test.yml

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