generate-bindings.yml

name: Generate bindings

on:
  schedule:
    # Run the CI at 00:11 UTC every night
    # We pick an arbitrary time outside of most of the world's work hours
    # to minimize the likelihood of running alongside a heavy workload.
    - cron: '11 0 * * *'
  workflow_dispatch:

env:
  CARGO_TERM_COLOR: always

jobs:
  build:
    strategy:
      matrix:
        ros_distribution:
          - humble
          - jazzy
          - kilted
          - lyrical
          - rolling
        include:
          # Humble Hawksbill (May 2022 - May 2027)
          - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest
            ros_distribution: humble
            ros_version: 2
          # Jazzy Jalisco (May 2024 - May 2029)
          - docker_image: rostooling/setup-ros-docker:ubuntu-noble-ros-jazzy-ros-base-latest
            ros_distribution: jazzy
            ros_version: 2
          # Kilted Kaiju (May 2025 - Dec 2026)
          - docker_image: rostooling/setup-ros-docker:ubuntu-noble-ros-kilted-ros-base-latest
            ros_distribution: kilted
            ros_version: 2
          # Lyrical Luth (May 2026 - May 2031)
          - docker_image: rostooling/setup-ros-docker:ubuntu-resolute-ros-lyrical-ros-base-latest
            ros_distribution: lyrical
            ros_version: 2
          # Rolling Ridley  (June 2020 - Present)
          - docker_image: rostooling/setup-ros-docker:ubuntu-noble-ros-rolling-ros-base-latest
            ros_distribution: rolling
            ros_version: 2
    runs-on: ubuntu-latest
    if: |
        github.event_name == 'workflow_dispatch' || (
          github.event_name == 'schedule' && github.repository == 'ros2-rust/ros2_rust'
        )
    permissions:
      contents: write
      pull-requests: write
    container:
      image: ${{ matrix.docker_image }}
    steps:
    - uses: actions/checkout@v5
      with:
        fetch-depth: 0

    - name: Setup ROS environment
      uses: ros-tooling/setup-ros@v0.7
      with:
        required-ros-distributions: ${{ matrix.ros_distribution }}
        use-ros2-testing: ${{ matrix.ros_distribution == 'rolling' }}

    - name: Update environment and force upgrade new packages
      run: |
        apt-get update
        apt-get dist-upgrade -y

    - name: Setup Rust
      uses: dtolnay/rust-toolchain@1.85
      with:
        components: clippy, rustfmt

    - name: Install cargo binstall
      run: curl -L --proto '=https' --tlsv1.2 -sSf https://raw.githubusercontent.com/cargo-bins/cargo-binstall/main/install-from-binstall-release.sh | bash

    - name: Install bindgen
      run: cargo binstall -y bindgen-cli

    - name: Install GitHub CLI tool
      run: |
        (type -p wget >/dev/null || (sudo apt update && sudo apt install wget -y)) \
          && sudo mkdir -p -m 755 /etc/apt/keyrings \
          && out=$(mktemp) && wget -nv -O$out https://cli.github.com/packages/githubcli-archive-keyring.gpg \
          && cat $out | sudo tee /etc/apt/keyrings/githubcli-archive-keyring.gpg > /dev/null \
          && sudo chmod go+r /etc/apt/keyrings/githubcli-archive-keyring.gpg \
          && sudo mkdir -p -m 755 /etc/apt/sources.list.d \
          && echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/githubcli-archive-keyring.gpg] https://cli.github.com/packages stable main" | sudo tee /etc/apt/sources.list.d/github-cli.list > /dev/null \
          && sudo apt update \
          && sudo apt install gh -y

    - name: Generate bindings
      run: |
        . /opt/ros/${{ matrix.ros_distribution }}/setup.sh
        cd rclrs/src
        ../generate_bindings.py rcl_wrapper.h ${{ matrix.ros_distribution }} .

    - name: Submit PR
      run: |
        cd $GITHUB_WORKSPACE
        git config --global --add safe.directory $GITHUB_WORKSPACE
        if git diff --exit-code; then
          echo "No changes detected, skipping PR creation"
          exit 0
        fi

        git config --global user.email "action@github.com"
        git config --global user.name "GitHub Action"
        git remote set-url origin https://x-access-token:${{ secrets.GITHUB_TOKEN }}@github.com/${{ github.repository }}
        git fetch origin

        echo "Github env set and origin is fetched! Now checking if PR exists.."

        BRANCH_NAME="update-bindings-${{ matrix.ros_distribution }}"
        if gh pr list --head "$BRANCH_NAME" --state open --json number --jq length | grep -q '^0$'; then
          echo "No existing PR found, will create new one"
          CREATE_PR=1
        else
          echo "PR already exists, will update it"
          CREATE_PR=0
        fi
        
        git add rclrs/src/rcl_bindings_generated_${{ matrix.ros_distribution }}.rs
        git commit -m "build(bindings): regenerate bindings for ${{ matrix.ros_distribution }}"
        
        git push -f origin HEAD:refs/heads/$BRANCH_NAME
        
        if [ $CREATE_PR -eq 1 ]; then
          gh pr create \
            --base main \
            --head "$BRANCH_NAME" \
            --title "build(bindings): regenerate bindings for ${{ matrix.ros_distribution }}" \
            --body "This PR regenerates the bindings for ${{ matrix.ros_distribution }}."
            echo "Created new PR!"
        else
          echo "PR already exists and has been updated with new commit"
        fi
      env:
          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}