared rig;
  # the runner has a single job slot, so the two HIL jobs never overlap - adding a
  # second slot would double the per-controller flash/usbtest budgets.
  # ---------------------------------------
  hil-tinyusb-esp:
    needs: [ hil-build-esp, set-matrix ]
    name: hil-tinyusb (tinyusb-esp.json)
    runs-on: [ self-hosted, X64, hathach, hardware-in-the-loop ]
    env:
      HIL_JSON: test/hil/tinyusb.json
      TEST_ARGS: '--flasher esptool'
    steps:
      - name: Set HIL report dir (per run+job; persists across run attempts)
        run: |
          # one report dir per (run id, job): re-run attempts find their own report/spec,
          # and interleaved runs of other PRs/jobs on the same runner cannot clobber them
          BASE="$(dirname "$GITHUB_WORKSPACE")/hil-report"
          # prune per-run dirs older than 2 weeks
          find "$BASE" -mindepth 1 -maxdepth 1 -type d -mtime +14 -exec rm -rf {} + 2>/dev/null || true
          echo "HIL_REPORT_DIR=$BASE/${GITHUB_RUN_ID}-tinyusb-esp" >> "$GITHUB_ENV"

      - name: Get re-run spec from previous attempt
        if: github.run_attempt != '1'
        run: |
          # the report dir is keyed by run id, so a spec here can only have been
          # written by an earlier attempt of THIS run
          SPEC="$HIL_REPORT_DIR/$(basename "${{ env.HIL_JSON }}").failed"
          RERUN_ARGS=""
          [ -f "$SPEC" ] && RERUN_ARGS=$(cat "$SPEC")
          echo "RERUN_ARGS=$RERUN_ARGS"
          echo "RERUN_ARGS=$RERUN_ARGS" >> $GITHUB_ENV

      - name: Clean workspace
        run: |
          echo "Cleaning up for the first run"
          rm -rf "${{ github.workspace }}"
          mkdir -p "${{ github.workspace }}"

      - name: Checkout TinyUSB
        uses: actions/checkout@v6

      - name: Download Artifacts
        uses: actions/download-artifact@v5
        with:
          pattern: binaries-esp-idf-*
          path: cmake-build
          merge-multiple: true

      - name: Test on actual hardware
        env:
          # esptool subset of tinyusb.json: this job must gate on its own boards, not
          # on the rig-wide flag (which would run a filter matching zero boards)
          SEL_ARGS: ${{ needs.set-matrix.outputs.hil_args_tinyusb_esp }}
          SEL_RUN: ${{ needs.set-matrix.outputs.hil_run_tinyusb_esp }}
        run: |
          if [ "$SEL_RUN" = "false" ]; then
            echo "HIL skipped by PR selection (no affected esptool boards)"
            # leave a marker so the combined PR comment says so instead of dropping the
            # section (and leaving a stale table from an earlier push in its place)
            mkdir -p "$HIL_REPORT_DIR"
            echo "_Skipped by PR selection: no affected esptool boards._" > "$HIL_REPORT_DIR/hil_report.md"
            exit 0
          fi
          # a re-run spec is already a subset of the selection (only the boards/tests
          # that failed); -b/-bt accumulate, so keeping SEL_ARGS here would re-run the
          # entire original selection instead of just what failed
          if [ -n "$RERUN_ARGS" ]; then SEL_ARGS=''; fi
          python3 test/hil/hil_test.py --retry 1 $TEST_ARGS $SEL_ARGS ${{ env.HIL_JSON }} $RERUN_ARGS

      - name: Upload HIL report
        if: always() && github.event_name == 'pull_request'
        uses: actions/upload-artifact@v7
        with:
          name: hil-report-tinyusb-esp.json
          path: ${{ env.HIL_REPORT_DIR }}/hil_report.md
          if-no-files-found: ignore
          overwrite: true

  # ---------------------------------------
  # Hardware in the loop (HIL)
  # self-hosted by HFP, build with IAR toolchain, for attached hardware checkout test/hil/hfp.json
  # Since IAR Token secret is not passed to forked PR, only build non-forked PR
  # ---------------------------------------
  hil-hfp-iar:
    needs: [ check-paths ]
    if: |
      needs.check-paths.outputs.code_changed == 'true' &&
      github.repository_owner == 'hathach' &&
      !(github.event_name == 'pull_request' && github.event.pull_request.head.repo.fork == true)
    runs-on: [ self-hosted, Linux, X64, hifiphile ]
    timeout-minutes: 30
    env:
      IAR_LMS_BEARER_TOKEN: ${{ secrets.IAR_LMS_BEARER_TOKEN }}
      PYTHONUNBUFFERED: '1'
    steps:
      - name: Clean workspace
        run: |
          echo "Cleaning up previous run"
          rm -rf "${{ github.workspace }}"
          mkdir -p "${{ github.workspace }}"

      - name: Toolchain version
        run: |
          iccarm --version

      - name: Checkout TinyUSB
        uses: actions/checkout@v6
        with:
          # full history: the "HIL selection" step below needs
          # merge-base(HEAD, origin/<base_ref>) for PR-scoped selection
          fetch-depth: 0

      # Computed BEFORE the build: the IAR build is four boards and up to 30 minutes on
      # a runner that hil-tinyusb (hfp.json) also needs, so an unaffected PR must release
      # it immediately instead of building everything and then skipping. The selection
      # also narrows what gets built.
      # This job has no needs: on set-matrix (it must run even if that unrelated job
      # fails), so it computes its own selection instead of reading set-matrix's outputs.
      - name: HIL selection (PR only)
        if: github.event_name == 'pull_request'
        env:
          BASE_REF: ${{ github.base_ref }}
        run: |
          # Best-effort: this job is deliberately decoupled from set-matrix so unrelated
          # failures cannot kill hfp coverage - a selector failure here must likewise
          # fall back to the full hfp matrix (no hil_select.json, no SEL_* vars), never
          # fail the job.
          if ! python3 test/hil/hil_select.py --base "origin/$BASE_REF" test/hil/hfp.json > hil_select.json; then
            echo "::warning::hil_select failed - running the full hfp matrix"
            rm -f hil_select.json
            exit 0
          fi
          # hil_select.json is passed to hil_ci_set_matrix.py --select below to scope the
          # build; it already honours full=true by ignoring the board list.
          # The hil_test.py args go to a file, never to $GITHUB_ENV: they are derived
          # from roster board names, which a PR can edit. Only SEL_RUN (a literal
          # true/false computed here, needed by the step-level `if:`) goes to the env.
          if ! SEL_RUN=$(python3 -c '
          import json
          s = json.load(open("hil_select.json"))
          a = s["args"]["hfp.json"]
          open("hil_sel_args.txt", "w").write(a)
          print("true" if (s["full"] or a) else "false")
          '); then
            echo "::warning::hil_select output unusable - running the full hfp matrix"
            rm -f hil_select.json hil_sel_args.txt
            exit 0
          fi
          echo "SEL_RUN=$SEL_RUN"
          echo "SEL_RUN=$SEL_RUN" >> $GITHUB_ENV

      - name: Get build boards
        if: env.SEL_RUN != 'false'
        run: |
          if [ -f hil_select.json ]; then
            MATRIX_JSON=$(python test/hil/hil_ci_set_matrix.py --select "$(cat hil_select.json)" test/hil/hfp.json)
          else
            MATRIX_JSON=$(python test/hil/hil_ci_set_matrix.py test/hil/hfp.json)
          fi
          # Each variant carries its own --build-name/--cflag, which are global to a
          # single build.py invocation — so keep one matrix entry per line and build
          # them one at a time (joining would leak a variant's flags onto every board).
          echo "$MATRIX_JSON" | jq -r '.["arm-gcc"][]' > hil_build_entries.txt
          cat hil_build_entries.txt
          BUILD_ARGS=$(echo "$MATRIX_JSON" | jq -r '.["arm-gcc"] | join(" ")')
          echo "BUILD_ARGS=$BUILD_ARGS"
          echo "BUILD_ARGS=$BUILD_ARGS" >> $GITHUB_ENV

      - name: Get Dependencies
        if: env.SEL_RUN != 'false'
        run: python3 tools/get_deps.py $BUILD_ARGS

      - name: Build
        if: env.SEL_RUN != 'false'
        run: |
          readarray -t ENTRIES < hil_build_entries.txt
          for entry in "${ENTRIES[@]}"; do
            echo "+ tools/build.py --toolchain iar $entry"
            python3 tools/build.py --toolchain iar $entry
          done

      - name: Test on actual hardware (hardware in the loop)
        run: |
          if [ "$SEL_RUN" = "false" ]; then
            echo "HIL skipped by PR selection (no affected boards on this rig)"
            # leave a marker so the combined PR comment says so instead of dropping
            # the section (and leaving a stale table from an earlier push)
            echo "_Skipped by PR selection: no affected boards on this rig._" > hil_report.md
            exit 0
          fi
          # empty/absent on a non-PR event or a selector fallback -> full hfp matrix
          SEL_ARGS=$(cat hil_sel_args.txt 2>/dev/null || true)
          python3 test/hil/hil_test.py $SEL_ARGS hfp.json

      - name: Upload HIL report
        if: always() && github.event_name == 'pull_request'
        uses: actions/upload-artifact@v7
        with:
          name: hil-report-hfp-iar
          path: hil_report.md
          if-no-files-found: ignore
          overwrite: true