int0x7 · int0x7 · Mar 9, 2026 · Mar 9, 2026
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -7,7 +7,8 @@ on:
     branches: [main, develop]
 
 jobs:
-  build:
+  build-x86_64:
+    name: Build (x86_64)
     runs-on: ubuntu-22.04
     container: ubuntu:20.04
     env:
@@ -27,7 +28,36 @@ jobs:
         uses: actions/cache@v4
         with:
           path: 3rd_party
-          key: deps-${{ runner.os }}-iceoryx2.0.3-cyclonedds0.10.2
+          key: deps-${{ runner.os }}-x86_64-iceoryx2.0.3-cyclonedds0.10.2
+
+      - name: Build dependencies
+        run: ./scripts/build_deps.sh
+
+      - name: Build and Test
+        run: ./build.sh -t -r
+
+  build-aarch64:
+    name: Build (aarch64)
+    runs-on: ubuntu-22.04-arm
+    container: ubuntu:20.04
+    env:
+      DEBIAN_FRONTEND: noninteractive
+      BUILD_TYPE: Release
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - name: Install dependencies
+        run: |
+          apt-get update
+          apt-get install -y cmake g++ libacl1-dev git
+
+      - name: Cache dependencies
+        uses: actions/cache@v4
+        with:
+          path: 3rd_party
+          key: deps-${{ runner.os }}-aarch64-iceoryx2.0.3-cyclonedds0.10.2
 
       - name: Build dependencies
         run: ./scripts/build_deps.sh

diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
@@ -9,7 +9,8 @@ permissions:
   contents: write
 
 jobs:
-  build:
+  build-x86_64:
+    name: Build Release (x86_64)
     runs-on: ubuntu-22.04
     container: ubuntu:20.04
     env:
@@ -28,7 +29,7 @@ jobs:
         uses: actions/cache@v4
         with:
           path: 3rd_party
-          key: deps-${{ runner.os }}-cyclonedds0.10.2-shm
+          key: deps-${{ runner.os }}-x86_64-cyclonedds0.10.2-shm
 
       - name: Build
         run: |
@@ -52,12 +53,57 @@ jobs:
           name: ${{ env.PKG_NAME }}
           path: ${{ env.PKG_NAME }}.tar.gz
 
+  build-aarch64:
+    name: Build Release (aarch64)
+    runs-on: ubuntu-22.04-arm
+    container: ubuntu:20.04
+    env:
+      DEBIAN_FRONTEND: noninteractive
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - name: Install dependencies
+        run: |
+          apt-get update
+          apt-get install -y cmake g++ ninja-build libacl1-dev git
+
+      - name: Cache dependencies
+        uses: actions/cache@v4
+        with:
+          path: 3rd_party
+          key: deps-${{ runner.os }}-aarch64-cyclonedds0.10.2-shm
+
+      - name: Build
+        run: |
+          ./build.sh -c
+
+      - name: Run tests
+        run: ./build/tests/cddsctl_tests
+
+      - name: Package
+        run: |
+          VERSION=${GITHUB_REF#refs/tags/v}
+          PKG_NAME="cddsctl-${VERSION}-linux-aarch64"
+          mkdir -p ${PKG_NAME}/bin
+          cp build/cli/cddsctl ${PKG_NAME}/bin/
+          tar -czvf ${PKG_NAME}.tar.gz ${PKG_NAME}
+          echo "PKG_NAME=${PKG_NAME}" >> $GITHUB_ENV
+
+      - name: Upload artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: ${{ env.PKG_NAME }}
+          path: ${{ env.PKG_NAME }}.tar.gz
+
   release:
+    name: Create Release
     runs-on: ubuntu-22.04
     container: ubuntu:20.04
     env:
       DEBIAN_FRONTEND: noninteractive
-    needs: build
+    needs: [build-x86_64, build-aarch64]
 
     steps:
       - name: Install dependencies
@@ -94,11 +140,18 @@ jobs:
           echo "" >> RELEASE_NOTES.md
           echo "## Installation" >> RELEASE_NOTES.md
           echo "" >> RELEASE_NOTES.md
+          echo "### x86_64" >> RELEASE_NOTES.md
           echo "\`\`\`bash" >> RELEASE_NOTES.md
           echo "tar -xzf cddsctl-${VERSION}-linux-x86_64.tar.gz" >> RELEASE_NOTES.md
           echo "sudo mv cddsctl-${VERSION}-linux-x86_64/bin/cddsctl /usr/local/bin/" >> RELEASE_NOTES.md
           echo "\`\`\`" >> RELEASE_NOTES.md
           echo "" >> RELEASE_NOTES.md
+          echo "### ARM64 (aarch64)" >> RELEASE_NOTES.md
+          echo "\`\`\`bash" >> RELEASE_NOTES.md
+          echo "tar -xzf cddsctl-${VERSION}-linux-aarch64.tar.gz" >> RELEASE_NOTES.md
+          echo "sudo mv cddsctl-${VERSION}-linux-aarch64/bin/cddsctl /usr/local/bin/" >> RELEASE_NOTES.md
+          echo "\`\`\`" >> RELEASE_NOTES.md
+          echo "" >> RELEASE_NOTES.md
           echo "Built with CycloneDDS 0.10.2 and iceoryx 2.0.5 (shared memory)." >> RELEASE_NOTES.md
           echo "SHM is used automatically when a compatible RouDi daemon is running; otherwise falls back to UDP." >> RELEASE_NOTES.md
 

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -5,6 +5,24 @@ set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
+# Detect target architecture
+if(CMAKE_SYSTEM_PROCESSOR)
+    set(TARGET_ARCH "${CMAKE_SYSTEM_PROCESSOR}")
+else()
+    execute_process(COMMAND uname -m OUTPUT_VARIABLE TARGET_ARCH OUTPUT_STRIP_TRAILING_WHITESPACE)
+endif()
+
+# Normalize architecture names
+if(TARGET_ARCH MATCHES "^(x86_64|amd64)$")
+    set(TARGET_ARCH_NAME "x86_64")
+elseif(TARGET_ARCH MATCHES "^(aarch64|arm64)$")
+    set(TARGET_ARCH_NAME "aarch64")
+else()
+    set(TARGET_ARCH_NAME "${TARGET_ARCH}")
+endif()
+
+message(STATUS "Target architecture: ${TARGET_ARCH_NAME}")
+
 # Debug symbols for all build types
 add_compile_options(-g)
 
@@ -28,11 +46,11 @@ foreach(LINE ${VERSION_LINES})
   endif()
 endforeach()
 
-# Third-party library paths
-set(YAMLCPP_DIR ${CDDSCTL_3RD_PARTY}/yaml-cpp)
-set(ICEORYX_DIR ${CDDSCTL_3RD_PARTY}/iceoryx)
-set(CYCLONEDDS_DIR ${CDDSCTL_3RD_PARTY}/cyclonedds-${CYCLONEDDS_VERSION})
-set(CYCLONEDDS_CXX_DIR ${CDDSCTL_3RD_PARTY}/cyclonedds-cxx-${CYCLONEDDS_VERSION})
+# Third-party library paths (architecture-specific)
+set(YAMLCPP_DIR ${CDDSCTL_3RD_PARTY}/yaml-cpp-${TARGET_ARCH_NAME})
+set(ICEORYX_DIR ${CDDSCTL_3RD_PARTY}/iceoryx-${TARGET_ARCH_NAME})
+set(CYCLONEDDS_DIR ${CDDSCTL_3RD_PARTY}/cyclonedds-${CYCLONEDDS_VERSION}-${TARGET_ARCH_NAME})
+set(CYCLONEDDS_CXX_DIR ${CDDSCTL_3RD_PARTY}/cyclonedds-cxx-${CYCLONEDDS_VERSION}-${TARGET_ARCH_NAME})
 list(APPEND CMAKE_PREFIX_PATH ${YAMLCPP_DIR} ${ICEORYX_DIR} ${CYCLONEDDS_DIR} ${CYCLONEDDS_CXX_DIR})
 
 # CycloneDDS depends on iceoryx, need to find iceoryx targets first (static libs)
@@ -86,6 +104,7 @@ message(STATUS "========================================")
 message(STATUS "cddsctl Configuration")
 message(STATUS "========================================")
 message(STATUS "Version:        ${PROJECT_VERSION}")
+message(STATUS "Architecture:   ${TARGET_ARCH_NAME}")
 message(STATUS "Build Examples: ${BUILD_EXAMPLES}")
 message(STATUS "========================================")
 message(STATUS "")
diff --git a/build.sh b/build.sh
@@ -15,7 +15,21 @@ else
     exit 1
 fi
 
-# 默认并行数
+# Detect architecture
+ARCH=$(uname -m)
+case "${ARCH}" in
+    x86_64)
+        ARCH_NAME="x86_64"
+        ;;
+    aarch64|arm64)
+        ARCH_NAME="aarch64"
+        ;;
+    *)
+        ARCH_NAME="${ARCH}"
+        ;;
+esac
+
+# Default parallel jobs
 JOBS=$(nproc 2>/dev/null || echo 4)
 
 usage() {
@@ -76,25 +90,31 @@ while [[ $# -gt 0 ]]; do
     esac
 done
 
+# Architecture-specific dependency paths
+ICEORYX_PREFIX="${THIRD_PARTY}/iceoryx-${ARCH_NAME}"
+CYCLONEDDS_PREFIX="${THIRD_PARTY}/cyclonedds-${CYCLONEDDS_VERSION}-${ARCH_NAME}"
+CYCLONEDDS_CXX_PREFIX="${THIRD_PARTY}/cyclonedds-cxx-${CYCLONEDDS_VERSION}-${ARCH_NAME}"
+YAMLCPP_PREFIX="${THIRD_PARTY}/yaml-cpp-${ARCH_NAME}"
+
 # Check if dependencies exist
 YAMLCPP_OK=0
 ICEORYX_OK=0
 CYCLONEDDS_OK=0
 CYCLONEDDS_CXX_OK=0
 
-if [[ -f "${THIRD_PARTY}/yaml-cpp/lib/libyaml-cpp.a" ]]; then
+if [[ -f "${YAMLCPP_PREFIX}/lib/libyaml-cpp.a" ]]; then
     YAMLCPP_OK=1
 fi
 
-if [[ -f "${THIRD_PARTY}/iceoryx/lib/libiceoryx_posh.a" ]]; then
+if [[ -f "${ICEORYX_PREFIX}/lib/libiceoryx_posh.a" ]]; then
     ICEORYX_OK=1
 fi
 
-if [[ -f "${THIRD_PARTY}/cyclonedds-${CYCLONEDDS_VERSION}/lib/libddsc.a" ]]; then
+if [[ -f "${CYCLONEDDS_PREFIX}/lib/libddsc.a" ]]; then
     CYCLONEDDS_OK=1
 fi
 
-if [[ -f "${THIRD_PARTY}/cyclonedds-cxx-${CYCLONEDDS_VERSION}/lib/libddscxx.a" ]]; then
+if [[ -f "${CYCLONEDDS_CXX_PREFIX}/lib/libddscxx.a" ]]; then
     CYCLONEDDS_CXX_OK=1
 fi
 
@@ -136,6 +156,7 @@ echo "==> Building with ${JOBS} jobs..."
 cmake --build "${BUILD_DIR}" -j "${JOBS}"
 
 echo "==> Build complete!"
+echo "    Architecture: ${ARCH_NAME}"
 echo "    CLI: ${BUILD_DIR}/cli/cddsctl"
 
 if [[ $RUN_TESTS -eq 1 ]]; then

diff --git a/scripts/build_deps.sh b/scripts/build_deps.sh
@@ -10,6 +10,25 @@ THIRD_PARTY="${PROJECT_ROOT}/3rd_party"
 BUILD_DIR="${THIRD_PARTY}/build"
 JOBS=$(nproc 2>/dev/null || echo 4)
 
+# Detect architecture
+ARCH=$(uname -m)
+case "${ARCH}" in
+    x86_64)
+        ARCH_NAME="x86_64"
+        ;;
+    aarch64|arm64)
+        ARCH_NAME="aarch64"
+        ;;
+    *)
+        echo "Warning: Unsupported architecture '${ARCH}', defaulting to ${ARCH}"
+        ARCH_NAME="${ARCH}"
+        ;;
+esac
+
+# Cross-compilation support
+CROSS_COMPILE=0
+CROSS_ARCH=""
+
 # Load versions from .versions file
 VERSIONS_FILE="${PROJECT_ROOT}/.versions"
 if [[ -f "${VERSIONS_FILE}" ]]; then
@@ -19,18 +38,19 @@ else
     exit 1
 fi
 
-# Install prefixes
-ICEORYX_PREFIX="${THIRD_PARTY}/iceoryx"
-CYCLONEDDS_PREFIX="${THIRD_PARTY}/cyclonedds-${CYCLONEDDS_VERSION}"
-CYCLONEDDS_CXX_PREFIX="${THIRD_PARTY}/cyclonedds-cxx-${CYCLONEDDS_VERSION}"
-YAMLCPP_PREFIX="${THIRD_PARTY}/yaml-cpp"
+# Install prefixes (architecture-specific)
+ICEORYX_PREFIX="${THIRD_PARTY}/iceoryx-${ARCH_NAME}"
+CYCLONEDDS_PREFIX="${THIRD_PARTY}/cyclonedds-${CYCLONEDDS_VERSION}-${ARCH_NAME}"
+CYCLONEDDS_CXX_PREFIX="${THIRD_PARTY}/cyclonedds-cxx-${CYCLONEDDS_VERSION}-${ARCH_NAME}"
+YAMLCPP_PREFIX="${THIRD_PARTY}/yaml-cpp-${ARCH_NAME}"
 
 usage() {
     echo "Usage: $0 [OPTIONS]"
     echo ""
     echo "Options:"
     echo "  -c, --clean     Clean build (remove build directory first)"
     echo "  -j N            Number of parallel jobs (default: $JOBS)"
+    echo "  --arch ARCH     Target architecture for cross-compilation (x86_64, aarch64)"
     echo "  -h, --help      Show this help"
 }
 
@@ -46,6 +66,27 @@ while [[ $# -gt 0 ]]; do
             JOBS="$2"
             shift 2
             ;;
+        --arch)
+            CROSS_ARCH="$2"
+            CROSS_COMPILE=1
+            case "${CROSS_ARCH}" in
+                x86_64|aarch64)
+                    ARCH_NAME="${CROSS_ARCH}"
+                    echo "==> Cross-compiling for ${ARCH_NAME}"
+                    ;;
+                *)
+                    echo "Error: Unsupported architecture '${CROSS_ARCH}'"
+                    echo "Supported architectures: x86_64, aarch64"
+                    exit 1
+                    ;;
+            esac
+            # Update prefixes with new architecture
+            ICEORYX_PREFIX="${THIRD_PARTY}/iceoryx-${ARCH_NAME}"
+            CYCLONEDDS_PREFIX="${THIRD_PARTY}/cyclonedds-${CYCLONEDDS_VERSION}-${ARCH_NAME}"
+            CYCLONEDDS_CXX_PREFIX="${THIRD_PARTY}/cyclonedds-cxx-${CYCLONEDDS_VERSION}-${ARCH_NAME}"
+            YAMLCPP_PREFIX="${THIRD_PARTY}/yaml-cpp-${ARCH_NAME}"
+            shift 2
+            ;;
         -h|--help)
             usage
             exit 0
@@ -189,6 +230,10 @@ echo ""
 echo "========================================="
 echo "Dependencies built successfully!"
 echo "========================================="
+echo "Architecture:   ${ARCH_NAME}"
+if [[ ${CROSS_COMPILE} -eq 1 ]]; then
+    echo "Build type:     Cross-compiled"
+fi
 echo "yaml-cpp:       ${YAMLCPP_PREFIX}"
 echo "iceoryx:        ${ICEORYX_PREFIX}"
 echo "CycloneDDS:     ${CYCLONEDDS_PREFIX}"