cintegration: C harness for libpilot //export surface

cintegration/.gitignore

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+harness
+harness.dSYM/
+covdata/
+coverage.out

cintegration/Makefile

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+# C-side integration harness for libpilot.
+#
+# `make` builds libpilot.{dylib,so} with `-cover -coverpkg=.`, compiles
+# harness.c against the generated header, runs the harness with
+# GOCOVERDIR set, then folds the C-driven counters into a textfmt
+# coverage profile that `go tool cover -func` can read.
+#
+# `make clean` removes build artifacts.
+
+UNAME_S := $(shell uname -s)
+ifeq ($(UNAME_S),Darwin)
+  EXT := dylib
+  RPATH_FLAG := -Wl,-rpath,@loader_path/..
+endif
+ifeq ($(UNAME_S),Linux)
+  EXT := so
+  RPATH_FLAG := -Wl,-rpath,'$$ORIGIN/..'
+endif
+
+LIB := ../libpilot.$(EXT)
+COVDIR := ./covdata
+HARNESS := harness
+
+.PHONY: build run cover clean
+
+build: $(LIB) $(HARNESS)
+
+$(LIB):
+	cd .. && go build -tags coverflush -cover -covermode=atomic -coverpkg=. -buildmode=c-shared -o libpilot.$(EXT) .
+ifeq ($(UNAME_S),Darwin)
+	# Fix install_name so dyld resolves via rpath instead of CWD lookup.
+	install_name_tool -id @rpath/libpilot.$(EXT) $(LIB)
+endif
+
+$(HARNESS): harness.c $(LIB)
+	$(CC) -Wall -Wextra -O0 -g -o $(HARNESS) harness.c -L.. -lpilot $(RPATH_FLAG)
+
+run: $(HARNESS)
+	mkdir -p $(COVDIR)
+ifeq ($(UNAME_S),Darwin)
+	DYLD_LIBRARY_PATH=.. GOCOVERDIR=$(COVDIR) ./$(HARNESS)
+else
+	LD_LIBRARY_PATH=.. GOCOVERDIR=$(COVDIR) ./$(HARNESS)
+endif
+
+cover: run
+	go tool covdata textfmt -i=$(COVDIR) -o=coverage.out
+	go tool cover -func=coverage.out | tail -5
+	@printf "\nTotal lines covered by C harness:\n"
+	@go tool cover -func=coverage.out | grep "^total:" || true
+
+clean:
+	rm -rf $(COVDIR) $(HARNESS) coverage.out
+	rm -f ../libpilot.$(EXT) ../libpilot.h