Support loading of both the ROS2 and DDS plugins on all supported platforms #1391
Workflow file for this run
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| # | |
| # 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, <[email protected]> | |
| # | |
| 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 | |
| - 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 | |
| run: cargo clippy --workspace --all-targets --features stats,dynamic_plugin,dds_shm -- --deny warnings | |
| - 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/[email protected] | |
| with: | |
| required-ros-distributions: humble | |
| - uses: actions/checkout@v4 | |
| - uses: actions-rust-lang/setup-rust-toolchain@v1 | |
| - name: Install ACL | |
| run: sudo apt-get -y install libacl1-dev | |
| - 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 | |
| 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/[email protected] | |
| with: | |
| required-ros-distributions: jazzy | |
| - uses: actions/checkout@v4 | |
| - uses: actions-rust-lang/setup-rust-toolchain@v1 | |
| - name: Install ACL | |
| run: sudo apt-get -y install libacl1-dev | |
| - 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 | |
| run: "source /opt/ros/jazzy/setup.bash && cd zenoh-test-ros2dds && cargo test --verbose" | |
| # 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 | |
| if: always() | |
| steps: | |
| - name: Check whether all jobs pass | |
| run: echo '${{ toJson(needs) }}' | jq -e 'all(.result == "success")' |