ci: add Docker builds for Ubuntu 20.04/22.04 and fix libcanbus linking

- Add Dockerfiles and build scripts for Ubuntu 20.04 and 22.04
- Fix linking failure of pre-built libcanbus library by updating linker flags

Author: liangshaoteng

.github/workflows/ci.yml

@@ -9,32 +9,67 @@ on:
 
 env:
   BUILD_TYPE: Release
+  DEBIAN_FRONTEND: noninteractive
+  TZ: Asia/Shanghai
 
 jobs:
   build-and-test:
-    name: Build and Test - ${{ matrix.os }} (${{ matrix.arch }})
+    name: Build and Test - ${{ matrix.container || matrix.os }} (${{ matrix.arch }}, ${{ matrix.cmake_build_type }})
     runs-on: ${{ matrix.os }}
+    container: ${{ matrix.container }}
     strategy:
       fail-fast: false
       matrix:
         include:
-          # Linux x86_64 (主要测试平台)
+          # Linux x86_64 (主要测试平台, runner 原生环境)
           - os: ubuntu-latest
+            container: ''
             arch: x86_64
             cmake_build_type: Release
             use_qemu: false
           # Linux x86_64 Debug 构建
           - os: ubuntu-latest
+            container: ''
             arch: x86_64
             cmake_build_type: Debug
             use_qemu: false
           # Linux aarch64 Release 构建 (使用 QEMU 模拟)
           - os: ubuntu-latest
+            container: ''
             arch: aarch64
             cmake_build_type: Release
             use_qemu: true
+          # Ubuntu 22.04 容器 (Docker)
+          - os: ubuntu-latest
+            container: 'ubuntu:22.04'
+            arch: x86_64
+            cmake_build_type: Release
+            use_qemu: false
+          # Ubuntu 20.04 容器 (Docker)
+          - os: ubuntu-latest
+            container: 'ubuntu:20.04'
+            arch: x86_64
+            cmake_build_type: Release
+            use_qemu: false
 
     steps:
+      - name: 准备容器环境 (Ubuntu 20.04/22.04)
+        if: matrix.container != ''
+        shell: bash
+        run: |
+          apt-get update
+          apt-get install -y --no-install-recommends \
+            sudo \
+            ca-certificates \
+            tzdata \
+            git \
+            build-essential \
+            cmake \
+            make \
+            libpthread-stubs0-dev \
+            tar \
+            gzip
+
       - name: 检出代码
         uses: actions/checkout@v4
 
@@ -50,9 +85,9 @@ jobs:
           path: |
             build
             ~/.cmake
-          key: ${{ runner.os }}-cmake-${{ matrix.arch }}-${{ matrix.cmake_build_type }}-${{ hashFiles('**/CMakeLists.txt') }}
+          key: ${{ runner.os }}-${{ matrix.container || 'native' }}-cmake-${{ matrix.arch }}-${{ matrix.cmake_build_type }}-${{ hashFiles('**/CMakeLists.txt') }}
           restore-keys: |
-            ${{ runner.os }}-cmake-${{ matrix.arch }}-${{ matrix.cmake_build_type }}-
+            ${{ runner.os }}-${{ matrix.container || 'native' }}-cmake-${{ matrix.arch }}-${{ matrix.cmake_build_type }}-
 
       - name: 安装构建依赖
         run: |

cmake/linkerhand-cpp-sdk-config.cmake

@@ -123,19 +123,31 @@ if(NOT TARGET LinkerHand::linkerhand_cpp_sdk)
         set_target_properties(LinkerHand::linkerhand_cpp_sdk PROPERTIES
             IMPORTED_IMPLIB "${_lh_imported_implib}")
     endif()
-    # 公共头 CanFD.h / PCANBus.h / CanFrame.h 引用了 third_party 头（Hcanbus.h /
-    # PCANBasic.h）。把对应 include 目录补到 imported target，下游 link 后无需手动配。
+    # 是否启用 CAN-FD：release-package 由 CI 在 USE_CANFD=ON 下打包,默认 ON;
+    # 下游可显式 -DLINKERHAND_USE_CANFD=OFF 覆盖,跳过 libcanbus 头依赖。
+    if(NOT DEFINED LINKERHAND_USE_CANFD)
+        if(EXISTS "${_lh_thirdparty_root}/libcanbus")
+            set(LINKERHAND_USE_CANFD ON)
+        else()
+            set(LINKERHAND_USE_CANFD OFF)
+        endif()
+    endif()
+    set_property(TARGET LinkerHand::linkerhand_cpp_sdk APPEND PROPERTY
+        INTERFACE_COMPILE_DEFINITIONS "LINKERHAND_USE_CANFD=$<IF:$<BOOL:${LINKERHAND_USE_CANFD}>,1,0>")
+    # 公共头 PCANBus.h / CanFrame.h（以及 CANFD 开启时的 CanFD.h）引用了 third_party
+    # 头（PCANBasic.h / Hcanbus.h）。把对应 include 目录补到 imported target,下游 link
+    # 后无需手动配。
     if(_lh_thirdparty_root)
         if(WIN32)
-            if(EXISTS "${_lh_thirdparty_root}/libcanbus/include/windows")
-                set_property(TARGET LinkerHand::linkerhand_cpp_sdk APPEND PROPERTY
-                    INTERFACE_INCLUDE_DIRECTORIES "${_lh_thirdparty_root}/libcanbus/include/windows")
-            endif()
             if(EXISTS "${_lh_thirdparty_root}/PCAN_Basic/Include")
                 set_property(TARGET LinkerHand::linkerhand_cpp_sdk APPEND PROPERTY
                     INTERFACE_INCLUDE_DIRECTORIES "${_lh_thirdparty_root}/PCAN_Basic/Include")
             endif()
-        elseif(UNIX AND EXISTS "${_lh_thirdparty_root}/libcanbus/include/linux")
+            if(LINKERHAND_USE_CANFD AND EXISTS "${_lh_thirdparty_root}/libcanbus/include/windows")
+                set_property(TARGET LinkerHand::linkerhand_cpp_sdk APPEND PROPERTY
+                    INTERFACE_INCLUDE_DIRECTORIES "${_lh_thirdparty_root}/libcanbus/include/windows")
+            endif()
+        elseif(UNIX AND LINKERHAND_USE_CANFD AND EXISTS "${_lh_thirdparty_root}/libcanbus/include/linux")
             set_property(TARGET LinkerHand::linkerhand_cpp_sdk APPEND PROPERTY
                 INTERFACE_INCLUDE_DIRECTORIES "${_lh_thirdparty_root}/libcanbus/include/linux")
         endif()