Merge branch 'main' into add-musl-support

Author: Myriade-Medieval

.github/actions/save-disk-space/action.yml

@@ -12,6 +12,10 @@ inputs:
     description: "Defines if the Dotnet Framework shall be removed in the pre step"
     required: false
     default: "false"
+  skip-remove-go-from-runner:
+    description: "Defines if the golang shall be removed in the pre step"
+    required: false
+    default: "false"
 runs:
   using: "composite"
   steps:
@@ -22,8 +26,11 @@ runs:
           sudo rm -rf /opt/ghc || true # Remove Haskell
           sudo rm -rf /usr/local/.ghcup || true # Remove Haskell
           sudo rm -rf /usr/share/swift || true 
-          sudo rm -rf /usr/lib/google-cloud-sdk || true 
-          sudo rm -rf /usr/local/share/chromium || true 
+          sudo rm -rf /usr/lib/firefox || true
+          sudo rm -rf /usr/lib/google-cloud-sdk || true
+          sudo rm -rf /usr/local/julia* || true
+          sudo rm -rf /usr/local/share/chromium || true
+          sudo rm -rf /usr/share/miniconda || true
           sudo rm -rf /opt/microsoft/msedge || true
           sudo rm -rf /opt/google/chrome || true
 
@@ -35,10 +42,14 @@ runs:
             sudo rm -rf /usr/share/dotnet || true
           fi
 
+          if [[ ${{ inputs.skip-remove-go-from-runner }} == 'false' ]]; then
+            sudo rm -rf /opt/hostedtoolcache/go || true
+          fi
+
 
       - name: Cleanup build files from cargo target folder
         if: ${{ inputs.mode == 'cleanup-rust-build-files-from-cargo-target-folder' }}
         shell: bash
         run: |
           rm -rf ${{ github.workspace }}/target/{debug,release}/{deps,incremental}
-          rm -rf ${{ github.workspace }}/target/*/{debug,release}/{deps,incremental} # Cleanup subfolders for target triples
+          rm -rf ${{ github.workspace }}/target/*/{debug,release}/{deps,incremental} # Cleanup subfolders for target triples

.github/workflows/build-test.yml

@@ -67,15 +67,38 @@ jobs:
       - name: Lint Rust
         run: |
           just lint sdk rust
-          just lint integrations rust
+          just lint integrations-zenoh rust
 
       - name: Install rust-script
         run: cargo install rust-script --locked
 
       - name: Verify std feature propagation
         run: |
           just verify sdk std-propagation
-          just verify integrations std-propagation
+          just verify integrations-zenoh std-propagation
+          just verify integrations-ros2 std-propagation
+
+  nightly-check:
+    if: github.event.pull_request.draft == false
+    timeout-minutes: 20
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check nightly action status
+        run: |
+          COLOR_OFF='\033[0m'
+          COLOR_RED='\033[1;31m'
+          COLOR_GREEN='\033[1;32m'
+          COLOR_YELLOW='\033[1;33m'
+          LAST_RUN_STATUS=$(curl -s "https://api.github.com/repos/eclipse-iceoryx/iceoryx2/actions/workflows/nightly.yml/runs" | jq -r '.workflow_runs[0].conclusion')
+          if [[ "${LAST_RUN_STATUS}" == "success" ]]; then
+            echo -e "Last nightly run status: ${COLOR_GREEN}${LAST_RUN_STATUS}${COLOR_OFF}"
+          else
+            echo -e "Last nightly run status: ${COLOR_RED}${LAST_RUN_STATUS}${COLOR_OFF}"
+            echo -e "${COLOR_RED}Error! The nightly workflow failed on the last run. Please check and fix the nightly workflow before merging this PR.${COLOR_OFF}"
+            echo -e "${COLOR_YELLOW}You can trigger the nightly workflow manually from 'https://github.com/eclipse-iceoryx/iceoryx2/actions/workflows/nightly.yml'.${COLOR_OFF}"
+            echo -e "${COLOR_YELLOW}Just look for the 'Run workflow' button. The branch where the workflow shall run can also be selected.${COLOR_OFF}"
+            exit 1
+          fi
 
   linting-markdown:
     needs: changes
@@ -100,7 +123,7 @@ jobs:
       - name: Lint markdown
         run: |
           just lint sdk markdown
-          just lint integrations markdown
+          just lint integrations-zenoh markdown
 
       - name: Check config key documentation
         run: ./internal/scripts/ci_check_description_vector_and_README.sh
@@ -153,12 +176,12 @@ jobs:
       - name: Run code examples in documentation
         run: |
           just test sdk --doc
-          just test integrations --doc
+          just test integrations-zenoh --doc
 
       - name: Build documentation
         run: |
           just doc sdk rust
-          just doc integrations rust
+          just doc integrations-zenoh rust
 
   cargo-nextest:
     needs: preflight-check
@@ -314,7 +337,7 @@ jobs:
           docker build \
             -f iceoryx2-services/tunnel-end-to-end-tests/Dockerfile \
             --build-arg ENTRYPOINT_BIN=target/release/iox2-tunnel \
-            --build-arg BACKEND_BIN=integrations/target/release/iox2-tunnel-${{ matrix.tunnel }} \
+            --build-arg BACKEND_BIN=integrations/${{ matrix.tunnel }}/target/release/iox2-tunnel-${{ matrix.tunnel }} \
             --build-arg PINGER_BIN=target/release/iceoryx2-services-tunnel-end-to-end-tests-pinger \
             --build-arg PONGER_BIN=target/release/iceoryx2-services-tunnel-end-to-end-tests-ponger \
             -t end-to-end-tests:${{ github.sha }} .
@@ -364,7 +387,7 @@ jobs:
       profile: "debug"
       workspace: sdk
 
-  integrations-stable-debug:
+  integrations-zenoh-stable-debug:
     needs: [preflight-check, cargo-nextest]
     if: ${{ needs.changes.outputs.source-code == 'true' }}
     strategy:
@@ -376,7 +399,23 @@ jobs:
       os: ${{ matrix.os }}
       toolchain: ${{ matrix.toolchain }}
       profile: "debug"
-      workspace: integrations
+      workspace: zenoh
+
+  integrations-ros2-stable-debug:
+    needs: [preflight-check]
+    if: ${{ needs.changes.outputs.source-code == 'true' }}
+    strategy:
+      fail-fast: false
+      matrix:
+        ros:
+          - { distro: jazzy, rmw: rmw_fastrtps_cpp }
+          - { distro: humble, rmw: rmw_cyclonedds_cpp }
+    uses: ./.github/workflows/reuse_ros2.yml
+    with:
+      ros-distro: ${{ matrix.ros.distro }}
+      rmw: ${{ matrix.ros.rmw }}
+      toolchain: stable
+      profile: "debug"
 
   sdk-stable-release:
     needs: [preflight-check, cargo-nextest]
@@ -388,15 +427,15 @@ jobs:
       profile: "release"
       workspace: sdk
 
-  integrations-stable-release:
+  integrations-zenoh-stable-release:
     needs: [preflight-check, cargo-nextest]
     if: ${{ needs.changes.outputs.source-code == 'true' }}
     uses: ./.github/workflows/reuse_stable.yml
     with:
       os: ubuntu-latest
       toolchain: stable
       profile: "release"
-      workspace: integrations
+      workspace: zenoh
 
   unstable:
     needs: [preflight-check, cargo-nextest]
@@ -441,7 +480,7 @@ jobs:
             ./internal/scripts/ci_prepare_freebsd.sh
             ./internal/scripts/ci_build_and_test_freebsd.sh --toolchain ${{ matrix.toolchain }} --mode ${{ matrix.mode }}
 
-  # NOTE: No Bazel build for integrations workspace. This is on purpose.
+  # NOTE: No Bazel build for zenoh workspace. This is on purpose.
   Bazel:
     needs: [preflight-check]
     if: ${{ needs.changes.outputs.source-code == 'true' }}
@@ -524,14 +563,14 @@ jobs:
         run: |
           just prepare-release all versions --version 0.0.0
 
-      # NOTE: No publish dry run for integrations workspace. This is on purpose.
-      #       A dry run is not possible since the integrations workspace depends
+      # NOTE: No publish dry run for zenoh workspace. This is on purpose.
+      #       A dry run is not possible since the zenoh workspace depends
       #       on crates in the sdk workspace.
       # TODO: Test publishing to local crate registry OR kellnr.
       - name: Cargo Publish Dry-Run
         run: |
           just publish sdk --dry-run --allow-dirty
-          just publish integrations --sanity-checks
+          just publish integrations-zenoh --sanity-checks
 
   grcov:
     needs: [preflight-check]
@@ -563,7 +602,8 @@ jobs:
         static-code-analysis-rust,
         static-code-analysis-cpp,
         sdk-stable-debug,
-        integrations-stable-debug,
+        integrations-zenoh-stable-debug,
+        integrations-ros2-stable-debug,
         freebsd,
         Bazel,
         x86_32-debug,

.github/workflows/nightly.yml

@@ -68,7 +68,7 @@ jobs:
       profile: ${{ matrix.profile }}
       workspace: sdk
 
-  integrations-stable-nightly:
+  integrations-zenoh-stable-nightly:
     needs: [static-code-analysis-rust-nightly, cargo-nextest-nightly]
     strategy:
       matrix:
@@ -84,7 +84,27 @@ jobs:
       os: ${{ matrix.os }}
       toolchain: ${{ matrix.toolchain }}
       profile: ${{ matrix.profile }}
-      workspace: integrations
+      workspace: zenoh
+
+  integrations-ros2-stable-nightly:
+    needs: [static-code-analysis-rust-nightly]
+    strategy:
+      fail-fast: false
+      matrix:
+        ros:
+          - { distro: jazzy, rmw: rmw_fastrtps_cpp }
+          - { distro: humble, rmw: rmw_cyclonedds_cpp }
+        toolchain: [stable, 1.88.0]
+        profile: ["release", "debug"]
+        exclude:
+          - toolchain: stable
+            profile: "debug"
+    uses: ./.github/workflows/reuse_ros2.yml
+    with:
+      ros-distro: ${{ matrix.ros.distro }}
+      rmw: ${{ matrix.ros.rmw }}
+      toolchain: ${{ matrix.toolchain }}
+      profile: ${{ matrix.profile }}
 
   unstable-nightly:
     needs: [static-code-analysis-rust-nightly, cargo-nextest-nightly]

.github/workflows/reuse_ros2.yml

@@ -0,0 +1,93 @@
+name: Reusable workflow for ros2 integrations
+
+on:
+  workflow_call:
+    inputs:
+      ros-distro:
+        required: true
+        type: string
+      rmw:
+        required: true
+        type: string
+      toolchain:
+        required: true
+        type: string
+      profile:
+        required: true
+        type: string
+
+jobs:
+  ros2:
+    timeout-minutes: 90
+    runs-on: ubuntu-latest
+    container:
+      image: ros:${{ inputs.ros-distro }}
+    env:
+      RMW_IMPLEMENTATION: ${{ inputs.rmw }}
+    steps:
+      # git is required by actions/checkout and is not present in the base
+      # ros image, so it must be installed before checking out.
+      - name: Install git
+        run: |
+          apt-get update
+          apt-get install -y git
+
+      - name: Checkout sources
+        uses: actions/checkout@8e8c483db84b4bee98b60c0593521ed34d9990e8 # version v6.0.1
+
+      - name: Install build dependencies and RMW
+        run: |
+          # The RMW package name is the implementation name with '_' -> '-',
+          # e.g. rmw_cyclonedds_cpp -> ros-<distro>-rmw-cyclonedds-cpp.
+          RMW_PKG="ros-${{ inputs.ros-distro }}-$(echo '${{ inputs.rmw }}' | tr '_' '-')"
+          apt-get update
+          apt-get install -y build-essential ca-certificates curl pkg-config libclang-dev "$RMW_PKG"
+
+      - name: Install just
+        uses: extractions/setup-just@f8a3cce218d9f83db3a2ecd90e41ac3de6cdfd9b # version: v3.1.0
+
+      - name: Setup Rust
+        uses: dtolnay/rust-toolchain@e97e2d8cc328f1b50210efc529dca0028893a2d9 # version: v1
+        with:
+          toolchain: ${{ inputs.toolchain }}
+          components: clippy
+
+      - name: Install cargo-nextest
+        run: curl -LsSf https://get.nexte.st/latest/linux | tar zxf - -C "${CARGO_HOME:-$HOME/.cargo}/bin"
+
+      - name: Install rust-script
+        run: cargo install rust-script --locked
+
+      - name: Setup sccache
+        uses: mozilla-actions/sccache-action@bafd42bd91680affe190f697cac6ef3ad958ecba # version: v0.0.9
+
+      - name: Set caching env vars
+        run: |
+          echo "SCCACHE_GHA_ENABLED=true" >> $GITHUB_ENV
+          echo "RUSTC_WRAPPER=sccache" >> $GITHUB_ENV
+
+      - name: Set build flags
+        id: set-build-flags
+        uses: ./.github/actions/set-build-flags
+        with:
+          profile: ${{ inputs.profile }}
+
+      - name: Build ros2 workspace
+        shell: bash
+        run: |
+          source /opt/ros/${{ inputs.ros-distro }}/setup.bash
+          rustc --version
+          just build integrations-ros2 +${{ inputs.toolchain }} ${{ steps.set-build-flags.outputs.cargo-build-mode }} -- --all-targets
+
+      - name: Test ros2 workspace
+        shell: bash
+        run: |
+          source /opt/ros/${{ inputs.ros-distro }}/setup.bash
+          echo "Using RMW: $RMW_IMPLEMENTATION"
+          just test integrations-ros2 +${{ inputs.toolchain }} ${{ steps.set-build-flags.outputs.cargo-build-mode }} -- --all-targets --no-fail-fast
+
+      - name: Run clippy on ros2 workspace
+        shell: bash
+        run: |
+          source /opt/ros/${{ inputs.ros-distro }}/setup.bash
+          just verify integrations-ros2 clippy ${{ steps.set-build-flags.outputs.cargo-build-mode }}

.github/workflows/reuse_stable.yml

@@ -102,19 +102,19 @@ jobs:
           rustc --version
           just test sdk +${{ inputs.toolchain }} ${{ steps.set-build-flags.outputs.cargo-build-mode }} -- --all-targets --no-fail-fast
 
-      - name: Build integrations workspace
-        if: ${{ inputs.workspace == 'integrations' }}
+      - name: Build zenoh workspace
+        if: ${{ inputs.workspace == 'zenoh' }}
         shell: bash
         run: |
           rustc --version
-          just build integrations +${{ inputs.toolchain }} ${{ steps.set-build-flags.outputs.cargo-build-mode }} -- --all-targets
+          just build integrations-zenoh +${{ inputs.toolchain }} ${{ steps.set-build-flags.outputs.cargo-build-mode }} -- --all-targets
 
-      - name: Test integrations workspace
-        if: ${{ inputs.workspace == 'integrations' }}
+      - name: Test zenoh workspace
+        if: ${{ inputs.workspace == 'zenoh' }}
         shell: bash
         run: |
           rustc --version
-          just test integrations +${{ inputs.toolchain }} ${{ steps.set-build-flags.outputs.cargo-build-mode }} -- --all-targets --no-fail-fast
+          just test integrations-zenoh +${{ inputs.toolchain }} ${{ steps.set-build-flags.outputs.cargo-build-mode }} -- --all-targets --no-fail-fast
 
       - name: Cleanup build artifacts
         uses: ./.github/actions/save-disk-space

.github/workflows/reuse_static_code_analysis.yml

@@ -39,12 +39,12 @@ jobs:
       - name: Run cargo clippy with default features for 'std' in debug mode
         run: |
           just verify sdk clippy
-          just verify integrations clippy
+          just verify integrations-zenoh clippy
 
       - name: Run cargo clippy with default features for 'std' in release mode
         run: |
           just verify sdk clippy --release
-          just verify integrations clippy --release
+          just verify integrations-zenoh clippy --release
 
       - name: Run cargo clippy with no-default features for 'no_std' in debug mode
         if: ${{ runner.os == 'Linux' }}
@@ -80,4 +80,4 @@ jobs:
           ALL_CHANGED_FILES: ${{ steps.changed-files.outputs.all_changed_files }}
         run: |
           just verify sdk miri
-          just verify integrations miri
+          just verify integrations-zenoh miri