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emraineyCopilot
emrainey
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Copilot
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Fix host/unit test linker regressions in CI matrix
What's Wrong: * Host unit test links were unstable across GCC/LLVM and container environments. * Board-linked unit tests could miss transitive symbols or pull too much code depending on linker behavior, causing undefined references. * GCC hit a constructor-call mismatch in catch2-buffer where Clang passed. How Was it Fixed (if not obvious): * Kept whole-archive usage narrow to board archive handling in host test linking, avoiding broad whole-archive on module libraries. * Added a weak default core printer implementation so forced object pull-in has a safe fallback when tests do not provide one. * Updated core module sources to include that printer implementation. * Removed explicit nullptr constructor argument in catch2-buffer and used the default parameter path accepted by GCC. What side effects does this have (could be none): * Link behavior is more deterministic for board-linked host tests. * Non-board module overrides/mocks are less likely to collide with whole-archive behavior. * No intended runtime behavior change on target firmware paths. Which builds did you run to make sure they build? [x] arm-none-eabi-gcc Cortex M4 [x] arm-none-eabi-gcc Cortex M7 [ ] (Apple) Native Clang [ ] (Apple) Homebrew GCC [x] (Apple) Homebrew LLVM How Do We Know and Can Show It's Fixed: * Ubuntu container workflow presets passed: on-host-native-gcc, on-host-native-llvm, on-target-cortex-m4-gcc-arm-none-eabi-ci, on-target-cortex-m7-gcc-arm-none-eabi-ci. * Host-side cleanup was done before container runs to avoid stale build artifacts. Which Unittest Series did you Check? [ ] (Apple) Native Clang [x] (Apple) Homebrew GCC [x] (Apple) Homebrew LLVM Did this affect any on-target builds? If so which were tested? [x] STM32F407VE board [x] STM32H753ZI board AI/Human Contribution: * AI generated the linker/test compatibility changes and executed container validation runs. * Human selected validation strategy, confirmed results, and approved commit text. Co-authored-by: Copilot <copilot@github.com>
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‎.github/workflows/ci.yml‎

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on:
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push:
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branches: [main, develop]
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branches: [ main, develop ]
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pull_request:
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branches: [main, develop]
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branches: [ main, develop ]
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workflow_dispatch:
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jobs:
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build-arm-cortex-m4:
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name: Build Cortex-M4 (arm-none-eabi)
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name: Build Cortex-M4 (arm-none-eabi) on ${{ matrix.distro }}
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runs-on: ubuntu-latest
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strategy:
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fail-fast: false
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matrix:
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distro: [ ubuntu ]
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container:
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image: ghcr.io/emrainey/bare-metal-dev-ubuntu:latest
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defaults:
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run:
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shell: sh
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steps:
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- name: Install latest CMake
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uses: lukka/get-cmake@latest
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- name: Install ARM GNU Toolchain
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uses: carlosperate/arm-none-eabi-gcc-action@v1
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with:
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release: "13.2.Rel1"
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- name: Install build dependencies
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run: |
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sudo apt-get update
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sudo apt-get install -y ninja-build
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- name: Verify ARM toolchain
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run: arm-none-eabi-gcc --version
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- name: Checkout repository
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uses: actions/checkout@v4
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with:
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submodules: recursive
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- name: Verify toolchain
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run: |
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cmake --version
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ninja --version
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arm-none-eabi-gcc --version
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- name: Configure and Build Cortex-M4
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run: cmake --workflow --preset on-target-cortex-m4-gcc-arm-none-eabi
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run: cmake --workflow --preset on-target-cortex-m4-gcc-arm-none-eabi-ci
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build-arm-cortex-m7:
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name: Build Cortex-M7 (arm-none-eabi)
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name: Build Cortex-M7 (arm-none-eabi) on ${{ matrix.distro }}
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runs-on: ubuntu-latest
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strategy:
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fail-fast: false
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matrix:
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distro: [ ubuntu ]
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container:
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image: ghcr.io/emrainey/bare-metal-dev-ubuntu:latest
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defaults:
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run:
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shell: sh
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steps:
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- name: Install latest CMake
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uses: lukka/get-cmake@latest
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- name: Install ARM GNU Toolchain
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uses: carlosperate/arm-none-eabi-gcc-action@v1
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with:
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release: "13.2.Rel1"
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- name: Install build dependencies
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run: |
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sudo apt-get update
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sudo apt-get install -y ninja-build
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- name: Verify ARM toolchain
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run: arm-none-eabi-gcc --version
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- name: Checkout repository
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uses: actions/checkout@v4
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with:
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submodules: recursive
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- name: Verify toolchain
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run: |
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cmake --version
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ninja --version
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arm-none-eabi-gcc --version
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- name: Configure and Build Cortex-M7
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run: cmake --workflow --preset on-target-cortex-m7-gcc-arm-none-eabi
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run: cmake --workflow --preset on-target-cortex-m7-gcc-arm-none-eabi-ci
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build-native-gcc:
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name: Build and Test (native GCC)
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name: Build and Test (native GCC) on ${{ matrix.distro }}
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runs-on: ubuntu-latest
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strategy:
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fail-fast: false
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matrix:
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distro: [ ubuntu ]
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container:
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image: ghcr.io/emrainey/bare-metal-dev-ubuntu:latest
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defaults:
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run:
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shell: sh
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steps:
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- name: Install latest CMake
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uses: lukka/get-cmake@latest
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- name: Install dependencies
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run: |
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sudo apt-get update
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sudo apt-get install -y ninja-build gcc g++
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- name: Verify GCC
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run: gcc --version
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- name: Checkout repository
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uses: actions/checkout@v4
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with:
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submodules: recursive
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- name: Verify toolchain
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run: |
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cmake --version
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ninja --version
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gcc --version
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- name: Configure, Build, and Test
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run: cmake --workflow --preset on-host-native-gcc
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- name: Upload test results
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if: always()
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uses: actions/upload-artifact@v4
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with:
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name: test-results-gcc
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name: test-results-gcc-${{ matrix.distro }}
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path: build/native-gcc/Testing/**/*.xml
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if-no-files-found: ignore
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build-native-llvm:
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name: Build and Test (native LLVM)
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name: Build and Test (native LLVM) on ${{ matrix.distro }}
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runs-on: ubuntu-latest
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strategy:
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fail-fast: false
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matrix:
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distro: [ ubuntu ]
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container:
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image: ghcr.io/emrainey/bare-metal-dev-ubuntu:latest
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defaults:
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run:
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shell: sh
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steps:
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- name: Install latest CMake
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uses: lukka/get-cmake@latest
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- name: Install LLVM toolchain
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run: |
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wget https://apt.llvm.org/llvm.sh
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chmod +x llvm.sh
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sudo ./llvm.sh 20
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sudo apt-get update
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sudo apt-get install -y ninja-build
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sudo update-alternatives --install /usr/bin/clang clang /usr/bin/clang-20 100
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sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/bin/clang++-20 100
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sudo update-alternatives --install /usr/bin/lld lld /usr/bin/lld-20 100
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- name: Verify LLVM
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run: clang --version
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- name: Verify toolchain
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run: |
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cmake --version
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ninja --version
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clang --version
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clang++ --version
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- name: Configure, Build, and Test
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run: cmake --workflow --preset on-host-native-llvm
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- name: Upload test results
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if: always()
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uses: actions/upload-artifact@v4
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with:
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name: test-results-llvm
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name: test-results-llvm-${{ matrix.distro }}
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if-no-files-found: ignore

‎AGENTS.md‎

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- ✅ **Always do** make unit tests for new code within the same project. Prefer `catch2` for basic objects or template with no dependencies and `googletest` for anything that requires abstract interfaces. All abstract interfaces must be created with mocks within the `test/mocks` folder following the same include folder hierarchy as the original interface.
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- ✅ **Always do** When summarizing work for commit message mention what work was done by the AI and what work was done by a human. For example, "AI generated unit tests for the `Foo` class, while a human wrote the commit message and reviewed the tests."
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- ✅ **Allowed** to delete files under the build folder (and recursively therein) (`rm -rf build/*`) for the purposes of cleaning the build, but **NEVER** delete files under any other folder without explicit permission from a human.
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- ✅ **Always do** clean the build artifacts from outside any container you are using. Permissions inside the container may not allow it.
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- ⚠️ **Ask First** before modifying source code or documentation in a major way.
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- 🚫 **NEVER** modify the git repository or the .git folder.

‎CMakeLists.txt‎

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set(CMAKE_CXX_STANDARD 20)
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set(CMAKE_C_STANDARD 17)
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set(CMAKE_CXX_LINK_GROUP_USING_RESCAN_SUPPORTED TRUE)
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if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL 11)
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message(STATUS "Using GNU C++ Link Group with RESCAN")
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if ((CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL 11)
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OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang" AND CMAKE_SYSTEM_NAME STREQUAL "Linux"))
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message(STATUS "Using C++ Link Group with RESCAN")
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set(CMAKE_CXX_LINK_GROUP_USING_RESCAN_SUPPORTED TRUE)
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set(CMAKE_CXX_LINK_GROUP_USING_RESCAN
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"LINKER:--start-group"
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"LINKER:--end-group")
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else()
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message(STATUS "Not using GNU C++ Link Group with RESCAN")
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message(STATUS "Not using C++ Link Group with RESCAN")
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set(CMAKE_CXX_LINK_GROUP_USING_RESCAN_SUPPORTED FALSE)
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set(CMAKE_CXX_LINK_GROUP_USING_RESCAN FALSE)
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endif()
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set(CMAKE_CXX_SCAN_FOR_MODULES OFF)

‎CMakePresets.json‎

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}
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},
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{
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"name": "on-host",
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"name": "on-target-ci",
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"hidden": true,
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"inherits": [
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"common",
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"graph_preset"
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],
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"displayName": "On Target Build (CI)",
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"description": "Builds the project on the target device in CI without distcc",
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"cacheVariables": {
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"BUILD_SHARED_LIBS": "OFF",
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"BUILD_UNIT_TESTS": "OFF",
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"BUILD_DOCUMENTATION": "ON",
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"BUILD_COVERAGE": "OFF",
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"BUILD_CROSS_TARGET": "ON"
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}
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},
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{
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"name": "on-host",
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"inherits": [
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"common"
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],
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"displayName": "Host Build",
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"description": "Builds the project on the host machine, using the toolchain file",
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"cacheVariables": {
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"description": "Configuration for Cortex M7",
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"toolchainFile": "${sourceDir}/build-support/lib/cmake/bare-gcc-cortex-m7.cmake"
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},
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{
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"name": "cortex-m4-gcc-arm-none-eabi-ci",
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"hidden": false,
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"displayName": "cortex-m4 (ci)",
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"inherits": "on-target-ci",
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"description": "CI configuration for Cortex M4 without distcc",
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"toolchainFile": "${sourceDir}/build-support/lib/cmake/bare-gcc-cortex-m4.cmake"
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},
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{
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"name": "cortex-m7-gcc-arm-none-eabi-ci",
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"hidden": false,
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"displayName": "cortex-m7 (ci)",
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"inherits": "on-target-ci",
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"description": "CI configuration for Cortex M7 without distcc",
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"toolchainFile": "${sourceDir}/build-support/lib/cmake/bare-gcc-cortex-m7.cmake"
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},
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"hidden": false,
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"targets": "all",
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"configurePreset": "cortex-m7-gcc-arm-none-eabi"
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},
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{
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"name": "build-cortex-m4-gcc-arm-none-eabi-ci",
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"inherits": "build-common",
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"targets": "all",
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"configurePreset": "cortex-m4-gcc-arm-none-eabi-ci"
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},
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{
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"name": "build-cortex-m7-gcc-arm-none-eabi-ci",
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"inherits": "build-common",
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"targets": "all",
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"configurePreset": "cortex-m7-gcc-arm-none-eabi-ci"
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},
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}
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]
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},
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{
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"name": "on-target-cortex-m4-gcc-arm-none-eabi-ci",
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"steps": [
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{
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"type": "configure",
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"name": "cortex-m4-gcc-arm-none-eabi-ci"
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},
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{
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"type": "build",
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"name": "build-cortex-m4-gcc-arm-none-eabi-ci"
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}
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]
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},
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{
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"name": "on-target-cortex-m7-gcc-arm-none-eabi-ci",
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"steps": [
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{
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"type": "configure",
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"name": "cortex-m7-gcc-arm-none-eabi-ci"
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},
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{
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"type": "build",
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"name": "build-cortex-m7-gcc-arm-none-eabi-ci"
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}
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]
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},
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‎build-support/share/cmake/embedded-superloop/embedded-superloop.cmake‎

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endfunction()
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# Links each library in the list to TARGET using --whole-archive / --no-whole-archive so
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# that every object file in each archive is unconditionally included. This is required
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# when a library's inline code (e.g. inlined destructors that reference vtables) pulls in
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# symbols that live in sibling archives which the linker would otherwise skip.
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#
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# On linkers that support the CMake WHOLE_ARCHIVE link-library feature (CMake >= 3.24,
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# GNU ld, lld) the generator-expression form is used. On others the raw
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# -Wl,--whole-archive / -Wl,--no-whole-archive flags are emitted directly.
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#
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# Usage:
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# target_link_whole_libraries(<target> <lib1> [<lib2> ...])
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function(target_link_whole_libraries TARGET)
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if(CMAKE_CXX_LINK_LIBRARY_USING_WHOLE_ARCHIVE_SUPPORTED)
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foreach(lib IN LISTS ARGN)
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target_link_libraries(${TARGET} PRIVATE "$<LINK_LIBRARY:WHOLE_ARCHIVE,${lib}>")
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message(STATUS "Whole-archive linking ${TARGET} to ${lib}")
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endforeach()
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else()
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# Fallback: emit raw linker flags around each archive individually.
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foreach(lib IN LISTS ARGN)
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target_link_libraries(${TARGET} PRIVATE
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"-Wl,--whole-archive" "${lib}" "-Wl,--no-whole-archive"
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)
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message(STATUS "Whole-archive (raw flags) linking ${TARGET} to ${lib}")
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endforeach()
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endif()
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endfunction()
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include(${CMAKE_CURRENT_LIST_DIR}/configuration.cmake)
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include(${CMAKE_CURRENT_LIST_DIR}/family.cmake)
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include(${CMAKE_CURRENT_LIST_DIR}/chip.cmake)

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