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Attempt build simplification
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‎.github/toolchains/README.md‎

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# CMake toolchains
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To build locally for ARM64:
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```bash
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cmake -S . -B build-arm64 \
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-DCMAKE_TOOLCHAIN_FILE=.github/toolchains/aarch64-linux-gnu.cmake \
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-DCMAKE_BUILD_TYPE=Release
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cmake --build build-arm64
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```
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To build locally for ARMv7:
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```bash
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cmake -S . -B build-armv7 \
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-DCMAKE_TOOLCHAIN_FILE=.github/toolchains/arm-linux-gnueabihf.cmake \
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-DCMAKE_BUILD_TYPE=Release
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cmake --build build-armv7
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```
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It is also possible to cross-compile from other hosts but the toolchain files may need to be adjusted accordingly.
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## Testing Cross-Compiled Binaries
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With QEMU:
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```bash
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# Install QEMU
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sudo apt-get install qemu-user-static
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# Run ARM64 binary
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qemu-aarch64-static -L /usr/aarch64-linux-gnu ./build-arm64/your-binary
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# Run ARMv7 binary
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qemu-arm-static -L /usr/arm-linux-gnueabihf ./build-armv7/your-binary
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```
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## NVIDIA Jetson
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The ARM64 build (`aarch64-linux-gnu.cmake`) binaries should be compatible with NVIDIA Jetson.

‎.github/toolchains/aarch64-linux-gnu.cmake‎

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# CMake toolchain file for cross-compiling to ARM64/aarch64
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# Compatible with NVIDIA Jetson, Raspberry Pi 4/5, and other ARM64 Linux systems
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set(CMAKE_SYSTEM_NAME Linux)
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set(CMAKE_SYSTEM_PROCESSOR aarch64)
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# Specify the cross compiler
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set(CMAKE_C_COMPILER aarch64-linux-gnu-gcc)
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set(CMAKE_CXX_COMPILER aarch64-linux-gnu-g++)
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# Where to look for the target environment
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set(CMAKE_FIND_ROOT_PATH /usr/aarch64-linux-gnu)
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# Search for programs in the build host directories
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set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
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# Search for libraries and headers in the target directories
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set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
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set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
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set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)
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# Set additional compiler flags for better compatibility
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -march=armv8-a" CACHE STRING "C flags")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=armv8-a" CACHE STRING "C++ flags")

‎.github/toolchains/arm-linux-gnueabihf.cmake‎

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# CMake toolchain file for cross-compiling to ARMv7 (32-bit ARM with hard float)
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# Compatible with Raspberry Pi 2/3 and other ARMv7 Linux systems
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set(CMAKE_SYSTEM_NAME Linux)
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set(CMAKE_SYSTEM_PROCESSOR armv7l)
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# Specify the cross compiler
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set(CMAKE_C_COMPILER arm-linux-gnueabihf-gcc)
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set(CMAKE_CXX_COMPILER arm-linux-gnueabihf-g++)
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# Where to look for the target environment
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set(CMAKE_FIND_ROOT_PATH /usr/arm-linux-gnueabihf)
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# Search for programs in the build host directories
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set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
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# Search for libraries and headers in the target directories
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set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
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set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
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set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)
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# Set additional compiler flags for ARMv7 with NEON support
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -march=armv7-a -mfpu=neon-vfpv4 -mfloat-abi=hard" CACHE STRING "C flags")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=armv7-a -mfpu=neon-vfpv4 -mfloat-abi=hard" CACHE STRING "C++ flags")

‎.github/workflows/cppcmake.yml‎

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fail-fast: false
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matrix:
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config:
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- {name: "ubuntu-22.04", os: "ubuntu-22.04", cmake_extra: "-DLSL_BUNDLED_PUGIXML=OFF" }
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- {name: "ubuntu-24.04", os: "ubuntu-24.04", cmake_extra: "-DLSL_BUNDLED_PUGIXML=OFF" }
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- {name: "ubuntu-24.04-arm", os: "ubuntu-24.04-arm", cmake_extra: "-DLSL_BUNDLED_PUGIXML=OFF" }
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- {name: "windows-x64", os: "windows-latest", cmake_extra: "-T v142,host=x86"}
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- {name: "windows-32", os: "windows-latest", cmake_extra: "-T v142,host=x86 -A Win32"}
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- {name: "windows-arm", os: "windows-11-arm", cmake_extra: "-T v143,host=ARM64 -A ARM64"}
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# x86_64 Linux builds
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- {name: "ubuntu-22.04-x64", os: "ubuntu-22.04", arch: "x86_64", cmake_extra: "-DLSL_BUNDLED_PUGIXML=OFF" }
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- {name: "ubuntu-24.04-x64", os: "ubuntu-24.04", arch: "x86_64", cmake_extra: "-DLSL_BUNDLED_PUGIXML=OFF" }
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# ARM Linux builds - cross-compiled with QEMU testing (Jetson, Raspberry Pi compatible)
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- {name: "ubuntu-22.04-arm64", os: "ubuntu-22.04", arch: "aarch64", cross_compile: true, cmake_extra: "-DLSL_BUNDLED_PUGIXML=OFF" }
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- {name: "ubuntu-22.04-armhf", os: "ubuntu-22.04", arch: "armv7", cross_compile: true, cmake_extra: "-DLSL_BUNDLED_PUGIXML=OFF" }
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# Native ARM build (optional - can be enabled for additional validation)
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# - {name: "ubuntu-24.04-arm64-native", os: "ubuntu-24.04-arm", arch: "aarch64", cmake_extra: "-DLSL_BUNDLED_PUGIXML=OFF" }
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# Windows builds
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- {name: "windows-x64", os: "windows-latest", arch: "x86_64", cmake_extra: "-T v142,host=x86"}
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- {name: "windows-x86", os: "windows-latest", arch: "x86", cmake_extra: "-T v142,host=x86 -A Win32"}
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- {name: "windows-arm64", os: "windows-11-arm", arch: "aarch64", cmake_extra: "-T v143,host=ARM64 -A ARM64"}
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# macOS builds (Apple Silicon + Intel)
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- {name: "macos-latest", os: "macos-latest", arch: "universal"}
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steps:
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- uses: actions/checkout@v4
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# Set up cross-compilation toolchain for ARM on Linux
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- name: Install cross-compilation toolchain
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if: matrix.config.cross_compile && runner.os == 'Linux'
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run: |
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sudo apt-get update
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if [[ "${{ matrix.config.arch }}" == "aarch64" ]]; then
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sudo apt-get install -y --no-install-recommends \
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gcc-aarch64-linux-gnu \
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g++-aarch64-linux-gnu \
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qemu-user-static
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echo "CMAKE_TOOLCHAIN=-DCMAKE_TOOLCHAIN_FILE=${GITHUB_WORKSPACE}/.github/toolchains/aarch64-linux-gnu.cmake" >> $GITHUB_ENV
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echo "QEMU_LD_PREFIX=/usr/aarch64-linux-gnu" >> $GITHUB_ENV
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elif [[ "${{ matrix.config.arch }}" == "armv7" ]]; then
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sudo apt-get install -y --no-install-recommends \
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gcc-arm-linux-gnueabihf \
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g++-arm-linux-gnueabihf \
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qemu-user-static
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echo "CMAKE_TOOLCHAIN=-DCMAKE_TOOLCHAIN_FILE=${GITHUB_WORKSPACE}/.github/toolchains/arm-linux-gnueabihf.cmake" >> $GITHUB_ENV
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echo "QEMU_LD_PREFIX=/usr/arm-linux-gnueabihf" >> $GITHUB_ENV
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fi
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# Cache dependencies for Linux
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- name: Cache APT packages
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if: runner.os == 'Linux'
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uses: actions/cache@v4
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with:
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path: /var/cache/apt/archives
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key: ${{ runner.os }}-apt-${{ matrix.config.name }}-${{ hashFiles('.github/workflows/cppcmake.yml') }}
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restore-keys: |
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${{ runner.os }}-apt-${{ matrix.config.name }}-
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${{ runner.os }}-apt-
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# Cache build artifacts with ccache
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- name: Cache ccache
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if: runner.os == 'Linux' || runner.os == 'macOS'
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uses: actions/cache@v4
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with:
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path: ~/.ccache
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key: ${{ runner.os }}-ccache-${{ matrix.config.name }}-${{ github.sha }}
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restore-keys: |
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${{ runner.os }}-ccache-${{ matrix.config.name }}-
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${{ runner.os }}-ccache-
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- name: Install ccache
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if: runner.os == 'Linux' || runner.os == 'macOS'
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run: |
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if [[ "${{ runner.os }}" == "Linux" ]]; then
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sudo apt-get install -y ccache
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elif [[ "${{ runner.os }}" == "macOS" ]]; then
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brew install ccache
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fi
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ccache --max-size=500M
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ccache --set-config=compression=true
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- name: Install dependencies
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if: runner.os == 'Linux'
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run: |
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if [[ "${{ matrix.config.cross_compile }}" != "true" ]]; then
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sudo apt-get install -y --no-install-recommends libpugixml-dev
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fi
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- name: Configure CMake
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run: |
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if [[ "${{ matrix.config.name }}" = ubuntu-2* ]]; then
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sudo apt-get install -y --no-install-recommends libpugixml-dev
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fi
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cmake --version
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cmake -S . -B build \
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-DCMAKE_BUILD_TYPE=Release \
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-DCMAKE_INSTALL_PREFIX=${PWD}/install \
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-DLSL_UNITTESTS=ON \
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-DLSL_BENCHMARKS=ON \
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-DCPACK_PACKAGE_DIRECTORY=${PWD}/package \
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-Dlslgitrevision=${{ github.sha }} \
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-Dlslgitbranch=${{ github.ref }} \
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${{ matrix.config.cmake_extra }} \
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${{ github.event.inputs.cmakeextra }}
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echo ${PWD}
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- name: make
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run: cmake --build build --config Release -j
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- name: make install
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# Set up ccache as compiler wrapper
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if [[ "${{ runner.os }}" == "Linux" ]] || [[ "${{ runner.os }}" == "macOS" ]]; then
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export PATH="/usr/lib/ccache:/usr/local/opt/ccache/libexec:$PATH"
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export CC="ccache gcc"
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export CXX="ccache g++"
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fi
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cmake --version
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cmake -S . -B build \
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-DCMAKE_BUILD_TYPE=Release \
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-DCMAKE_INSTALL_PREFIX=${PWD}/install \
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-DLSL_UNITTESTS=ON \
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-DLSL_BENCHMARKS=ON \
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-DCPACK_PACKAGE_DIRECTORY=${PWD}/package \
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-DCPACK_PACKAGE_FILE_NAME="liblsl-${{ matrix.config.arch }}" \
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-Dlslgitrevision=${{ github.sha }} \
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-Dlslgitbranch=${{ github.ref }} \
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${CMAKE_TOOLCHAIN} \
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${{ matrix.config.cmake_extra }} \
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${{ github.event.inputs.cmakeextra }}
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echo "Build directory: ${PWD}"
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- name: Build
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run: |
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cmake --build build --config Release -j
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# Show ccache statistics
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if command -v ccache &> /dev/null; then
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ccache -s
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fi
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- name: Install
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run: cmake --build build --config Release --target install
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- name: test install using examples
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- name: Test install using examples
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run: |
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# Test that the in-tree install was successful by building the examples
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cmake -S examples -B examples/build \
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-DLSL_INSTALL_ROOT=${PWD}/install \
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-DCMAKE_INSTALL_PREFIX=examples/build/install \
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-DLSL_COMFY_DEFAULTS=ON \
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${{ matrix.config.cmake_extra }} \
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${{ github.event.inputs.cmakeextra }}
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cmake --build examples/build --target install --config Release -j
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# Set up QEMU for cross-compiled binaries
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QEMU_RUNNER=""
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if [[ "${{ matrix.config.cross_compile }}" == "true" ]]; then
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if [[ "${{ matrix.config.arch }}" == "aarch64" ]]; then
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QEMU_RUNNER="qemu-aarch64-static -L /usr/aarch64-linux-gnu"
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elif [[ "${{ matrix.config.arch }}" == "armv7" ]]; then
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QEMU_RUNNER="qemu-arm-static -L /usr/arm-linux-gnueabihf"
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fi
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fi
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# Test that the in-tree install was successful by building the examples
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cmake -S examples -B examples/build \
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-DLSL_INSTALL_ROOT=${PWD}/install \
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-DCMAKE_INSTALL_PREFIX=examples/build/install \
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-DLSL_COMFY_DEFAULTS=ON \
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${CMAKE_TOOLCHAIN} \
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${{ matrix.config.cmake_extra }} \
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${{ github.event.inputs.cmakeextra }}
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cmake --build examples/build --target install --config Release -j
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# Run example with QEMU if cross-compiled
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if [[ -n "$QEMU_RUNNER" ]]; then
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$QEMU_RUNNER ./examples/build/install/bin/HandleMetaData
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else
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./examples/build/install/bin/HandleMetaData
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fi
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- name: package
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- name: Package
87189
run: |
88-
echo $GITHUB_REF
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cmake --build build --target package --config Release -j
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echo $PWD
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ls -la
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# On Debian / Ubuntu the dependencies can only be resolved for
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# already installed packages. Therefore, we have built all
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# packages without dependencies in the previous step,
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# install them and rebuild them with dependency discovery enabled
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if [[ "${{ matrix.config.os }}" == ubuntu-* ]]; then
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cmake -DCPACK_DEBIAN_PACKAGE_SHLIBDEPS=ON .
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sudo dpkg -i package/*.deb
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cmake --build build --target package --config Release -j
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dpkg -I package/liblsl*.deb
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fi
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cmake -E remove_directory package/_CPack_Packages
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cp testing/lslcfgs/default.cfg .
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echo "Creating package for ${{ matrix.config.arch }}"
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cmake --build build --target package --config Release -j
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# On Debian / Ubuntu the dependencies can only be resolved for
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# already installed packages (only for native builds, not cross-compiled)
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if [[ "${{ matrix.config.os }}" == ubuntu-* ]] && [[ "${{ matrix.config.cross_compile }}" != "true" ]]; then
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cmake -DCPACK_DEBIAN_PACKAGE_SHLIBDEPS=ON build
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sudo dpkg -i package/*.deb
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cmake --build build --target package --config Release -j
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dpkg -I package/liblsl*.deb
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fi
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# For cross-compiled ARM packages, add architecture to package metadata
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if [[ "${{ matrix.config.cross_compile }}" == "true" ]]; then
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echo "Cross-compiled ${{ matrix.config.arch }} package created"
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ls -lh package/
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fi
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cmake -E remove_directory package/_CPack_Packages
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cp testing/lslcfgs/default.cfg . 2>/dev/null || true
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- name: upload install dir
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uses: actions/upload-artifact@master
@@ -124,16 +230,35 @@ jobs:
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ip -6 route
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fi
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# run internal tests
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- name: unit tests
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# Run internal tests (with QEMU for cross-compiled binaries)
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- name: Unit tests
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run: |
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if [[ "${{ matrix.config.name }}" = ubuntu-2* ]]; then
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# Set up core dumps for debugging (native builds only)
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if [[ "${{ matrix.config.name }}" == ubuntu-* ]] && [[ "${{ matrix.config.cross_compile }}" != "true" ]]; then
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ulimit -c unlimited
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echo "$PWD/dumps/corefile-%e-%p-%t" | sudo tee /proc/sys/kernel/core_pattern
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fi
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mkdir -p dumps
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install/bin/lsl_test_internal --order rand --wait-for-keypress never --durations yes
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install/bin/lsl_test_exported --order rand --wait-for-keypress never --durations yes
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# Set up QEMU for cross-compiled binaries
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QEMU_RUNNER=""
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if [[ "${{ matrix.config.cross_compile }}" == "true" ]]; then
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if [[ "${{ matrix.config.arch }}" == "aarch64" ]]; then
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QEMU_RUNNER="qemu-aarch64-static -L /usr/aarch64-linux-gnu"
248+
elif [[ "${{ matrix.config.arch }}" == "armv7" ]]; then
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QEMU_RUNNER="qemu-arm-static -L /usr/arm-linux-gnueabihf"
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fi
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echo "Running tests with QEMU: $QEMU_RUNNER"
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fi
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# Run unit tests
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if [[ -n "$QEMU_RUNNER" ]]; then
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$QEMU_RUNNER install/bin/lsl_test_internal --order rand --wait-for-keypress never --durations yes
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$QEMU_RUNNER install/bin/lsl_test_exported --order rand --wait-for-keypress never --durations yes
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else
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install/bin/lsl_test_internal --order rand --wait-for-keypress never --durations yes
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install/bin/lsl_test_exported --order rand --wait-for-keypress never --durations yes
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fi
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timeout-minutes: 10
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139264
- name: upload dump

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