Add Debian Bookworm x64 sanity build CI workflow

.github/workflows/sanity-build.yml

@@ -0,0 +1,42 @@
+name: Sanity Build (Debian Bookworm x64)
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+
+jobs:
+  sanity-build:
+    name: Sanity Build
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+    container:
+      image: debian:bookworm
+
+    steps:
+      - name: Install dependencies
+        run: |
+          apt-get update -qq
+          apt-get install -y -qq --no-install-recommends \
+            build-essential cmake git pkg-config ca-certificates \
+            libserial-dev libgpiod-dev libzmq3-dev \
+            libpistache-dev rapidjson-dev nlohmann-json3-dev libzmq3-dev cppzmq-dev libtime-dev \
+            libcamera-dev libopencv-dev
+          update-ca-certificates
+
+      - uses: actions/checkout@v4
+        with:
+          submodules: true
+
+      - name: Build - mandeye-standard-rpi5.h
+        run: |
+          cmake -B build -DCMAKE_BUILD_TYPE=Release \
+            -DMANDEYE_HARDWARE_HEADER=mandeye-standard-rpi5.h
+          cmake --build build -j$(nproc)
+
+      - name: Build - mandeye-direct-cm5.h
+        run: |
+          cmake -B build -DCMAKE_BUILD_TYPE=Release \
+            -DMANDEYE_HARDWARE_HEADER=mandeye-direct-cm5.h
+          cmake --build build -j$(nproc)

code/fake_pps.cpp

@@ -87,7 +87,7 @@ void oneSecondThread()
 		serialPorts.emplace_back(std::move(serialPort));
 	}
 	const auto ouputs = hardware::GetLidarSyncGPIO();
-	const auto& chipPath = mandeye::GetGPIOChip();
+	const auto& chipPath = hardware::GetGPIOChip();
 	std::cout << "Opening GPIO chip " << chipPath << std::endl;
 
 	gpiod_chip* chip = gpiod_chip_open(chipPath);
@@ -115,7 +115,7 @@ void oneSecondThread()
 		}
 		syncOutsLines.emplace_back(line);
 	}
-	assert(serialPorts.size() == syncOuts.size());
+	assert(serialPorts.size() == syncOutsLines.size());
 
 	//setup pps gpio
 	constexpr uint64_t Rate = 1000;

code/gpios.cpp

@@ -47,7 +47,7 @@ GpioClient::GpioClient(bool sim)
 
 	if(!sim)
 	{
-		const auto& chipPath = mandeye::GetGPIOChip();
+		const auto& chipPath = hardware::GetGPIOChip();
 		std::cout << "Opening GPIO chip " << chipPath << std::endl;
 
 		m_chip = gpiod_chip_open(chipPath);

code/hardware_config/hardware_common.h

@@ -1,5 +1,4 @@
 #pragma once
-#include "gpios.h"
 #include "state.h"
 #include <SerialPortConstants.h>
 
@@ -11,6 +10,8 @@ enum class LED
 	LED_GPIO_COPY_DATA,
 	LED_GPIO_CONTINOUS_SCANNING,
 	BUZZER,
+	LIDAR_SYNC_1,
+	LIDAR_SYNC_2,
 };
 
 enum class BUTTON
@@ -29,3 +30,5 @@ enum class GPIO_PULL
 	OFF
 };
 };
+
+#include "gpios.h"

code/state.h

@@ -1,5 +1,6 @@
 #pragma once
 #include <map>
+#include <string>
 namespace mandeye
 {
 enum class States

extras/FakePPS/main.cpp

@@ -88,7 +88,7 @@ void oneSecondThread()
 		serialPorts.emplace_back(std::move(serialPort));
 	}
 	const auto ouputs = hardware::GetLidarSyncGPIO();
-	const auto& chipPath = mandeye::GetGPIOChip();
+	const auto& chipPath = hardware::GetGPIOChip();
 	std::cout << "Opening GPIO chip " << chipPath << std::endl;
 
 	gpiod_chip* chip = gpiod_chip_open(chipPath);