ARCHITECTURE_V2: kit anatomy — mixed Python/C++/docs + SKILL.md per k… #24
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| name: CI | |
| # Enforce the Phase 1 guarantee mechanically: a clean checkout must build, | |
| # pass the smoke suite, and actually publish over the C++ backend, with no | |
| # manual steps beyond `pixi run`. | |
| on: | |
| push: | |
| branches: [main] | |
| pull_request: | |
| # A newer push to the same branch/PR cancels the in-flight run. | |
| concurrency: | |
| group: ci-${{ github.ref }} | |
| cancel-in-progress: true | |
| jobs: | |
| build-test: | |
| name: build + test + bench smoke | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: Checkout | |
| uses: actions/checkout@v5 | |
| - name: Set up pixi | |
| uses: prefix-dev/setup-pixi@v0.10.0 | |
| with: | |
| # Pin pixi to the version that generated and validated pixi.lock | |
| # locally, so CI resolves the same environment. | |
| pixi-version: v0.70.0 | |
| # Default environment only. The `demos` env pulls multi-GB extras | |
| # (opencv / pcl / gstreamer) that none of the CI steps below need. | |
| environments: default | |
| # setup-pixi caches the solved environment keyed on pixi.lock. Only | |
| # write the cache from main so PR runs restore it without racing to | |
| # overwrite the shared entry. | |
| cache: true | |
| cache-write: ${{ github.event_name == 'push' && github.ref == 'refs/heads/main' }} | |
| # The pixi environment's activation provides RMW_IMPLEMENTATION, | |
| # ROS_AUTOMATIC_DISCOVERY_RANGE and LD_LIBRARY_PATH (see pixi.toml | |
| # [activation.env]); every `pixi run` below inherits them, so the | |
| # workflow deliberately sets no ROS env vars of its own. | |
| - name: Build | |
| run: pixi run build | |
| # flake8 scoped to rclcppyy/ + test/ (see .flake8); style codes relaxed, | |
| # real defects (unused imports/locals, etc.) are enforced. | |
| - name: Lint | |
| run: pixi run lint | |
| - name: Test (pub/sub roundtrip, monkeypatch, serialization parity) | |
| run: pixi run test | |
| # End-to-end proof that rclcppyy actually publishes over the C++ backend. | |
| # Cold cppyy JIT of rclcpp on a 2-core hosted runner is far slower than a | |
| # dev box, so the warmup budget is generous; run_benchmarks.py already | |
| # exits non-zero if the subscriber never receives a message. | |
| - name: Bench smoke (assert rclcppyy publishes) | |
| run: pixi run bench --variants rclcppyy --rate 1000 --duration 3 --warmup-timeout 300 --json |