🎯 New OpEn/opengen/matlab releases

.github/dependabot.yml

@@ -6,6 +6,6 @@
 version: 2
 updates:
   - package-ecosystem: "cargo"
-    directory: "/"
+    directory: "/rust"
     schedule:
       interval: "weekly"

.github/workflows/ci.yml

@@ -25,6 +25,8 @@ jobs:
             os: ubuntu-latest
           - name: macOS
             os: macos-latest
+          - name: Windows
+            os: windows-latest
     steps:
       - uses: actions/checkout@v5
 
@@ -34,16 +36,20 @@ jobs:
           rustflags: ""
 
       - name: Cargo tests
+        working-directory: rust
         run: cargo test
 
       - name: Cargo tests (RP and JEM)
+        if: runner.os != 'Windows'
+        working-directory: rust
         run: |
           cargo test --features rp
           cargo test --features jem
 
   python_tests:
     name: Python tests (${{ matrix.name }})
-    needs: rust_tests
+    needs:
+      - rust_tests
     runs-on: ${{ matrix.os }}
     timeout-minutes: 45
     strategy:
@@ -56,6 +62,9 @@ jobs:
           - name: macOS
             os: macos-latest
             skip_rpi_test: 1
+          - name: Windows
+            os: windows-latest
+            skip_rpi_test: 1
     env:
       DO_DOCKER: 0
       SKIP_RPI_TEST: ${{ matrix.skip_rpi_test }}
@@ -72,7 +81,7 @@ jobs:
         with:
           python-version: "3.12"
           cache: "pip"
-          cache-dependency-path: open-codegen/setup.py
+          cache-dependency-path: python/pyproject.toml
 
       - uses: egor-tensin/setup-clang@v1
         if: runner.os == 'Linux'
@@ -102,6 +111,69 @@ jobs:
         if: runner.os == 'macOS'
         run: bash ./ci/script.sh python-tests
 
+      - name: Install Python package
+        if: runner.os == 'Windows'
+        run: |
+          Set-Location python
+          python -m pip install --upgrade pip
+          python -m pip install .
+
+      - name: Run Python test.py
+        if: runner.os == 'Windows'
+        run: |
+          Set-Location python
+          $env:PYTHONPATH = "."
+          python -W ignore test/test.py -v
+
+  ros2_tests:
+    name: ROS2 tests
+    needs: python_tests
+    runs-on: ubuntu-latest
+    timeout-minutes: 45
+    container:
+      image: ubuntu:noble
+      options: --user 0
+    env:
+      DO_DOCKER: 0
+    steps:
+      - uses: actions/checkout@v5
+
+      - name: Install container bootstrap dependencies
+        run: |
+          apt-get update
+          DEBIAN_FRONTEND=noninteractive apt-get install -y \
+            build-essential \
+            cmake \
+            curl \
+            ca-certificates \
+            git \
+            gnupg2 \
+            locales \
+            lsb-release
+
+      - uses: actions-rust-lang/setup-rust-toolchain@v1
+        with:
+          toolchain: stable
+          rustflags: ""
+
+      - uses: actions/setup-python@v6
+        with:
+          python-version: "3.12"
+
+      - name: Setup ROS 2
+        # `ros-tooling/setup-ros@v0.7` still runs as a Node.js 20 action.
+        # Force it onto Node 24 now so CI keeps working as GitHub deprecates
+        # Node 20, and upgrade `setup-ros` to a Node 24-compatible release
+        # when one becomes available.
+        env:
+          FORCE_JAVASCRIPT_ACTIONS_TO_NODE24: true
+        uses: ros-tooling/setup-ros@v0.7
+        with:
+          required-ros-distributions: jazzy
+
+      - name: Run ROS2 Python tests
+        run: bash ./ci/script.sh ros2-tests
+
   ocp_tests:
     name: OCP tests (${{ matrix.name }})
     needs: python_tests
@@ -115,6 +187,8 @@ jobs:
             os: ubuntu-latest
           - name: macOS
             os: macos-latest
+          - name: Windows
+            os: windows-latest
     env:
       DO_DOCKER: 0
     steps:
@@ -129,7 +203,22 @@ jobs:
         with:
           python-version: "3.12"
           cache: "pip"
-          cache-dependency-path: open-codegen/setup.py
+          cache-dependency-path: python/pyproject.toml
 
       - name: Run OCP Python tests
+        if: runner.os != 'Windows'
         run: bash ./ci/script.sh ocp-tests
+
+      - name: Install Python package
+        if: runner.os == 'Windows'
+        run: |
+          Set-Location python
+          python -m pip install --upgrade pip
+          python -m pip install .
+
+      - name: Run OCP Python tests
+        if: runner.os == 'Windows'
+        run: |
+          Set-Location python
+          $env:PYTHONPATH = "."
+          python -W ignore test/test_ocp.py -v

.github/workflows/clippy.yml

@@ -8,14 +8,11 @@ jobs:
   clippy_check:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
-      - uses: actions-rs/toolchain@v1
+      - uses: actions/checkout@v5
+      - uses: actions-rust-lang/setup-rust-toolchain@v1
         with:
-          profile: minimal
           toolchain: stable
-          override: true
           components: clippy
-      - uses: actions-rs/clippy-check@v1
-        with:
-          token: ${{ secrets.GITHUB_TOKEN }}
-          args: --examples
+      - name: Cargo clippy
+        working-directory: rust
+        run: cargo clippy --all-targets --all-features --examples

.github/workflows/rustfmt.yml

@@ -10,14 +10,11 @@ jobs:
     name: Rustfmt
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
-      - uses: actions-rs/toolchain@v1
+      - uses: actions/checkout@v5
+      - uses: actions-rust-lang/setup-rust-toolchain@v1
         with:
-          profile: minimal
           toolchain: stable
-          override: true
           components: rustfmt
-      - uses: actions-rs/cargo@v1
-        with:
-          command: fmt
-          args: --all -- --check
+      - name: Cargo fmt
+        working-directory: rust
+        run: cargo fmt --all -- --check

.gitignore

@@ -1,77 +1,48 @@
-# Generated by Cargo
-# will have compiled files and executables
-.eggs
-.idea
-TODOS/
+# Rust
+.cargo
 /target
 target/
-.cargo
-*.odp#
-*.egg-info
-*.pyc
-open-codegen/opengen/icasadi/extern/Makefile
-virt
-data
-my_optimizers
-.python_test_build
-dist/
-
-# Python tests create this folder:
-open-codegen/opengen/.python_test_build/
-
-# Haphazard files:
-__main.rs
-design/open-card.odp
-design/open-interfaces.jpeg
-design/open-interfaces.odp
-design/open-interfaces.png
-main.rs
-open-codegen/run/
-open-codegen/venv*
-
-
-# Remove Cargo.lock from gitignore if creating an executable, leave it for libraries
-# More information here https://doc.rust-lang.org/cargo/guide/cargo-toml-vs-cargo-lock.html
-/Cargo.lock
+/rust/Cargo.lock
 open-clib/Cargo.lock
-
-# These are backup files generated by rustfmt
 *.rs.bk
 
-# Docusaurus website (autogenerated files)
-/website/i18n/
-/website/node_modules/
-/website/yarn.lock
-/website/build/
-/website/.docusaurus/
-!/website/pages/
-!/website/static/
-!/website/*.js
-!/website/blog/
-!/website/core/Footer.js
-!/website/README.md
-!/website/publish.sh
+# Python
+virt
 
-# icasadi external files
-/icasadi/extern/
+# Docs / website
+/docs/website/i18n/
+/docs/website/node_modules/
+/docs/website/yarn.lock
+/docs/website/build/
+/docs/website/.docusaurus/
 
-# Visual studio code files
+# Editors / local state
+.idea
 /.vscode/
+.DS_Store
 
-# Main file
-/src/main.rs
-
-# Autogenerated files (builds)
+# Project-local scratch files
+TODOS/
+data
+*.odp#
+__main.rs
+main.rs
+/rust/src/main.rs
 /autogenerated_*
 /build/
 !/build/README.md
 
-# Other files
+# Design assets that should stay local
+design/open-card.odp
+design/open-interfaces.jpeg
+design/open-interfaces.odp
+design/open-interfaces.png
 /design/panoc-only.png
+
+# Misc temporary files
 *.autosave
 *~
 .#*
-*private*
-.DS_Store
-/img/
+
+# Private work area
 private/