fix(event,graph): run event callbacks outside the locks they live und… #1396
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| name: Interop Tests | |
| on: | |
| push: | |
| branches: [main] | |
| paths-ignore: | |
| - '**.md' | |
| - 'book/**' | |
| - '.github/workflows/docs.yml' | |
| - '.github/workflows/mkdocs-preview.yml' | |
| - '.github/workflows/ci.yml' | |
| - '.github/workflows/rmw-zenoh-rs.yml' | |
| - '.github/workflows/semantic-pr.yml' | |
| - '.github/workflows/pr-draft-check.yml' | |
| pull_request: | |
| types: [opened, synchronize, reopened, ready_for_review] | |
| branches: [main] | |
| paths-ignore: | |
| - '**.md' | |
| - 'book/**' | |
| - '.github/workflows/docs.yml' | |
| - '.github/workflows/mkdocs-preview.yml' | |
| - '.github/workflows/ci.yml' | |
| - '.github/workflows/rmw-zenoh-rs.yml' | |
| - '.github/workflows/semantic-pr.yml' | |
| - '.github/workflows/pr-draft-check.yml' | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.ref }} | |
| cancel-in-progress: ${{ github.event_name == 'pull_request' }} | |
| jobs: | |
| interop_test: | |
| name: Interop tests with ROS 2 ${{ matrix.distro }} | |
| runs-on: ubuntu-latest | |
| # Skip for draft PRs to save CI time during development | |
| if: | | |
| github.event_name == 'push' || | |
| github.event.pull_request.draft == false | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| distro: [humble, jazzy, kilted, lyrical] | |
| include: | |
| - distro: humble | |
| image: ros:humble-ros-base | |
| hiroz_feature: humble | |
| - distro: jazzy | |
| image: ros:jazzy-ros-base | |
| hiroz_feature: jazzy | |
| - distro: kilted | |
| image: ros:kilted-ros-base | |
| hiroz_feature: kilted | |
| - distro: lyrical | |
| image: ros:lyrical-ros-base | |
| hiroz_feature: lyrical | |
| container: | |
| image: ${{ matrix.image }} | |
| steps: | |
| - name: Compute weekly cache key | |
| id: cache-week | |
| run: echo "week=$(date -u +%Y-W%V)" >> "$GITHUB_OUTPUT" | |
| - name: Cache apt packages | |
| uses: actions/cache@v4 | |
| with: | |
| path: /var/cache/apt/archives | |
| key: apt-${{ matrix.distro }}-v3-${{ hashFiles('.github/workflows/test.yml') }} | |
| # The apt package-index fetch (not the downloads) is the mirror bottleneck | |
| # here (~900 B/s), costing minutes per job. Cache the index; keyed weekly | |
| # so it can't go permanently stale — a miss just re-fetches. | |
| - name: Cache apt package lists | |
| uses: actions/cache@v4 | |
| with: | |
| path: /var/lib/apt/lists | |
| key: apt-lists-${{ matrix.distro }}-${{ steps.cache-week.outputs.week }} | |
| restore-keys: | | |
| apt-lists-${{ matrix.distro }}- | |
| # GitHub runners are on Azure, but the ROS base images point at the | |
| # generic archive/security.ubuntu.com endpoints, which are slow from here | |
| # (~75-900 B/s). Repoint to Azure's same-datacenter mirror. Handles both | |
| # the legacy one-line sources.list and the newer deb822 *.sources format. | |
| - name: Point apt at the Azure Ubuntu mirror | |
| run: | | |
| if [ -f /etc/apt/sources.list ]; then | |
| sed -i \ | |
| -e 's|http://archive\.ubuntu\.com/ubuntu|http://azure.archive.ubuntu.com/ubuntu|g' \ | |
| -e 's|http://security\.ubuntu\.com/ubuntu|http://azure.archive.ubuntu.com/ubuntu|g' \ | |
| /etc/apt/sources.list | |
| fi | |
| # Guard with `ls`: with nullglob off, a non-matching glob expands to | |
| # the literal pattern, so don't rely on the match itself. | |
| if ls /etc/apt/sources.list.d/*.sources > /dev/null 2>&1; then | |
| sed -i \ | |
| -e 's|http://archive\.ubuntu\.com/ubuntu|http://azure.archive.ubuntu.com/ubuntu|g' \ | |
| -e 's|http://security\.ubuntu\.com/ubuntu|http://azure.archive.ubuntu.com/ubuntu|g' \ | |
| /etc/apt/sources.list.d/*.sources | |
| fi | |
| - name: Install system dependencies | |
| run: | | |
| # Install jq here so taiki-e/install-action's cargo-nextest step | |
| # below doesn't trigger a second, redundant apt-get update for it. | |
| apt-get update && apt-get install -y nodejs jq | |
| - name: Install Nushell | |
| run: | | |
| NU_VERSION=0.102.0 | |
| ARCH=$(uname -m | sed 's/x86_64/x86_64/;s/aarch64/aarch64/') | |
| NU_TARBALL="nu-${NU_VERSION}-${ARCH}-unknown-linux-gnu" | |
| curl -fsSL "https://github.com/nushell/nushell/releases/download/${NU_VERSION}/${NU_TARBALL}.tar.gz" \ | |
| | tar -xz -C /usr/local/bin --strip-components=1 "${NU_TARBALL}/nu" | |
| - name: Install ROS dependencies | |
| run: | | |
| apt-get install -y \ | |
| ros-${{ matrix.distro }}-example-interfaces \ | |
| ros-${{ matrix.distro }}-rmw-zenoh-cpp \ | |
| ros-${{ matrix.distro }}-demo-nodes-cpp \ | |
| ros-${{ matrix.distro }}-action-tutorials-cpp \ | |
| ros-${{ matrix.distro }}-geometry-msgs \ | |
| ros-${{ matrix.distro }}-sensor-msgs \ | |
| ros-${{ matrix.distro }}-nav-msgs \ | |
| protobuf-compiler | |
| - name: Fix broken rmw_zenoh_cpp config for Kilted | |
| if: matrix.distro == 'kilted' | |
| run: | | |
| # WORKAROUND: ros-kilted-rmw-zenoh-cpp 0.6.6 has invalid transport_optimization field | |
| CONFIG_FILE="/opt/ros/kilted/share/rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5" | |
| if grep -q "transport_optimization" "$CONFIG_FILE" 2>/dev/null; then | |
| sed -i '/transport_optimization:/,/},$/d' "$CONFIG_FILE" | |
| echo "Fixed rmw_zenoh_cpp config by removing invalid transport_optimization section" | |
| fi | |
| - uses: actions/checkout@v4 | |
| - uses: actions-rust-lang/setup-rust-toolchain@v1 | |
| - name: Setup Rust cache | |
| uses: Swatinem/rust-cache@v2 | |
| with: | |
| shared-key: ${{ matrix.distro }}-interop | |
| - name: Install cargo-nextest | |
| uses: taiki-e/install-action@v2 | |
| with: | |
| tool: cargo-nextest | |
| - name: Run interop tests | |
| shell: bash | |
| run: | | |
| source /opt/ros/${{ matrix.distro }}/setup.bash | |
| export RMW_IMPLEMENTATION=rmw_zenoh_cpp | |
| export RUST_LOG=hiroz=debug,zenoh=warn | |
| FEATURES="${{ matrix.hiroz_feature }}" | |
| if [ "$FEATURES" = "humble" ]; then | |
| cargo nextest run -p hiroz-tests --profile interop \ | |
| --no-default-features --features ros-interop,humble | |
| else | |
| cargo nextest run -p hiroz-tests --profile interop \ | |
| --features "ros-interop,$FEATURES" | |
| # dynamic_subscriber tests are all #[ignore]'d in CI (ros2 topic | |
| # pub isn't graph-visible under CI's rmw_zenoh_cpp — see | |
| # headless_test.rs). --no-tests=warn keeps that from failing the job. | |
| cargo nextest run -p hiroz-union --profile interop \ | |
| --features ros-interop \ | |
| -E 'test(dynamic_subscriber)' \ | |
| --no-tests=warn | |
| fi | |
| - uses: actions/setup-go@v5 | |
| with: | |
| go-version: '1.23' | |
| cache: false | |
| - name: Build Rust FFI library + example binaries | |
| run: | | |
| FEATURES="ffi,${{ matrix.hiroz_feature }},rmw-zenoh" | |
| cargo build --release --no-default-features --features "$FEATURES" \ | |
| --lib --example z_pubsub --example z_srvcli --example zenoh_router | |
| - name: Generate Go message types (bundled IDL) | |
| run: | | |
| mkdir -p _tmp crates/hiroz-go/generated | |
| cargo run -p hiroz-codegen --bin export_json -- \ | |
| --assets crates/hiroz-codegen/assets/jazzy \ | |
| --output _tmp/go-manifest.json \ | |
| --packages builtin_interfaces,service_msgs,action_msgs,unique_identifier_msgs,std_msgs,example_interfaces | |
| cd crates/hiroz-codegen-go && go run . \ | |
| -input ../../_tmp/go-manifest.json \ | |
| -output ../hiroz-go/generated \ | |
| -prefix github.com/ZettaScaleLabs/hiroz/crates/hiroz-go | |
| - name: Go vet (static analysis) | |
| run: nu scripts/test-go.nu --vet-only | |
| - name: Run Go integration tests (Go↔Go + Go↔Rust + Go↔ROS2) | |
| shell: bash | |
| run: | | |
| source /opt/ros/${{ matrix.distro }}/setup.bash | |
| export RMW_IMPLEMENTATION=rmw_zenoh_cpp | |
| nu scripts/test-go.nu --integration |