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Improve CI caching and add Zenoh raw driver#216

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joaoantoniocardoso wants to merge 16 commits into
bluerobotics:masterfrom
joaoantoniocardoso:improve_ci
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Improve CI caching and add Zenoh raw driver#216
joaoantoniocardoso wants to merge 16 commits into
bluerobotics:masterfrom
joaoantoniocardoso:improve_ci

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@joaoantoniocardoso

@joaoantoniocardoso joaoantoniocardoso commented Jun 10, 2026 •
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Summary

  • Add Zenoh raw MAVLink driver with refactored zenoh module layout, JSON driver extraction, and integration tests
  • Rework CI: shared frontend artifact with SKIP_FRONTEND=1, cargo-nextest, Swatinem/rust-cache@v2, and mozilla-actions/sccache-action@v0.0.9
  • Use cross for Linux musl matrix builds with in-container sccache (cross wiki recipe) and container-side stats reporting
  • Consolidate endpoint/arm-vehicle workflows into the main build workflow
  • Fix flaky read_all_messages tlog test by increasing timeout under CI load

Test plan

  • Full Test and Build workflow green on fork (improve_ci, commit 8a0408e)
  • Upstream PR CI green (12/12 jobs, run 27254657987)
  • Linux cross builds pass for all 4 musl targets + dedicated x86_64 job
  • Container sccache stats emitted via Report sccache stats step (not misleading host 0/0/0)
  • Cold upstream Linux sccache activity confirmed (~550 compilations/job on first run; 0 hits expected on cold populate)
  • Warm fork reruns stable (sccache shows ~1 compilation when rust-cache restores target/)
  • Review Zenoh raw driver behaviour and topic layout

Cold-run Linux sccache stats (upstream, first CI run)

Job Hits Misses Compilations Requests
x86_64-unknown-linux-musl 0 558 558 690
aarch64-unknown-linux-musl 0 552 552 684
arm-unknown-linux-musleabihf 0 550 550 682
armv7-unknown-linux-musleabihf 0 550 550 682

joaoantoniocardoso and others added 16 commits June 9, 2026 13:57
@joaoantoniocardoso
cargo: update zenoh crate
190e960
@joaoantoniocardoso
src: lib: drivers: Extract mavlink json driver into its own file
0116195
@joaoantoniocardoso
src: lib: drivers: zenoh: Move session to a singleton
f45b144
@joaoantoniocardoso
src: lib: drivers: zenoh: Introduce ZenohRaw driver
f876ed3
@joaoantoniocardoso
src: lib: drivers: zenoh: json: Add topic prefix constant
fa01443
@joaoantoniocardoso
src: lib: drivers: zenoh: json: Align run loop with other drivers
118a94d
@joaoantoniocardoso
src: lib: drivers: zenoh: json: Cache publishers for hot publish paths
5b49982
@joaoantoniocardoso
src: lib: Add missing zenoh to CLI tests
a600675
@joaoantoniocardoso
cargo: Add zenoh to tests dependencies
f205c62
@joaoantoniocardoso
tests: common: Add ephemeral port and stats wait helpers
31669ba
@joaoantoniocardoso
tests: Enable parallel-safe tcp, udp, and websocket integration tests
a59ffa3
@joaoantoniocardoso
tests: zenoh: Add bidirectional integration tests
3efec5c
@joaoantoniocardoso
.github: workflows: Adopt cargo-nextest for parallel test execution
966a05d
@joaoantoniocardoso
.github: workflows: Run endpoint tests from build artifact
70ccede
@joaoantoniocardoso
.github: workflows: Improve CI with cache, shared frontend, and nativ…
ddf458a 
…e builds
@joaoantoniocardoso @cursoragent
fix
8a0408e 
Co-authored-by: Cursor <cursoragent@cursor.com>
@joaoantoniocardoso

joaoantoniocardoso commented Jun 10, 2026

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Split into two stacked PRs for review:

@joaoantoniocardoso joaoantoniocardoso mentioned this pull request Jun 10, 2026
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