Build HIL in CI prior to running them (#1388)

* xtask: allow building hil tests

* check hil tests build in CI

.github/workflows/ci.yml

@@ -307,14 +307,6 @@ jobs:
       - name: rustfmt (examples)
         run: cargo fmt --all --manifest-path=examples/Cargo.toml -- --check
 
-  # --------------------------------------------------------------------------
-  # NOTE:
-  #
-  # This is (hopefully) a temporary workaround to allow us to run HIL tests
-  # in merge queue, but not in pull requests. For more information see:
-  #
-  # https://github.com/esp-rs/esp-hal/issues/1328
-
   riscv-hil:
     name: HIL Test | ${{ matrix.soc }}
     runs-on: ubuntu-latest
@@ -325,4 +317,11 @@ jobs:
         soc: [esp32c3, esp32c6, esp32h2]
 
     steps:
-      - run: echo "HIL tests are not run in pull requests!"
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@v1
+        with:
+          target: riscv32imc-unknown-none-elf,riscv32imac-unknown-none-elf,riscv32imafc-unknown-none-elf
+          toolchain: nightly
+          components: rust-src
+      - uses: Swatinem/rust-cache@v2
+      - run: cargo xtask build-examples hil-test ${{ matrix.soc }}

xtask/src/lib.rs

@@ -23,6 +23,7 @@ pub enum Package {
     EspLpHal,
     EspRiscvRt,
     Examples,
+    HilTest,
 }
 
 #[derive(Debug, Clone, Copy, PartialEq, Eq, Display, EnumIter, ValueEnum, serde::Serialize)]
@@ -246,12 +247,11 @@ pub fn build_example(
         log::info!("  Features: {}", example.features().join(","));
     }
 
-    let bin = if example
-        .example_path()
-        .strip_prefix(package_path)?
-        .starts_with("src/bin")
-    {
+    let package = example.example_path().strip_prefix(package_path)?;
+    let bin = if package.starts_with("src/bin") {
         format!("--bin={}", example.name())
+    } else if package.starts_with("tests") {
+        format!("--test={}", example.name())
     } else {
         format!("--example={}", example.name())
     };

xtask/src/main.rs

@@ -212,11 +212,10 @@ fn build_examples(workspace: &Path, mut args: BuildExamplesArgs) -> Result<()> {
     // Absolute path of the package's root:
     let package_path = xtask::windows_safe_path(&workspace.join(args.package.to_string()));
 
-    // Absolute path to the directory containing the examples:
-    let example_path = if args.package == Package::Examples {
-        package_path.join("src").join("bin")
-    } else {
-        package_path.join("examples")
+    let example_path = match args.package {
+        Package::Examples => package_path.join("src").join("bin"),
+        Package::HilTest => package_path.join("tests"),
+        _ => package_path.join("examples"),
     };
 
     // Determine the appropriate build target for the given package and chip: