Add ARM (explicit) runners to github CI/CD

.editorconfig

@@ -6,7 +6,8 @@ insert_final_newline = true
 charset = utf-8
 indent_style = tab
 
-[*.yaml]
+[*.{yaml,yml}]
 indent_style = space
 indent_size = 2
-
+insert_final_newline = true
+end_of_line = lf

.github/workflows/android.yml

@@ -3,7 +3,11 @@ name: Android
 on:
   push:
     branches: ['androidci']
-    paths_ignore: ['docs/**', '.travis.yml']
+    paths:
+      - '**'
+      - '!docs/**'
+      - '!.github/**'
+      - '.github/workflows/android.yml'
   workflow_dispatch:
     inputs:
       cmakeextra:
@@ -53,4 +57,3 @@ jobs:
       with:
         name: build-android-${{ matrix.config.arch }}
         path: install
-

.github/workflows/apple.yml

@@ -112,6 +112,13 @@ jobs:
         install/bin/lsl_test_internal --order rand --wait-for-keypress never --durations yes
         install/bin/lsl_test_exported --order rand --wait-for-keypress never --durations yes
       timeout-minutes: 10
+    - name: unit test (intel)
+      if: matrix.config.name == 'macOS-15-intel'
+      run: |
+        mkdir -p dumps
+        install/bin/lsl_test_internal --order rand --wait-for-keypress never --durations yes
+        install/bin/lsl_test_exported --order rand --wait-for-keypress never --durations yes
+      timeout-minutes: 10
 
     - name: Package and Notarize macOS Installer
       if: matrix.config.name == 'macOS-latest'

.github/workflows/cppcmake.yml

@@ -33,72 +33,168 @@ jobs:
   build:
     name: ${{ matrix.config.name }}
     runs-on: ${{ matrix.config.os }}
+    timeout-minutes: 30
     strategy:
       fail-fast: false
       matrix:
         config:
-        - {name: "ubuntu-22.04", os: "ubuntu-22.04",   cmake_extra: "-DLSL_BUNDLED_PUGIXML=OFF" }
-        - {name: "ubuntu-24.04", os: "ubuntu-24.04",   cmake_extra: "-DLSL_BUNDLED_PUGIXML=OFF" }
-        - {name: "windows-x64",  os: "windows-latest", cmake_extra: "-T v142,host=x86"}
-        - {name: "windows-32",   os: "windows-latest", cmake_extra: "-T v142,host=x86 -A Win32"}
+        # x86_64 Linux builds
+        - {name: "ubuntu-22.04-x64", os: "ubuntu-22.04", arch: "x86_64", cmake_extra: "-DLSL_BUNDLED_PUGIXML=OFF" }
+        - {name: "ubuntu-24.04-x64", os: "ubuntu-24.04", arch: "x86_64", cmake_extra: "-DLSL_BUNDLED_PUGIXML=OFF" }
+
+        # ARM Linux builds - cross-compiled with QEMU testing (Jetson, Raspberry Pi compatible)
+        # SHLIBDEPS must be disabled for cross-compiled packages as the host system
+        # does not have the target architecture libraries installed
+        - {name: "ubuntu-22.04-arm64", os: "ubuntu-22.04", arch: "aarch64", cross_compile: true, cmake_extra: "-DLSL_BUNDLED_PUGIXML=ON -DLSL_DISABLE_PACKAGE_SHLIBDEPS=ON" }
+        - {name: "ubuntu-22.04-armhf", os: "ubuntu-22.04", arch: "armv7", cross_compile: true, cmake_extra: "-DLSL_BUNDLED_PUGIXML=ON -DLSL_DISABLE_PACKAGE_SHLIBDEPS=ON" }
+
+        # Native ARM build
+        # - {name: "ubuntu-24.04-arm64-native", os: "ubuntu-24.04-arm", arch: "aarch64", cmake_extra: "-DLSL_BUNDLED_PUGIXML=OFF" }
+
+        # Windows builds
+        - {name: "windows-x64", os: "windows-latest", arch: "x86_64", cmake_extra: "-T v142,host=x86"}
+        - {name: "windows-x86", os: "windows-latest", arch: "x86", cmake_extra: "-T v142,host=x86 -A Win32"}
+        - {name: "windows-arm64", os: "windows-11-arm", arch: "aarch64", cmake_extra: "-T v143,host=ARM64 -A ARM64"}
+
+        # macOS builds (Apple Silicon + Intel)
+        # - {name: "macos-latest", os: "macos-latest", arch: "universal"}
 
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v5
+
+    # Set up cross-compilation toolchain for ARM on Linux
+    - name: Install cross-compilation toolchain
+      if: matrix.config.cross_compile && runner.os == 'Linux'
+      run: |
+        sudo apt-get update
+        if [[ "${{ matrix.config.arch }}" == "aarch64" ]]; then
+          sudo apt-get install -y --no-install-recommends \
+            gcc-aarch64-linux-gnu \
+            g++-aarch64-linux-gnu
+          echo "CMAKE_TOOLCHAIN=-DCMAKE_TOOLCHAIN_FILE=${GITHUB_WORKSPACE}/cmake/toolchains/aarch64-linux-gnu.cmake" >> $GITHUB_ENV
+        elif [[ "${{ matrix.config.arch }}" == "armv7" ]]; then
+          sudo apt-get install -y --no-install-recommends \
+            gcc-arm-linux-gnueabihf \
+            g++-arm-linux-gnueabihf
+          echo "CMAKE_TOOLCHAIN=-DCMAKE_TOOLCHAIN_FILE=${GITHUB_WORKSPACE}/cmake/toolchains/arm-linux-gnueabihf.cmake" >> $GITHUB_ENV
+        fi
+
+    # Cache dependencies for Linux
+    - name: Cache APT packages
+      if: runner.os == 'Linux'
+      uses: actions/cache@v4
+      with:
+        path: /var/cache/apt/archives
+        key: ${{ runner.os }}-apt-${{ matrix.config.name }}-${{ hashFiles('.github/workflows/cppcmake.yml') }}
+        restore-keys: |
+          ${{ runner.os }}-apt-${{ matrix.config.name }}-
+          ${{ runner.os }}-apt-
+
+    # Cache build artifacts with ccache
+    - name: Cache ccache
+      if: runner.os == 'Linux' || runner.os == 'macOS'
+      uses: actions/cache@v4
+      with:
+        path: ~/.ccache
+        key: ${{ runner.os }}-ccache-${{ matrix.config.name }}-${{ github.sha }}
+        restore-keys: |
+          ${{ runner.os }}-ccache-${{ matrix.config.name }}-
+          ${{ runner.os }}-ccache-
+
+    - name: Install ccache
+      if: runner.os == 'Linux' || runner.os == 'macOS'
+      run: |
+        if [[ "${{ runner.os }}" == "Linux" ]]; then
+          sudo apt-get install -y ccache
+        elif [[ "${{ runner.os }}" == "macOS" ]]; then
+          brew install ccache
+        fi
+        ccache --max-size=500M
+        ccache --set-config=compression=true
+
+    - name: Install dependencies
+      if: runner.os == 'Linux'
+      run: |
+        if [[ "${{ matrix.config.cross_compile }}" != "true" ]]; then
+          sudo apt-get install -y --no-install-recommends libpugixml-dev
+        fi
 
     - name: Configure CMake
       run: |
-           if [[ "${{ matrix.config.name }}" = ubuntu-2* ]]; then
-                sudo apt-get install -y --no-install-recommends libpugixml-dev
-           fi
-           cmake --version
-           cmake -S . -B build \
-                -DCMAKE_BUILD_TYPE=Release \
-                -DCMAKE_INSTALL_PREFIX=${PWD}/install \
-                -DLSL_UNITTESTS=ON \
-                -DLSL_BENCHMARKS=ON \
-                -DCPACK_PACKAGE_DIRECTORY=${PWD}/package \
-                -Dlslgitrevision=${{ github.sha }} \
-                -Dlslgitbranch=${{ github.ref }} \
-                ${{ matrix.config.cmake_extra }} \
-                ${{ github.event.inputs.cmakeextra }}
-           echo ${PWD}
-
-    - name: make
-      run: cmake --build build --config Release -j
-
-    - name: make install
+        # Set up ccache as compiler wrapper (skip for cross-compilation)
+        if [[ "${{ runner.os }}" == "Linux" || "${{ runner.os }}" == "macOS" ]] && [[ "${{ matrix.config.cross_compile }}" != "true" ]]; then
+          export PATH="/usr/lib/ccache:/usr/local/opt/ccache/libexec:$PATH"
+          export CC="ccache gcc"
+          export CXX="ccache g++"
+        fi
+
+        cmake --version
+        cmake -S . -B build \
+          -DCMAKE_BUILD_TYPE=Release \
+          -DCMAKE_INSTALL_PREFIX=${PWD}/install \
+          -DLSL_UNITTESTS=ON \
+          -DLSL_BENCHMARKS=ON \
+          -DCPACK_PACKAGE_DIRECTORY=${PWD}/package \
+          -DCPACK_PACKAGE_FILE_NAME="liblsl-${{ matrix.config.arch }}" \
+          -Dlslgitrevision=${{ github.sha }} \
+          -Dlslgitbranch=${{ github.ref }} \
+          ${CMAKE_TOOLCHAIN} \
+          ${{ matrix.config.cmake_extra }} \
+          ${{ github.event.inputs.cmakeextra }}
+        echo "Build directory: ${PWD}"
+
+    - name: Build
+      run: |
+        cmake --build build --config Release -j
+        # Show ccache statistics
+        if command -v ccache &> /dev/null; then
+          ccache -s
+        fi
+
+    - name: Install
       run: cmake --build build --config Release --target install
 
-    - name: test install using examples
+    - name: Test install using examples
       run: |
-          # Test that the in-tree install was successful by building the examples
-          cmake -S examples -B examples/build \
-            -DLSL_INSTALL_ROOT=${PWD}/install \
-            -DCMAKE_INSTALL_PREFIX=examples/build/install \
-            -DLSL_COMFY_DEFAULTS=ON \
-            ${{ matrix.config.cmake_extra }} \
-            ${{ github.event.inputs.cmakeextra }}
-          cmake --build examples/build --target install --config Release -j
+        # Test that the in-tree install was successful by building the examples
+        cmake -S examples -B examples/build \
+          -DLSL_INSTALL_ROOT=${PWD}/install \
+          -DCMAKE_INSTALL_PREFIX=examples/build/install \
+          -DLSL_COMFY_DEFAULTS=ON \
+          ${CMAKE_TOOLCHAIN} \
+          ${{ matrix.config.cmake_extra }} \
+          ${{ github.event.inputs.cmakeextra }}
+        cmake --build examples/build --target install --config Release -j
+
+        # Run example binary (skip for cross-compiled builds - no QEMU)
+        if [[ "${{ matrix.config.cross_compile }}" != "true" ]]; then
           ./examples/build/install/bin/HandleMetaData
+        else
+          echo "Skipping example execution for cross-compiled build (requires real ARM hardware)"
+          echo "Build validation successful - binary can be tested on target hardware"
+        fi
 
-    - name: package
+    - name: Package
       run: |
-           echo $GITHUB_REF
-           cmake --build build --target package --config Release -j
-           echo $PWD
-           ls -la
-           # On Debian / Ubuntu the dependencies can only be resolved for
-           # already installed packages. Therefore, we have built all
-           # packages without dependencies in the previous step,
-           # install them and rebuild them with dependency discovery enabled
-           if [[ "${{ matrix.config.os }}" == ubuntu-* ]]; then
-              cmake -DCPACK_DEBIAN_PACKAGE_SHLIBDEPS=ON .
-              sudo dpkg -i package/*.deb
-              cmake --build build --target package --config Release -j
-              dpkg -I package/liblsl*.deb
-           fi
-           cmake -E remove_directory package/_CPack_Packages
-           cp testing/lslcfgs/default.cfg .
+        echo "Creating package for ${{ matrix.config.arch }}"
+        cmake --build build --target package --config Release -j
+
+        # On Debian / Ubuntu the dependencies can only be resolved for
+        # already installed packages (only for native builds, not cross-compiled)
+        if [[ "${{ matrix.config.os }}" == ubuntu-* ]] && [[ "${{ matrix.config.cross_compile }}" != "true" ]]; then
+          cmake -DCPACK_DEBIAN_PACKAGE_SHLIBDEPS=ON build
+          sudo dpkg -i package/*.deb
+          cmake --build build --target package --config Release -j
+          dpkg -I package/liblsl*.deb
+        fi
+
+        if [[ "${{ matrix.config.cross_compile }}" == "true" ]]; then
+          echo "Cross-compiled ${{ matrix.config.arch }} package created"
+          ls -lh package/
+        fi
+
+        cmake -E remove_directory package/_CPack_Packages
+        cp testing/lslcfgs/default.cfg . 2>/dev/null || true
 
     - name: upload install dir
       uses: actions/upload-artifact@master
@@ -122,14 +218,18 @@ jobs:
               ip -6 route
            fi
 
-    # run internal tests
-    - name: unit tests
+    # Run tests (native builds only)
+    - name: Unit tests
+      if: matrix.config.cross_compile != true
       run: |
-        if [[ "${{ matrix.config.name }}" = ubuntu-2* ]]; then
+        # Set up core dumps for debugging
+        if [[ "${{ matrix.config.name }}" == ubuntu-* ]]; then
           ulimit -c unlimited
           echo "$PWD/dumps/corefile-%e-%p-%t" | sudo tee /proc/sys/kernel/core_pattern
         fi
         mkdir -p dumps
+
+        # Run unit tests
         install/bin/lsl_test_internal --order rand --wait-for-keypress never --durations yes
         install/bin/lsl_test_exported --order rand --wait-for-keypress never --durations yes
       timeout-minutes: 10