Phase 24: post-interruption deep re-audit fixes + GitHub Actions CI #1

	name: CI

	# Verification matrix for the flight-grade SCvx solver. Pinned to the project's
	# MSRV (Rust 1.94, see Cargo.toml `rust-version`) so the clippy lint set is
	# reproducible and matches local verification — a newer stable could introduce
	# new lints that fail `-D warnings` for reasons unrelated to the code.

	on:
	push:
	branches: [main]
	pull_request:
	branches: [main]
	workflow_dispatch: {}

	env:
	CARGO_TERM_COLOR: always

	jobs:
	verify:
	name: test · clippy · cross-compile · example
	runs-on: ubuntu-latest
	steps:
	- name: Checkout
	uses: actions/checkout@v4

	- name: Install Rust 1.94 (MSRV) + clippy + thumb target
	uses: dtolnay/rust-toolchain@master
	with:
	toolchain: "1.94"
	components: clippy
	targets: thumbv7em-none-eabihf

	- name: Cache cargo registry + build
	uses: Swatinem/rust-cache@v2

	- name: Clippy (all targets, deny warnings)
	run: cargo clippy --all-targets -- -D warnings

	- name: Test (workspace)
	run: cargo test --workspace

	- name: Example — mars_descent (soft-landing / determinism)
	run: cargo run --release --example mars_descent

	- name: Cross-compile — no_std solver core (thumbv7em-none-eabihf)
	run: cargo build --release --target thumbv7em-none-eabihf -p scvx-solver

	- name: Cross-compile — no_std C-FFI (thumbv7em, panic-handler)
	run: cargo build --release -p scvx-ffi --no-default-features --features panic-handler --target thumbv7em-none-eabihf

	- name: Build — host C-FFI (.so / .a / .rlib)
	run: cargo build --release -p scvx-ffi

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