Refactor MPS Makefile to support separate build directories

.github/workflows/main.yml

@@ -17,20 +17,25 @@ jobs:
       steps:
         - name: Checkout repository and submodules
           uses: actions/checkout@v4
+        - name: Install aarch64 toolchain
+          run: sudo apt-get install -y {gcc,g++}-aarch64-linux-gnu
+        - name: Install verilator
+          run: sudo apt-get install -y verilator
         - name: Build MPS
-          uses: addnab/docker-run-action@v3
-          with:
-            image: galoisinc/hardens:latest
-            options: -v ${{ github.workspace }}:/HARDENS
-            run: |
-              cd components/mission_protection_system/src
-              SENSORS=NotSimulated SELF_TEST=Enabled make rts_bottom
-              make clean
-              SENSORS=NotSimulated SELF_TEST=Disabled make rts
-              mv rts rts.no_self_test
-              make clean
-              SENSORS=NotSimulated SELF_TEST=Enabled make rts
-              mv rts rts.self_test
+          run: |
+            cd components/mission_protection_system/src
+            make clean
+            # Build, then check it created the correct output file.
+            make rts_bottom CONFIG=self_test
+            [ -f rts_bottom.self_test ]
+            make rts CONFIG=self_test
+            [ -f rts.self_test ]
+            make rts CONFIG=no_self_test
+            [ -f rts.no_self_test ]
+            make rts CONFIG=self_test TARGET=aarch64
+            [ -f rts.self_test.aarch64 ]
+            make rts CONFIG=no_self_test TARGET=aarch64
+            [ -f rts.no_self_test.aarch64 ]
         - name: Upload MPS binaries
           uses: actions/upload-artifact@v4
           with:
@@ -51,15 +56,13 @@ jobs:
         run: |
           chmod +x rts.*
           mv rts.* components/mission_protection_system/src/.
+      - name: Install pip3
+        run: sudo apt-get install -y python3-pip
       - name: Test MPS
-        uses: addnab/docker-run-action@v3
-        with:
-          image: galoisinc/hardens:latest
-          options: -v ${{ github.workspace }}:/HARDENS
-          run: |
-            cd components/mission_protection_system/tests
-            pip3 install -r requirements.txt
-            RTS_DEBUG=1 QUICK=1 python3 ./run_all.py
+        run: |
+          cd components/mission_protection_system/tests
+          pip3 install -r requirements.txt
+          RTS_DEBUG=1 QUICK=1 python3 ./run_all.py
 
   vmrunner:
     runs-on: ubuntu-22.04

components/mission_protection_system/.gitignore

@@ -7,9 +7,6 @@ src/self_test_data/tests.inc.c
 # src/generated/SystemVerilog/actuator_impl.sv
 # src/generated/SystemVerilog/instrumentation_impl.sv
 
-# Ignore verilator files
-src/generated/SystemVerilog/verilator/
-src/handwritten/SystemVerilog/verilator/
-
-# Ignore the compiled binary
+# Ignore the build directories and compiled binaries
 src/rts*
+src/build*/