Adding windows github action #1
Workflow file for this run
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| name: Rust ROS 2 Windows build | |
| on: | |
| push: | |
| branches: [ main ] | |
| pull_request: | |
| branches: [ main ] | |
| schedule: | |
| # Run the CI at 02:22 UTC every Tuesday | |
| # We pick an arbitrary time outside of most of the world's work hours | |
| # to minimize the likelihood of running alongside a heavy workload. | |
| - cron: '22 2 * * 2' | |
| env: | |
| CARGO_TERM_COLOR: always | |
| jobs: | |
| build: | |
| runs-on: windows-latest | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - uses: ilammy/[email protected] | |
| - name: Make new directories and copy ros2_rust repo | |
| run: | | |
| mkdir C:\workspace\src | |
| mkdir C:\pixi_ws | |
| xcopy /E /I /Y D:\a\ros2_rust\ros2_rust C:\workspace\src\ros2_rust | |
| - name: Get pixi toml file | |
| run: irm https://raw.githubusercontent.com/ros2/ros2/refs/heads/rolling/pixi.toml -OutFile C:\pixi_ws\pixi.toml | |
| - name: Setup Pixi environment woth ROS2 toml file | |
| uses: prefix-dev/[email protected] | |
| with: | |
| manifest-path: C:/pixi_ws/pixi.toml | |
| - name: Get prebuild ROS files and unzip | |
| run: | | |
| irm https://ci.ros2.org/view/packaging/job/packaging_windows/lastSuccessfulBuild/artifact/ws/ros2-package-windows-AMD64.zip -Outfile ros2-package-windows-AMD64.zip | |
| Expand-Archive -Path ros2-package-windows-AMD64.zip -DestinationPath C:/pixi_ws/ | |
| - name: Install ros2_rust prerequisites | |
| # Prerequisits and fixes for windows build ros2_rust: | |
| # * examples_rclrs_message_demo error and incompatibility with backtrace v0.3.75 with rustc 1.75. (TODO update in ROS2 pixi.toml) | |
| # * Libclang has to be added (from the ros2_rust instructions) and the dll has to be renamed | |
| # * colcon-ros-cargo and colcon-cargo have to be added as PyPI packages | |
| run: | | |
| pixi add --manifest-path C:\pixi_ws\pixi.toml rust | |
| pixi add libclang --manifest-path C:\pixi_ws\pixi.toml | |
| $src = "C:\pixi_ws\.pixi\envs\default\Library\bin\libclang-13.dll" | |
| $dst = "C:\pixi_ws\.pixi\envs\default\Library\bin\libclang.dll" | |
| if (Test-Path $src) { Rename-Item -Path $src -NewName "libclang.dll" } | |
| pixi add --pypi "colcon-ros-cargo@git+https://github.com/colcon/colcon-ros-cargo.git" --manifest-path C:\pixi_ws\pixi.toml | |
| pixi add --pypi "colcon-cargo@git+https://github.com/colcon/colcon-cargo.git" --manifest-path C:\pixi_ws\pixi.toml | |
| - name: Build the rust package | |
| env: | |
| LIBCLANG_PATH: C:\pixi_ws\.pixi\envs\default\Library\bin # See https://github.com/ros2-rust/ros2_rust?tab=readme-ov-file#sounds-great-how-can-i-try-this-out | |
| BINDGEN_EXTRA_CLANG_ARGS: -D_Check_return_= # to handle the clang error with the windows specific bindgen error | |
| run: | | |
| call C:\pixi_ws\ros2-windows\setup.bat | |
| pixi run --manifest-path C:\pixi_ws\pixi.toml vcs import C:/workspace/src --input C:/workspace/src/ros2_rust/ros2_rust_rolling.repos | |
| pixi run --manifest-path C:\pixi_ws\pixi.toml colcon build | |
| working-directory: C:/workspace | |
| shell: cmd | |
| - name: Run cargo test on Rust packages | |
| run: | | |
| call C:\pixi_ws\ros2-windows\setup.bat | |
| cd C:\workspace | |
| for /f "tokens=1,2,3" %%A in ('pixi run --manifest-path C:\pixi_ws\pixi.toml colcon list') do ( | |
| if "%%C"=="(ament_cargo)" ( | |
| if /I not "%%A"=="examples_rclrs_minimal_pub_sub" if /I not "%%A"=="examples_rclrs_minimal_client_service" if /I not "%%A"=="rust_pubsub" ( | |
| cd %%B | |
| echo Running cargo test in %%B | |
| if /I "%%~nxB"=="rclrs" ( | |
| cargo test -F default,dyn_msg | |
| ) else if /I "%%~nxB"=="rosidl_runtime_rs" ( | |
| cargo test -F default | |
| ) else ( | |
| cargo test --all-features | |
| ) | |
| cd .. | |
| ) | |
| ) | |
| ) | |
| shell: cmd | |
| working-directory: C:\workspace |