hiroz/.github/workflows/ci.yml at feed17602eb5ba180ea006337967ec630ccbb40f · ZettaScaleLabs/hiroz · GitHub

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name: CI

on:
  push:
    branches: [ main ]
  pull_request:
    branches: [ main ]

jobs:
  no-ros:
    name: ROS-independent Test
    runs-on: ubuntu-latest

    steps:
      - name: Checkout repository
        uses: actions/checkout@v4

      - name: Install Nix
        uses: DeterminateSystems/nix-installer-action@v15

      - name: Setup Magic Nix Cache
        uses: DeterminateSystems/magic-nix-cache-action@v9

      - name: Setup sccache
        if: env.ACT != 'true'
        uses: mozilla-actions/sccache-action@v0.0.9

      - name: Check Nix formatting
        run: |
          nix fmt -- --check flake.nix

      - name: Check Markdown formatting
        run: |
          nix develop '.#noRos-ci' -c markdownlint '**/*.md'

      - name: Check Rust formatting
        run: |
          nix develop '.#noRos-ci' -c cargo fmt --all -- --check

      - name: Clippy (default workspace)
        run: |
          nix develop '.#noRos-ci' -c cargo clippy --lib --bins --tests -- -D warnings

      - name: Check default workspace
        run: |
          nix develop '.#noRos-ci' -c cargo check

      - name: Build default workspace
        run: |
          nix develop '.#noRos-ci' -c cargo build

      - name: Build examples without ROS dependencies
        run: |
          nix develop '.#noRos-ci' -c cargo build --examples

      - name: Run tests
        run: |
          nix develop '.#noRos-ci' -c cargo test

      - name: Check ros-z-msgs with bundled messages (no ROS required)
        run: |
          nix develop '.#noRos-ci' -c cargo check -p ros-z-msgs
          nix develop '.#noRos-ci' -c cargo check -p ros-z-msgs --features bundled_msgs
          nix develop '.#noRos-ci' -c cargo check -p ros-z-msgs --features common_interfaces

      - name: Build ros-z-msgs with individual bundled packages
        run: |
          nix develop '.#noRos-ci' -c cargo build -p ros-z-msgs --no-default-features --features std_msgs
          nix develop '.#noRos-ci' -c cargo build -p ros-z-msgs --no-default-features --features geometry_msgs
          nix develop '.#noRos-ci' -c cargo build -p ros-z-msgs --no-default-features --features sensor_msgs
          nix develop '.#noRos-ci' -c cargo build -p ros-z-msgs --no-default-features --features nav_msgs

  with-ros:
    name: ROS-dependent Test (${{ matrix.distro }})
    runs-on: ubuntu-latest
    strategy:
      matrix:
        distro: [jazzy]
        # distro: [jazzy, rolling]  # Uncomment to test rolling when stable

    steps:
      - name: Checkout repository
        uses: actions/checkout@v4

      - name: Install Nix
        uses: DeterminateSystems/nix-installer-action@v15
        with:
          extra-conf: |
            extra-substituters = https://ros.cachix.org
            extra-trusted-public-keys = ros.cachix.org-1:dSyZxI8geDCJrwgvCOHDoAfOm5sV1wCPjBkKL+38Rvo=

      - name: Setup Magic Nix Cache
        uses: DeterminateSystems/magic-nix-cache-action@v9

      - name: Setup Cachix
        uses: cachix/cachix-action@v15
        with:
          name: ros
          authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
          skipPush: true

      - name: Setup sccache
        if: env.ACT != 'true'
        uses: mozilla-actions/sccache-action@v0.0.9

      - name: Check rcl-z
        run: |
          nix develop '.#${{ matrix.distro }}-ci' -c cargo check -p rcl-z

      - name: Check ros-z-msgs (default bundled features)
        run: |
          nix develop '.#${{ matrix.distro }}-ci' -c cargo check -p ros-z-msgs

      - name: Check ros-z-msgs with external messages
        run: |
          nix develop '.#${{ matrix.distro }}-ci' -c cargo check -p ros-z-msgs --features external_msgs
          nix develop '.#${{ matrix.distro }}-ci' -c cargo check -p ros-z-msgs --features example_interfaces

      - name: Check ros-z-msgs with all messages (bundled + external)
        run: |
          nix develop '.#${{ matrix.distro }}-ci' -c cargo check -p ros-z-msgs --features all_msgs

      - name: Check with protobuf feature
        run: |
          nix develop '.#${{ matrix.distro }}-ci' -c cargo check -p ros-z -p ros-z-msgs --features ros-z/protobuf,ros-z-msgs/protobuf

      - name: Check ros-z (with rcl-z feature)
        run: |
          nix develop '.#${{ matrix.distro }}-ci' -c cargo check -p ros-z --features rcl-z

      - name: Build ROS message examples
        run: |
          nix develop '.#${{ matrix.distro }}-ci' -c cargo build -p ros-z-msgs
          nix develop '.#${{ matrix.distro }}-ci' -c cargo build --examples
          nix develop '.#${{ matrix.distro }}-ci' -c cargo build --example z_srvcli --features external_msgs

      - name: Build protobuf demo
        run: |
          nix develop '.#${{ matrix.distro }}-ci' -c cargo build -p protobuf_demo

      # FIXME: This requires the installation of rmw_zenoh_cpp triggering a build from source...
      # - name: Run unit tests
      #   run: |
      #     nix develop .#ci -c cargo test --all-features