ci(hu): wasm plugin test job, full check-hu, hu docs (hu stack 9/9) (#240)

Author: YuanYuYuan

.github/workflows/ci.yml

@@ -79,11 +79,11 @@ jobs:
         uses: jlumbroso/free-disk-space@main
         with:
           large-packages: true
-          tool-cache: false
-          android: false
-          dotnet: false
-          haskell: false
-          docker-images: false
+          tool-cache: true
+          android: true
+          dotnet: true
+          haskell: true
+          docker-images: true
           swap-storage: false
 
       - name: Install Nix (Linux)
@@ -176,11 +176,11 @@ jobs:
         uses: jlumbroso/free-disk-space@main
         with:
           large-packages: true
-          tool-cache: false
-          android: false
-          dotnet: false
-          haskell: false
-          docker-images: false
+          tool-cache: true
+          android: true
+          dotnet: true
+          haskell: true
+          docker-images: true
           swap-storage: false
 
       - name: Install Nix (Linux)
@@ -234,11 +234,11 @@ jobs:
         uses: jlumbroso/free-disk-space@main
         with:
           large-packages: true
-          tool-cache: false
-          android: false
-          dotnet: false
-          haskell: false
-          docker-images: false
+          tool-cache: true
+          android: true
+          dotnet: true
+          haskell: true
+          docker-images: true
           swap-storage: false
 
       - name: Install Nix
@@ -311,11 +311,11 @@ jobs:
         uses: jlumbroso/free-disk-space@main
         with:
           large-packages: true
-          tool-cache: false
-          android: false
-          dotnet: false
-          haskell: false
-          docker-images: false
+          tool-cache: true
+          android: true
+          dotnet: true
+          haskell: true
+          docker-images: true
           swap-storage: false
 
       - name: Install Nix (Linux)
@@ -352,6 +352,7 @@ jobs:
         uses: actions-rust-lang/setup-rust-toolchain@v1
         with:
           toolchain: stable
+          target: wasm32-wasip2
           components: clippy, rustfmt
 
       - name: Install dependencies (macOS)
@@ -420,6 +421,56 @@ jobs:
           nu scripts/test-pure-rust.nu clippy-tests
         shell: bash
 
+  wasm-plugin-tests:
+    name: WASM Plugin Tests (ubuntu-latest)
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Free Disk Space (Ubuntu)
+        uses: jlumbroso/free-disk-space@main
+        with:
+          large-packages: true
+          tool-cache: true
+          android: true
+          dotnet: true
+          haskell: true
+          docker-images: true
+          swap-storage: false
+
+      - name: Install Nix
+        uses: cachix/install-nix-action@v31
+        with:
+          extra_nix_config: |
+            extra-substituters = https://hiroz.cachix.org
+            extra-trusted-public-keys = hiroz.cachix.org-1:wKJuqEckTG0DL3Df7Ly9OVsg5S5TGBHtvlPGs+vlqrY=
+
+      - name: Setup Cachix
+        uses: cachix/cachix-action@v15
+        with:
+          name: hiroz
+          authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
+          skipPush: ${{ github.event_name == 'pull_request' }}
+
+      - name: Setup nix environment
+        run: |
+          nix print-dev-env '.#pureRust-ci' --accept-flake-config > /tmp/nix-dev-env.sh
+          echo "export CI=true" >> /tmp/nix-dev-env.sh
+
+      - name: Setup Rust cache
+        uses: Swatinem/rust-cache@v2
+        with:
+          shared-key: ubuntu-latest-wasm-plugin-tests
+
+      - name: Run WASM plugin tests
+        run: |
+          source /tmp/nix-dev-env.sh
+          bash scripts/ci/hu-tests.sh
+
   go-tests:
     name: Go Tests (${{ matrix.os }})
     runs-on: ${{ matrix.os }}
@@ -483,11 +534,11 @@ jobs:
         uses: jlumbroso/free-disk-space@main
         with:
           large-packages: true
-          tool-cache: false
-          android: false
-          dotnet: false
-          haskell: false
-          docker-images: false
+          tool-cache: true
+          android: true
+          dotnet: true
+          haskell: true
+          docker-images: true
           swap-storage: false
 
       - name: Install Nix
@@ -600,11 +651,11 @@ jobs:
         uses: jlumbroso/free-disk-space@main
         with:
           large-packages: true
-          tool-cache: false
-          android: false
-          dotnet: false
-          haskell: false
-          docker-images: false
+          tool-cache: true
+          android: true
+          dotnet: true
+          haskell: true
+          docker-images: true
           swap-storage: false
 
       - name: Install Nix

.github/workflows/test.yml

@@ -57,14 +57,53 @@ jobs:
     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: apt-get update && apt-get install -y nodejs
+        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: |
@@ -123,6 +162,13 @@ jobs:
           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

RELEASING.md

@@ -52,7 +52,7 @@ This pushes `v0.0.0-smoke-test`, waits for all CI jobs to pass (builds, smoke te
 The CI pipeline exercises:
 
 - All wheel builds (jazzy + humble × x86_64 Linux, aarch64 Linux, aarch64 macOS)
-- All binary builds (`hiroz-console`)
+- The `hu` binary build, plus the `hu-meter` / `hu-monitor` WASM plugins (`hu_meter.wasm` / `hu_monitor.wasm`, `wasm32-wasip2` target)
 - All Go library builds (`libhiroz` static + shared)
 - Python smoke test: install into venv, `import hiroz_py`
 - Binary smoke test: `--help` + 3-second runtime check (no crash)

docs/core-concepts/actions-advanced.md

@@ -96,7 +96,7 @@ pub async fn run_fibonacci_action_server(ctx: ZContext, timeout: Option<Duration
 
 ```bash
 # Start Eclipse Zenoh router first
-cargo run --example zenoh_router
+hu router
 
 # Run the server (runs until Ctrl+C)
 cargo run --example demo_nodes_fibonacci_action_server
@@ -200,7 +200,7 @@ cargo run --example demo_nodes_fibonacci_action_client -- --endpoint tcp/localho
 **Terminal 1 - Start Zenoh Router:**
 
 ```bash
-cargo run --example zenoh_router
+hu router
 ```
 
 **Terminal 2 - Start Action Server:**

docs/core-concepts/parameters.md

@@ -488,7 +488,7 @@ The parameter examples are now split into focused binaries:
 
 ```bash
 # Start a Zenoh router first
-cargo run --example zenoh_router
+hu router
 
 # Local declare/get/set/undeclare flow
 cargo run --example z_parameter_declare

docs/core-concepts/pubsub.md

@@ -225,7 +225,7 @@ while let Ok(msg) = subscriber.async_recv().await {
 **Terminal 1 — Start Zenoh Router:**
 
 ```bash
-cargo run --example zenoh_router
+hu router
 ```
 
 **Terminal 2 — Start Subscriber:**

docs/core-concepts/services.md

@@ -236,7 +236,7 @@ A client that sends an addition request and prints the result. Full source: [`cr
 **Terminal 1 — Start Zenoh Router:**
 
 ```bash
-cargo run --example zenoh_router
+hu router
 ```
 
 **Terminal 2 — Start Server:**

docs/getting-started/quick-start.md

@@ -9,7 +9,7 @@ Pre-built artifacts are available on the [Releases page](https://github.com/Zett
 
 | Artifact | Use case | Install |
 |---|---|---|
-| `hiroz-console` binary | Monitor any ROS 2 / hiroz system | [Console docs](../tools/console.md#installation) |
+| `hu` binary | Monitor and introspect any ROS 2 / hiroz system | Forthcoming — not yet a release artifact; [build from source](../tools/hu.md#installation) |
 | `hiroz_py` Python wheel | Python pub/sub & services | [Python quick start](../bindings/python-quick-start.md) |
 | `libhiroz` Go library | Go pub/sub & services | [Go quick start](../bindings/go-quick-start.md) |
 
@@ -50,7 +50,7 @@ The router is a lightweight process that lets nodes find each other — think of
 **Terminal 1 — Start the Router:**
 
 ```bash
-cargo run --example zenoh_router
+hu router
 ```
 
 ### Run the Pub/Sub Example
@@ -91,7 +91,7 @@ Ready to build your own hiroz application? Follow these steps to create a new pr
 
 ### 1. Install the Zenoh Router
 
-Since you won't have access to the `zenoh_router` example outside the hiroz repository, you'll need to install a Zenoh router. Here are the quickest options:
+Outside the hiroz repository you'll need a Zenoh router — either the standalone `hu router` command (if you have the `hu` tool installed) or one of the quickest options below:
 
 **Option A: Using cargo (if you have Rust):**