Merge pull request #20 from open-rmf/workflows

Add GitHub workflows for CI

.github/workflows/ci_linux.yaml

@@ -0,0 +1,28 @@
+name: ci_linux
+
+on:
+  pull_request:
+  workflow_dispatch:
+  push:
+    branches: [main]
+
+env:
+  CARGO_TERM_COLOR: always
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v3
+
+    - name: Build default features
+      run: cargo build
+    - name: Test default features
+      run: cargo test
+
+    - name: Build single_threaded_async
+      run: cargo build --features single_threaded_async
+    - name: Test single_threaded_async
+      run: cargo test --features single_threaded_async

.github/workflows/ci_web.yaml

@@ -0,0 +1,32 @@
+name: ci_web
+
+on:
+  pull_request:
+  workflow_dispatch:
+  push:
+    branches: [main]
+
+env:
+  CARGO_TERM_COLOR: always
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest
+
+    steps:
+
+    - name: Add wasm32 target
+      run: rustup target add wasm32-unknown-unknown
+
+    - uses: actions/checkout@v3
+
+    - name: Build package
+      run: cargo build --target wasm32-unknown-unknown --release --features single_threaded_async
+
+    # Notes:
+    # * Targeting wasm32 only works with the single_threaded_async feature because
+    #   wasm32 doesn't support threading at the moment.
+    # * The regular cargo test pipeline cannot run tests that were compiled to wasm.
+    #   There may be ways to develop test executables specific to wasm32, but this
+    #   seems like overkill for now.

.github/workflows/ci_windows.yaml

@@ -0,0 +1,41 @@
+name: ci_windows
+on:
+  pull_request:
+  workflow_dispatch:
+  push:
+    branches: [main]
+
+jobs:
+  build:
+    runs-on: windows-latest
+
+    steps:
+    - name: checkout
+      uses: actions/checkout@v3
+
+      # Run build
+    - name: Install Rustup using win.rustup.rs
+      run: |
+        # Disable the download progress bar which can cause perf issues
+        $ProgressPreference = "SilentlyContinue"
+        Invoke-WebRequest https://win.rustup.rs/ -OutFile rustup-init.exe
+        .\rustup-init.exe -y --default-host=x86_64-pc-windows-msvc --default-toolchain=none
+        del rustup-init.exe
+        rustup target add x86_64-pc-windows-msvc
+      shell: powershell
+
+    - name: Build default features
+      run: cargo build
+      shell: cmd
+
+    - name: Test default features
+      run: cargo test
+      shell: cmd
+
+    - name: Build single_threaded_async
+      run: cargo build --features single_threaded_async
+      shell: cmd
+
+    - name: Test single_threaded_async
+      run: cargo test --features single_threaded_async
+      shell: cmd

.github/workflows/style.yaml

@@ -0,0 +1,29 @@
+name: style
+
+on:
+  pull_request:
+  workflow_dispatch:
+  push:
+    branches: [main]
+
+env:
+  CARGO_TERM_COLOR: always
+
+jobs:
+  style:
+
+    runs-on: ubuntu-latest
+
+    steps:
+
+    - uses: actions/checkout@v3
+
+    - name: rustfmt
+      run: |
+        rustup component add rustfmt
+
+    - name: style
+      run: cargo fmt --all --check
+
+    - name: minimal feature build
+      run: cargo check --no-default-features

macros/src/lib.rs

@@ -16,8 +16,8 @@
 */
 
 use proc_macro::TokenStream;
-use syn::DeriveInput;
 use quote::quote;
+use syn::DeriveInput;
 
 #[proc_macro_derive(Stream)]
 pub fn simple_stream_macro(item: TokenStream) -> TokenStream {

src/async_execution/mod.rs

@@ -54,7 +54,6 @@ where
 }
 
 pub(crate) fn task_cancel_sender(_world: &mut World) -> CancelSender {
-
     #[cfg(not(feature = "single_threaded_async"))]
     {
         AsyncComputeTaskPoolSender
@@ -73,10 +72,7 @@ pub(crate) struct AsyncComputeTaskPoolSender;
 impl AsyncComputeTaskPoolSender {
     /// This is only used to create a task to cancel an existing task, so we
     /// always detach
-    pub(crate) fn send<F>(
-        &self,
-        f: impl FnOnce() -> F,
-    )
+    pub(crate) fn send<F>(&self, f: impl FnOnce() -> F)
     where
         F: Future + Send + 'static,
         F::Output: Send + 'static,

src/async_execution/single_threaded_execution.rs

@@ -17,17 +17,16 @@
 
 use bevy_ecs::prelude::World;
 
-pub(crate) use bevy_tasks::Task as TaskHandle;
 use async_task::Runnable;
+pub(crate) use bevy_tasks::Task as TaskHandle;
 use tokio::sync::mpsc::{
-    unbounded_channel,
-    UnboundedSender as TokioSender,
-    UnboundedReceiver as TokioReceiver,
+    unbounded_channel, UnboundedReceiver as TokioReceiver, UnboundedSender as TokioSender,
 };
 
 use std::{future::Future, pin::Pin};
 
-type CancellingTask = Box<dyn FnOnce() -> Pin<Box<dyn Future<Output = ()> + Send>> + Send + 'static>;
+type CancellingTask =
+    Box<dyn FnOnce() -> Pin<Box<dyn Future<Output = ()> + Send>> + Send + 'static>;
 
 pub(crate) struct SingleThreadedExecution {
     cancel_sender: TokioSender<CancellingTask>,
@@ -40,7 +39,12 @@ impl SingleThreadedExecution {
     fn new() -> Self {
         let (cancel_sender, cancel_receiver) = unbounded_channel();
         let (runnable_sender, runnable_receiver) = unbounded_channel();
-        Self { cancel_sender, cancel_receiver, runnable_sender, runnable_receiver }
+        Self {
+            cancel_sender,
+            cancel_receiver,
+            runnable_sender,
+            runnable_receiver,
+        }
     }
 
     pub(crate) fn get(world: &mut World) -> &Self {
@@ -54,16 +58,19 @@ impl SingleThreadedExecution {
         if !world.contains_non_send::<SingleThreadedExecution>() {
             world.insert_non_send_resource(SingleThreadedExecution::new());
         }
-        world.non_send_resource_mut::<SingleThreadedExecution>().poll(limit);
+        world
+            .non_send_resource_mut::<SingleThreadedExecution>()
+            .poll(limit);
     }
 
     pub(crate) fn poll(&mut self, limit: Option<usize>) {
         let mut count = 0;
         while let Ok(f) = self.cancel_receiver.try_recv() {
             let sender = self.runnable_sender.clone();
             let future = f();
-            let (runnable, task) = async_task::spawn_local(
-                future, move |runnable| { sender.send(runnable).ok(); });
+            let (runnable, task) = async_task::spawn_local(future, move |runnable| {
+                sender.send(runnable).ok();
+            });
             runnable.run();
             task.detach();
 
@@ -88,17 +95,14 @@ impl SingleThreadedExecution {
         }
     }
 
-    pub(crate) fn spawn<T>(
-        &self,
-        future: impl Future<Output = T> + 'static,
-    ) -> TaskHandle<T>
+    pub(crate) fn spawn<T>(&self, future: impl Future<Output = T> + 'static) -> TaskHandle<T>
     where
         T: Send + 'static,
     {
         let sender = self.runnable_sender.clone();
-        let (runnable, task) = async_task::spawn_local(
-            future, move |runnable| { sender.send(runnable).ok(); },
-        );
+        let (runnable, task) = async_task::spawn_local(future, move |runnable| {
+            sender.send(runnable).ok();
+        });
         let _ = self.runnable_sender.send(runnable);
         TaskHandle::new(task)
     }
@@ -115,12 +119,9 @@ pub(crate) struct SingleThreadedExecutionSender {
 }
 
 impl SingleThreadedExecutionSender {
-    pub(crate) fn send<F>(
-        &self,
-        f: impl FnOnce() -> F + Send + 'static,
-    )
+    pub(crate) fn send<F>(&self, f: impl FnOnce() -> F + Send + 'static)
     where
-        F: Future<Output = ()> + Send + 'static
+        F: Future<Output = ()> + Send + 'static,
     {
         let u: CancellingTask = Box::new(move || Box::pin(f()));
         self.sender.send(u).ok();