Add GHA CI workflow (#3)

* Add GHA CI workflow

Signed-off-by: Michel Hidalgo <[email protected]>

* Fix dev container image

Signed-off-by: Michel Hidalgo <[email protected]>

* Add missing using directive

Signed-off-by: Michel Hidalgo <[email protected]>

* Add .gitignore file

Signed-off-by: Michel Hidalgo <[email protected]>

---------

Signed-off-by: Michel Hidalgo <[email protected]>

.devcontainer/Dockerfile

@@ -0,0 +1,32 @@
+ARG ROS_DISTRO=humble
+FROM ros:${ROS_DISTRO}-ros-base
+
+ENV ROS_DISTRO=${ROS_DISTRO}
+
+SHELL ["/bin/bash", "-c"]
+
+# setup environment
+ENV LANG=C.UTF-8
+ENV LC_ALL=C.UTF-8
+
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+RUN DEBIAN_FRONTEND=noninteractive apt-get update -q && \
+    apt-get update -q && \
+    apt-get install -yq --no-install-recommends \
+    python3-pip \
+    python-is-python3 \
+    python3-argcomplete \
+    python3-colcon-common-extensions \
+    python3-colcon-mixin \
+    python3-pytest-cov \
+    python3-rosdep && \
+    rm -rf /var/lib/apt/lists/*
+
+# Install dependencies for repository packages
+RUN --mount=type=bind,source=.,target=/tmp/context \
+    apt-get update -q && rosdep update && \
+    rosdep install -y -i --from-paths /tmp/context && \
+    rm -rf /var/lib/apt/lists/*
+
+# ROS doesn't recognize the docker shells as terminals so force colored output
+ENV RCUTILS_COLORIZED_OUTPUT=1

.devcontainer/devcontainer.json

@@ -0,0 +1,7 @@
+{
+  "name": "proto2ros dev container",
+  "build": {
+    "dockerfile": "Dockerfile",
+    "context": ".."
+  }
+}

.github/workflows/ci.yml

@@ -0,0 +1,89 @@
+name: proto2ros CI
+
+on:
+  pull_request:
+  push:
+    branches:
+      - main
+
+env:
+  REGISTRY: ghcr.io
+  IMAGE_NAME: bdaiinstitute/proto2ros_humble
+
+defaults:
+  run:
+    shell: bash
+
+concurrency:
+  group: ${{ github.repository }}-${{ github.workflow }}-${{ github.ref }}-${{ github.ref == 'refs/heads/main' && github.sha || ''}}
+  cancel-in-progress: true
+
+jobs:
+  lint:
+    name: Lint proto2ros packages
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v3
+      - uses: actions/setup-python@v3
+      - name: Lint sources
+        uses: pre-commit/[email protected]
+  prepare_container:
+    name: Prepare Humble container for tests
+    runs-on: ubuntu-latest
+    needs: lint
+    permissions:
+      contents: read
+      packages: write
+      # This is used to complete the identity challenge
+      # with sigstore/fulcio when running outside of PRs.
+      id-token: write
+    outputs:
+      image: ${{ fromJSON(steps.meta.outputs.json).tags[0] }}
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Setup Docker buildx  # to workaround: https://github.com/docker/build-push-action/issues/461
+        uses: docker/setup-buildx-action@79abd3f86f79a9d68a23c75a09a9a85889262adf
+
+      - name: Log into registry ${{ env.REGISTRY }}
+        uses: docker/login-action@v3  # https://github.com/docker/login-action
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Extract metadata (tags, labels) for Docker
+        uses: docker/metadata-action@v5  # https://github.com/docker/metadata-action
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+        id: meta
+
+      - name: Build and push Docker image (may be cached)
+        uses: docker/build-push-action@v5  # https://github.com/docker/build-push-action
+        with:
+          context: .
+          file: .devcontainer/Dockerfile
+          push: true
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          cache-from: type=gha
+          cache-to: type=gha,mode=max
+  build_and_test:
+    name: Build and test proto2ros packages
+    runs-on: ubuntu-latest
+    needs: prepare_container
+    container:
+      image: ${{ needs.prepare_container.outputs.image }}
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Build and run tests
+        run: |
+          source /opt/ros/humble/setup.bash
+          colcon build --symlink-install
+          source install/setup.bash
+          colcon test --event-handlers console_direct+
+          colcon test-result --all --verbose

.github/workflows/maintenance.yaml

@@ -0,0 +1,25 @@
+name: proto2ros CI maintenance
+
+on:
+  schedule:
+    - cron: "0 0 * * 0"  # once a week
+
+env:
+  ORG_NAME: bdaiinstitute
+  IMAGE_NAME: proto2ros_humble
+
+jobs:
+  clean-ghcr:
+    name: Prune old images from Github Container Registry
+    runs-on: ubuntu-latest
+    steps:
+      - name: Delete old pull request images
+        uses: snok/container-retention-policy@v2
+        with:
+          image-names: ${{ env.IMAGE_NAME }}
+          skip-tags: main
+          cut-off: One week ago UTC
+          org-name: ${{ env.ORG_NAME }}
+          account-type: org
+          token: ${{ secrets.GITHUB_TOKEN }}
+          token-type: github-token

.gitignore

@@ -0,0 +1,3 @@
+**/.mypy_cache
+**/__pycache__
+**/*.pyc

proto2ros/proto2ros/output/templates/conversions.cpp.jinja

@@ -344,6 +344,7 @@ Convert({{ source }}, &{{ destination }});
 
 namespace {{ package_name }}::conversions {
 
+using proto2ros::conversions::Convert;
 {%- for namespace in config.cpp_conversion_namespaces %}
 using {{ namespace }}::Convert;
 {%- endfor %}