zenoh-plugin-ros2dds/.github/workflows/ci.yml at main · eclipse-zenoh/zenoh-plugin-ros2dds · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
#
# Copyright (c) 2022 ZettaScale Technology
#
# This program and the accompanying materials are made available under the
# terms of the Eclipse Public License 2.0 which is available at
# http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
# which is available at https://www.apache.org/licenses/LICENSE-2.0.
#
# SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
#
# Contributors:
#   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
#
name: CI

on:
  push:
    branches: ["**"]
  pull_request:
    branches: ["**"]

env:
  CARGO_TERM_COLOR: always

jobs:
  build:
    name: Build on ${{ matrix.os }}
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        os: [ubuntu-latest, macOS-latest, windows-latest]

    steps:
      - uses: actions/checkout@v4

      # cyclors 0.2.6 does not compile with cmake 4
      - name: Install cmake
        uses: jwlawson/actions-setup-cmake@v2
        with:
          cmake-version: '3.31.x'

      - name: Install ACL
        if: startsWith(matrix.os,'ubuntu')
        run: sudo apt-get -y install libacl1-dev

      - name: Install LLVM toolchain
        if: startsWith(matrix.os,'macos')
        run: |
          brew install llvm@19
          ls /opt/homebrew/opt/llvm@19/bin
          echo "/opt/homebrew/opt/llvm@19/bin" >> $GITHUB_PATH

      - name: Install Rust toolchain
        run: |
          rustup show
          rustup component add rustfmt clippy

      - name: Code format check
        run: cargo fmt --check -- --config "unstable_features=true,imports_granularity=Crate,group_imports=StdExternalCrate"
      - name: Clippy without Cargo.lock
        run: |
          rm Cargo.lock
          cargo clippy --workspace --all-targets --features stats,dynamic_plugin,dds_shm -- --deny warnings
          git restore Cargo.lock

      - name: Build zenoh-plugin-ros2dds
        run: cargo build -p zenoh-plugin-ros2dds --verbose --all-targets

      - name: Build zenoh-plugin-ros2dds (with dds_shm)
        run: cargo build -p zenoh-plugin-ros2dds --features dds_shm --verbose --all-targets

      - name: Build zenoh-plugin-ros2dds (with prefix_symbols)
        run: cargo build -p zenoh-plugin-ros2dds --features prefix_symbols --verbose --all-targets

      - name: Build zenoh-bridge-ros2dds
        run: cargo build -p zenoh-bridge-ros2dds  --verbose --all-targets

      - name: Build zenoh-bridge-ros2dds (with dds_shm)
        run: cargo build -p zenoh-bridge-ros2dds --features dds_shm  --verbose --all-targets

      - name: Build zenoh-bridge-ros2dds (with prefix_symbols)
        run: cargo build -p zenoh-bridge-ros2dds --features prefix_symbols  --verbose --all-targets

      - name: Run tests
        run: cargo test --verbose

      - name: Run tests (with dds_shm)
        run: cargo test --features dds_shm --verbose

      - name: Run tests (with prefix_symbols)
        run: cargo test --features prefix_symbols --verbose

  system_tests_with_ros2_humble:
    name: System tests with ROS 2 Humble
    runs-on: ubuntu-latest
    container:
      image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest
    steps:
    - uses: ros-tooling/setup-ros@v0.7
      with:
        required-ros-distributions: humble

    - uses: actions/checkout@v4
    - uses: actions-rust-lang/setup-rust-toolchain@v1

    # cyclors 0.2.6 does not compile with cmake 4
    - name: Install cmake
      uses: jwlawson/actions-setup-cmake@v2
      with:
        cmake-version: '3.31.x'

    - name: Install ACL
      run: sudo apt-get -y install libacl1-dev

    - name: Copy rust-toolchain.toml and Cargo.lock to zenoh-test-ros2dds
      shell: bash
      run: 'cp rust-toolchain.toml Cargo.lock zenoh-test-ros2dds/'
    # We need this to align the Zenoh version in zenoh-test-ros2dds with zenoh-plugin-ros2dds
    - name: Align zenoh version in zenoh-test-ros2dds
      shell: bash
      run: 'sudo apt-get -y install python3-tomlkit && cd zenoh-test-ros2dds && python3 align_zenoh.py'
    - name: Code format check
      shell: bash
      run: 'source /opt/ros/humble/setup.bash && cd zenoh-test-ros2dds && cargo fmt --check -- --config "unstable_features=true,imports_granularity=Crate,group_imports=StdExternalCrate"'
    - name: Clippy
      shell: bash
      run: "source /opt/ros/humble/setup.bash && cd zenoh-test-ros2dds && cargo clippy --tests -- --deny warnings"

    - name: Run ROS tests
      shell: bash
      # Note that we limit only one test item tested at the same time to avoid the confliction between bridges
      run: "source /opt/ros/humble/setup.bash && cd zenoh-test-ros2dds && cargo test --verbose"

  system_tests_with_ros2_jazzy:
    name: System tests with ROS 2 Jazzy
    runs-on: ubuntu-latest
    container:
      image: rostooling/setup-ros-docker:ubuntu-noble-ros-jazzy-ros-base-latest
    steps:
    - uses: ros-tooling/setup-ros@v0.7
      with:
        required-ros-distributions: jazzy

    - uses: actions/checkout@v4
    - uses: actions-rust-lang/setup-rust-toolchain@v1

    # cyclors 0.2.6 does not compile with cmake 4
    - name: Install cmake
      uses: jwlawson/actions-setup-cmake@v2
      with:
        cmake-version: '3.31.x'

    - name: Install ACL
      run: sudo apt-get -y install libacl1-dev

    - name: Copy rust-toolchain.toml and Cargo.lock to zenoh-test-ros2dds
      shell: bash
      run: 'cp rust-toolchain.toml Cargo.lock zenoh-test-ros2dds/'
    # We need this to align the Zenoh version in zenoh-test-ros2dds with zenoh-plugin-ros2dds
    - name: Align zenoh version in zenoh-test-ros2dds
      shell: bash
      run: 'sudo apt-get -y install python3-tomlkit && cd zenoh-test-ros2dds && python3 align_zenoh.py'
    - name: Code format check
      shell: bash
      run: 'source /opt/ros/jazzy/setup.bash && cd zenoh-test-ros2dds && cargo fmt --check -- --config "unstable_features=true,imports_granularity=Crate,group_imports=StdExternalCrate"'
    - name: Clippy
      shell: bash
      run: "source /opt/ros/jazzy/setup.bash && cd zenoh-test-ros2dds && cargo clippy --tests -- --deny warnings"

    - name: Run ROS tests
      shell: bash
      # Note that we limit only one test item tested at the same time to avoid the confliction between bridges
      run: "source /opt/ros/jazzy/setup.bash && cd zenoh-test-ros2dds && cargo test --verbose"

  markdown_lint:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4
      - uses: DavidAnson/markdownlint-cli2-action@v18
        with:
          config: '.markdownlint.yaml'
          globs: '**/README.md'

  # NOTE: In GitHub repository settings, the "Require status checks to pass
  # before merging" branch protection rule ensures that commits are only merged
  # from branches where specific status checks have passed. These checks are
  # specified manually as a list of workflow job names. Thus we use this extra
  # job to signal whether all CI checks have passed.
  ci:
    name: CI status checks
    runs-on: ubuntu-latest
    needs: [build, system_tests_with_ros2_humble, system_tests_with_ros2_jazzy, markdown_lint]
    if: always()
    steps:
      - name: Check whether all jobs pass
        run: echo '${{ toJson(needs) }}' | jq -e 'all(.result == "success")'