fix(gateway): plugin config from YAML, thread-safety, CI stability #1075
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| name: CI | |
| on: | |
| pull_request: | |
| branches: [main] | |
| push: | |
| branches: [main] | |
| jobs: | |
| build-and-test: | |
| runs-on: ubuntu-latest | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| include: | |
| - ros_distro: humble | |
| os_image: ubuntu:jammy | |
| - ros_distro: rolling | |
| os_image: ubuntu:noble | |
| continue-on-error: ${{ matrix.ros_distro == 'rolling' }} | |
| container: | |
| image: ${{ matrix.os_image }} | |
| timeout-minutes: 60 | |
| defaults: | |
| run: | |
| shell: bash | |
| steps: | |
| - name: Install Git | |
| run: | | |
| apt-get update | |
| apt-get install -y git | |
| - name: Checkout repository | |
| uses: actions/checkout@v4 | |
| - name: Set up ROS 2 ${{ matrix.ros_distro }} | |
| uses: ros-tooling/setup-ros@v0.7 | |
| with: | |
| required-ros-distributions: ${{ matrix.ros_distro }} | |
| - name: Install ccache | |
| run: apt-get install -y ccache | |
| - name: Cache ccache | |
| uses: actions/cache@v4 | |
| with: | |
| path: /root/.cache/ccache | |
| key: ccache-${{ matrix.ros_distro }}-${{ github.sha }} | |
| restore-keys: | | |
| ccache-${{ matrix.ros_distro }}- | |
| - name: Install dependencies | |
| run: | | |
| apt-get update | |
| apt-get install -y ros-${{ matrix.ros_distro }}-test-msgs | |
| source /opt/ros/${{ matrix.ros_distro }}/setup.bash | |
| rosdep update | |
| rosdep install --from-paths src --ignore-src -y | |
| - name: Build packages | |
| env: | |
| CCACHE_DIR: /root/.cache/ccache | |
| CCACHE_MAXSIZE: 500M | |
| CCACHE_SLOPPINESS: pch_defines,time_macros | |
| run: | | |
| source /opt/ros/${{ matrix.ros_distro }}/setup.bash | |
| colcon build --symlink-install \ | |
| --cmake-args -DCMAKE_BUILD_TYPE=Release \ | |
| --event-handlers console_direct+ | |
| ccache -s | |
| - name: Run unit and integration tests | |
| timeout-minutes: 15 | |
| run: | | |
| source /opt/ros/${{ matrix.ros_distro }}/setup.bash | |
| colcon test --return-code-on-test-failure \ | |
| --ctest-args -LE linter \ | |
| --event-handlers console_direct+ | |
| - name: Show test results | |
| if: always() | |
| run: colcon test-result --verbose | |
| - name: Upload test results | |
| if: always() | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: test-results-${{ matrix.ros_distro }} | |
| path: | | |
| log/ | |
| build/*/test_results/ | |
| jazzy-build: | |
| runs-on: ubuntu-latest | |
| container: | |
| image: ubuntu:noble | |
| timeout-minutes: 60 | |
| defaults: | |
| run: | |
| shell: bash | |
| steps: | |
| - name: Install Git | |
| run: | | |
| apt-get update | |
| apt-get install -y git | |
| - name: Checkout repository | |
| uses: actions/checkout@v4 | |
| - name: Set up ROS 2 Jazzy | |
| uses: ros-tooling/setup-ros@v0.7 | |
| with: | |
| required-ros-distributions: jazzy | |
| - name: Install ccache | |
| run: apt-get install -y ccache | |
| - name: Cache ccache | |
| uses: actions/cache@v4 | |
| with: | |
| path: /root/.cache/ccache | |
| key: ccache-jazzy-${{ github.sha }} | |
| restore-keys: | | |
| ccache-jazzy- | |
| - name: Install dependencies | |
| run: | | |
| apt-get update | |
| apt-get install -y ros-jazzy-test-msgs | |
| source /opt/ros/jazzy/setup.bash | |
| rosdep update | |
| rosdep install --from-paths src --ignore-src -y | |
| - name: Build packages | |
| env: | |
| CCACHE_DIR: /root/.cache/ccache | |
| CCACHE_MAXSIZE: 500M | |
| CCACHE_SLOPPINESS: pch_defines,time_macros | |
| run: | | |
| source /opt/ros/jazzy/setup.bash | |
| colcon build --symlink-install \ | |
| --cmake-args -DCMAKE_BUILD_TYPE=Release \ | |
| --event-handlers console_direct+ | |
| ccache -s | |
| - name: Package build artifacts | |
| run: tar cf /tmp/jazzy-build.tar build/ install/ | |
| - name: Upload build artifacts | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: jazzy-build | |
| path: /tmp/jazzy-build.tar | |
| retention-days: 1 | |
| jazzy-test: | |
| needs: jazzy-build | |
| runs-on: ubuntu-latest | |
| container: | |
| image: ubuntu:noble | |
| timeout-minutes: 45 | |
| defaults: | |
| run: | |
| shell: bash | |
| steps: | |
| - name: Install Git | |
| run: | | |
| apt-get update | |
| apt-get install -y git | |
| - name: Checkout repository | |
| uses: actions/checkout@v4 | |
| - name: Set up ROS 2 Jazzy | |
| uses: ros-tooling/setup-ros@v0.7 | |
| with: | |
| required-ros-distributions: jazzy | |
| - name: Install dependencies | |
| run: | | |
| apt-get update | |
| apt-get install -y ros-jazzy-test-msgs | |
| source /opt/ros/jazzy/setup.bash | |
| rosdep update | |
| rosdep install --from-paths src --ignore-src -y | |
| - name: Download build artifacts | |
| uses: actions/download-artifact@v4 | |
| with: | |
| name: jazzy-build | |
| - name: Extract build artifacts | |
| run: tar xf jazzy-build.tar && rm jazzy-build.tar | |
| - name: Run unit and integration tests | |
| run: | | |
| source /opt/ros/jazzy/setup.bash | |
| colcon test --return-code-on-test-failure \ | |
| --ctest-args -LE linter \ | |
| --event-handlers console_direct+ | |
| - name: Show test results | |
| if: always() | |
| run: colcon test-result --verbose | |
| - name: Upload test results | |
| if: always() | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: test-results-jazzy-test | |
| path: | | |
| log/ | |
| build/*/test_results/ | |
| coverage: | |
| runs-on: ubuntu-latest | |
| container: | |
| image: ubuntu:noble | |
| timeout-minutes: 45 | |
| defaults: | |
| run: | |
| shell: bash | |
| steps: | |
| - name: Install Git | |
| run: | | |
| apt-get update | |
| apt-get install -y git | |
| - name: Checkout repository | |
| uses: actions/checkout@v4 | |
| - name: Set up ROS 2 Jazzy | |
| uses: ros-tooling/setup-ros@v0.7 | |
| with: | |
| required-ros-distributions: jazzy | |
| - name: Install ccache | |
| run: apt-get install -y ccache | |
| - name: Cache ccache | |
| uses: actions/cache@v4 | |
| with: | |
| path: /root/.cache/ccache | |
| key: ccache-coverage-${{ github.sha }} | |
| restore-keys: | | |
| ccache-coverage- | |
| - name: Install dependencies | |
| run: | | |
| apt-get update | |
| apt-get install -y lcov ros-jazzy-test-msgs | |
| source /opt/ros/jazzy/setup.bash | |
| rosdep update | |
| rosdep install --from-paths src --ignore-src -r -y | |
| - name: Build packages with coverage | |
| env: | |
| CCACHE_DIR: /root/.cache/ccache | |
| CCACHE_MAXSIZE: 500M | |
| CCACHE_SLOPPINESS: pch_defines,time_macros | |
| run: | | |
| source /opt/ros/jazzy/setup.bash | |
| colcon build --symlink-install \ | |
| --cmake-args -DCMAKE_BUILD_TYPE=Debug -DENABLE_COVERAGE=ON \ | |
| --event-handlers console_direct+ | |
| ccache -s | |
| - name: Run unit and integration tests for coverage | |
| run: | | |
| source /opt/ros/jazzy/setup.bash | |
| colcon test \ | |
| --ctest-args -LE linter \ | |
| --event-handlers console_direct+ | |
| - name: Generate coverage report | |
| run: | | |
| lcov --capture --directory build --output-file coverage.raw.info \ | |
| --ignore-errors mismatch,negative,empty,gcov | |
| if [ ! -s coverage.raw.info ] || ! grep -q 'SF:' coverage.raw.info; then | |
| echo "::error::No valid coverage data found in coverage.raw.info" | |
| exit 1 | |
| fi | |
| lcov --extract coverage.raw.info \ | |
| '*/ros2_medkit/src/*/src/*' \ | |
| '*/ros2_medkit/src/*/include/*' \ | |
| --output-file coverage.extracted.info \ | |
| --ignore-errors unused,empty | |
| lcov --remove coverage.extracted.info \ | |
| '*/vendored/*' \ | |
| --output-file coverage.info \ | |
| --ignore-errors unused,empty | |
| if [ ! -s coverage.info ]; then | |
| echo "::error::Filtered coverage.info is empty - no source files matched" | |
| exit 1 | |
| fi | |
| lcov --list coverage.info | |
| genhtml coverage.info --output-directory coverage_html --ignore-errors source | |
| - name: Upload coverage HTML report as artifact | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: coverage-report | |
| path: coverage_html/ | |
| - name: Upload coverage to Codecov | |
| if: github.event_name == 'push' && github.ref == 'refs/heads/main' | |
| uses: codecov/codecov-action@v5 | |
| with: | |
| token: ${{ secrets.CODECOV_TOKEN }} | |
| files: coverage.info | |
| flags: unittests,integration | |
| name: ros2_medkit-coverage | |
| fail_ci_if_error: true | |
| verbose: true | |
| notify-demos: | |
| needs: [jazzy-test] | |
| if: >- | |
| github.event_name == 'push' && | |
| github.ref == 'refs/heads/main' && | |
| needs.jazzy-test.result == 'success' | |
| runs-on: ubuntu-latest | |
| # Only Jazzy gates the dispatch. Humble failures do not block demos CI - intentional tradeoff. | |
| permissions: {} | |
| steps: | |
| - name: Trigger selfpatch_demos CI | |
| uses: peter-evans/repository-dispatch@v4 | |
| with: | |
| token: ${{ secrets.DEMOS_DISPATCH_TOKEN }} | |
| repository: selfpatch/selfpatch_demos | |
| event-type: ros2_medkit_updated | |
| client-payload: '{"sha":"${{ github.sha }}","run_url":"${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }}"}' |