添加 Gitea Actions CI/CD：aarch64(QEMU) 构建+单元测试+冒烟测试+部署

.dockerignore

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+.git
+.gitignore
+.gitattributes
+.cache
+build
+bin
+lib
+*.db
+*.log
+Dockerfile

.gitea/workflows/ci.yml

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+#=======================================================================
+# FILE:  .gitea/workflows/ci.yml
+# DESC:  CI/CD for H100PowerManger
+#        - build/test on aarch64 (via QEMU emulation of arm64 Ubuntu 20.04)
+#        - deploy the cross-built binary to the RK3588 board
+#=======================================================================
+
+name: build-test-deploy
+
+on:
+  push:
+    branches: [main]
+    tags: ['v*']
+  pull_request:
+
+env:
+  CI_IMAGE: h100-power-manager-ci:arm64
+
+jobs:
+  #---------------------------------------------------------------------
+  # Build (aarch64) + unit test + startup smoke test
+  #---------------------------------------------------------------------
+  build-test:
+    runs-on: <runner_labels>
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - name: Register QEMU for arm64
+        run: |
+          docker run --rm --privileged tonistiigi/binfmt --install arm64
+
+      - name: Build arm64 CI image
+        run: |
+          docker build -t "$CI_IMAGE" -f ci/Dockerfile .
+
+      - name: Build & test inside arm64 container
+        run: |
+          docker run --rm \
+            -v "$GITHUB_WORKSPACE:/src" \
+            "$CI_IMAGE" /src/ci/build-test.sh
+
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v3
+        with:
+          name: arm64-bin
+          path: |
+            bin/pPowerManger
+            bin/pPMtest
+            bin/SQLiteTest
+
+  #---------------------------------------------------------------------
+  # Deploy the binary to the RK3588 board (push only, no restart)
+  #---------------------------------------------------------------------
+  deploy:
+    needs: build-test
+    if: github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/')
+    runs-on: <runner_labels>
+    steps:
+      - name: Download artifacts
+        uses: actions/download-artifact@v3
+        with:
+          name: arm64-bin
+          path: bin/
+
+      - name: Deploy to board
+        env:
+          DEPLOY_HOST: ${{ secrets.DEPLOY_HOST }}
+          DEPLOY_USER: ${{ vars.DEPLOY_USER }}
+          DEPLOY_PATH: ${{ vars.DEPLOY_PATH }}
+          DEPLOY_SSH_KEY: ${{ secrets.DEPLOY_SSH_KEY }}
+        run: |
+          set -euo pipefail
+          USER="${DEPLOY_USER:-root}"
+          HOST="${DEPLOY_HOST:?DEPLOY_HOST secret is not set}"
+          DEST="${DEPLOY_PATH:-/root/work/moos_ws/moos-ivp-extend/bin}"
+          mkdir -p ~/.ssh && chmod 700 ~/.ssh
+          printf '%s\n' "$DEPLOY_SSH_KEY" > ~/.ssh/id_ed25519
+          chmod 600 ~/.ssh/id_ed25519
+          ssh-keyscan -H "$HOST" >> ~/.ssh/known_hosts 2>/dev/null
+          chmod 755 bin/pPowerManger
+          rsync -avz bin/pPowerManger "${USER}@${HOST}:${DEST}/pPowerManger"
+          echo "Deployed pPowerManger -> ${USER}@${HOST}:${DEST}/"

ci/Dockerfile

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+#=======================================================================
+# FILE:  ci/Dockerfile
+# DESC:  aarch64 (RK3588 / Ubuntu 20.04) build & test environment.
+#        - Ubuntu 20.04 arm64 base (matches the target board)
+#        - MOOS-IvP built from source and installed to /usr/local
+#        - jsoncpp (the only extra dep used by pPowerManger)
+#=======================================================================
+
+FROM arm64v8/ubuntu:20.04
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+#-----------------------------------------------------------------------
+# System toolchain + dependencies
+#-----------------------------------------------------------------------
+RUN apt-get update && apt-get install -y --no-install-recommends \
+        build-essential \
+        cmake \
+        git \
+        ca-certificates \
+        libjsoncpp-dev \
+        rsync \
+    && rm -rf /var/lib/apt/lists/*
+
+#-----------------------------------------------------------------------
+# Build & install MOOS-IvP (bundles MOOS core + essentials + geodesy + ivp)
+#   build-moos.sh -m  : skip GUI tools (no FLTK needed)
+#   build-ivp.sh  -n  : skip GUI apps (no FLTK needed)
+# Installs libMOOS + MOOSConfig.cmake + ivp headers/libs to /usr/local,
+# matching the layout expected by the project's top-level CMakeLists.txt.
+#-----------------------------------------------------------------------
+WORKDIR /opt
+
+RUN git clone --depth 1 https://github.com/moos-ivp/moos-ivp.git && \
+    cd moos-ivp && \
+    ./build-moos.sh -m -j"$(nproc)" && \
+    make -C build/MOOS/MOOSCore install && \
+    make -C build/MOOS/MOOSGeodesy install && \
+    ./build-ivp.sh -n -j"$(nproc)" && \
+    make -C build/ivp install && \
+    ldconfig
+
+WORKDIR /src

ci/build-test.sh

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+#!/bin/bash
+#=======================================================================
+# FILE:  ci/build-test.sh
+# DESC:  Build the project, run unit tests and a startup smoke test.
+#        Executed INSIDE the aarch64 build container (ci/Dockerfile).
+#=======================================================================
+set -euo pipefail
+
+SRC_DIR="${SRC_DIR:-/src}"
+cd "${SRC_DIR}"
+
+#-----------------------------------------------------------------------
+# 1. Build
+#-----------------------------------------------------------------------
+echo ">>> Building (aarch64, Release)..."
+rm -rf build
+mkdir -p build
+cd build
+cmake -DCMAKE_BUILD_TYPE=Release ..
+make -j"$(nproc)"
+
+BIN_DIR="${SRC_DIR}/bin"
+echo ">>> Build artifacts:"
+ls -la "${BIN_DIR}"
+
+#-----------------------------------------------------------------------
+# 2. Unit test (SQLiteTest)
+#-----------------------------------------------------------------------
+echo ">>> Running unit test: SQLiteTest"
+"${BIN_DIR}/SQLiteTest"
+echo ">>> SQLiteTest passed"
+
+#-----------------------------------------------------------------------
+# 3. Startup smoke test: MOOSDB + pPowerManger liveness
+#-----------------------------------------------------------------------
+echo ">>> Smoke test: launch MOOSDB + pPowerManger"
+
+# Locate MOOSDB (installed by MOOS build)
+MOOSDB="$(command -v MOOSDB || true)"
+if [ -z "${MOOSDB}" ]; then
+    MOOSDB="$(ls /opt/moos-ivp/bin/MOOSDB 2>/dev/null || true)"
+fi
+if [ -z "${MOOSDB}" ] || [ ! -x "${MOOSDB}" ]; then
+    echo "ERROR: MOOSDB not found" >&2
+    exit 1
+fi
+echo "Using MOOSDB: ${MOOSDB}"
+
+# Minimal mission file for MOOSDB + pPowerManger
+MISSION_FILE="/tmp/smoke.moos"
+cat > "${MISSION_FILE}" <<EOF
+ServerHost = localhost
+ServerPort = 9000
+Community = h100smoke
+
+ProcessConfig = pPowerManger
+{
+   AppTick   = 4
+   CommsTick = 4
+   log_level = INFO
+   log_file  = /tmp/pPowerManger_smoke.log
+}
+EOF
+
+cd "${BIN_DIR}"
+
+"${MOOSDB}" "${MISSION_FILE}" > /tmp/moosdb_smoke.log 2>&1 &
+MOOSDB_PID=$!
+sleep 2
+
+./pPowerManger "${MISSION_FILE}" > /tmp/pm_smoke.log 2>&1 &
+PM_PID=$!
+sleep 5
+
+if kill -0 "${PM_PID}" 2>/dev/null; then
+    echo ">>> Smoke test PASSED (pPowerManger alive after 5s)"
+    kill "${PM_PID}" "${MOOSDB_PID}" 2>/dev/null || true
+    wait "${PM_PID}" "${MOOSDB_PID}" 2>/dev/null || true
+    exit 0
+else
+    echo ">>> Smoke test FAILED (pPowerManger exited)" >&2
+    echo "--- pPowerManger log ---" >&2
+    cat /tmp/pm_smoke.log >&2 || true
+    echo "--- MOOSDB log ---" >&2
+    cat /tmp/moosdb_smoke.log >&2 || true
+    kill "${MOOSDB_PID}" 2>/dev/null || true
+    exit 1
+fi