[#12] Add initial CI workflows

.github/CODEOWNERS

@@ -0,0 +1 @@
+*       @orecham

.github/actions/install-clang/action.yml

@@ -0,0 +1,19 @@
+name: 'Install clang toolchain'
+runs:
+  using: "composite"
+  steps:
+    - name: Install iceoryx dependencies and clang-tidy
+      shell: bash
+      run: |
+        sudo wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key | sudo apt-key add -
+        sudo add-apt-repository "deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy-18 main"
+        sudo apt-get update
+        sudo apt-get install -y clang-format-18 clang-tidy-18 clang-tools-18 clang-18 lld
+        sudo rm -f /usr/bin/clang
+        sudo rm -f /usr/bin/clang++
+        sudo rm -f /usr/bin/clang-tidy
+        sudo rm -f /usr/bin/clang-format
+        sudo ln -s /usr/bin/clang-18 /usr/bin/clang
+        sudo ln -s /usr/bin/clang++-18 /usr/bin/clang++
+        sudo ln -s /usr/bin/clang-tidy-18 /usr/bin/clang-tidy
+        sudo ln -s /usr/bin/clang-format-18 /usr/bin/clang-format

.github/workflows/build-test.yml

@@ -1,4 +1,7 @@
 name: CI
+env:
+  WORKSPACE_DIR: ${{ github.workspace }}
+  TEST_ARGS: "--cmake-args -DBUILD_TESTING=ON"
 on:
   push:
     branches: [ main ]
@@ -17,6 +20,7 @@ jobs:
     steps:
       - name: Checkout sources
         uses: actions/checkout@v4
+
       - name: Check for changed file types
         uses: dorny/paths-filter@v3
         id: filter
@@ -26,6 +30,7 @@ jobs:
               - '!**/*.md'
             markdown:
               - '**/*.md'
+
   preflight-check:
     needs: changes
     if: ${{ needs.changes.outputs.source-code == 'true' }}
@@ -34,7 +39,127 @@ jobs:
     steps:
       - name: Checkout sources
         uses: actions/checkout@v4
+
       - name: Check format of all commit messages
-        run: ./internal/scripts/ci/check-commit-msg.sh
+        run: ./scripts/ci/check-commit-msg.sh
+
       - name: Check license header
-        run: ./internal/scripts/ci/check-spdx-license-header.sh
+        run: ./scripts/ci/check-spdx-license-header.sh
+
+  static-code-analysis:
+    needs: preflight-check
+    if: ${{ needs.changes.outputs.source-code == 'true' }}
+    timeout-minutes: 10
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout sources
+        uses: actions/checkout@v4
+
+      - name: Install clang toolchain
+        uses: ./.github/actions/install-clang
+
+      - name: Display clang-format and clang-tidy versions
+        run: |
+          clang-format --version
+          clang-tidy --version
+
+      - name: Run clang-format
+        run: git ls-files | grep -E "\.(c|cc|cpp|cxx|inl|h|hh|hpp|hxx)$" | xargs clang-format -i -style=file --Werror --dry-run
+
+#     - name: Run clang-tidy
+#       run: |
+#         git fetch origin main
+#         ./scripts/check-clang-tidy.sh warning-as-error diff-to-main
+
+  colcon-build-test-clang:
+    needs: [preflight-check, static-code-analysis]
+    runs-on: ubuntu-latest
+    container:
+      image: ros:rolling
+    steps:
+    - name: Install ros build dependencies
+      run: |
+        apt-get update
+        apt-get install -y \
+          python3-colcon-common-extensions \
+          python3-colcon-mixin \
+          python3-vcstool \
+          python3-rosdep \
+          libacl1-dev \
+          software-properties-common \
+          curl \
+          wget
+
+    - name: Install rust toolchain
+      uses: dtolnay/rust-toolchain@stable
+
+    - name: Create workspace
+      run: |
+        mkdir -p $WORKSPACE_DIR/src/rmw_iceoryx2
+        mkdir -p $WORKSPACE_DIR/src/test_interface_files
+
+    - name: Checkout test_interface_files
+      uses: actions/checkout@v4
+      with:
+        repository: ros2/test_interface_files
+        path: src/test_interface_files
+        ref: rolling
+
+    - name: Checkout current ref
+      uses: actions/checkout@v4
+      with:
+        path: src/rmw_iceoryx2
+
+    - name: Install clang toolchain
+      uses: ./src/rmw_iceoryx2/.github/actions/install-clang
+
+    - name: Import dependencies with VCS
+      run: |
+        cd $WORKSPACE_DIR
+        sed 's|[email protected]:|https://github.com/|g' src/rmw_iceoryx2/deps.repos > _deps.repos
+        vcs import src < _deps.repos
+
+    - name: Build with colcon
+      run: |
+        cd $WORKSPACE_DIR
+        . /opt/ros/rolling/setup.sh
+        colcon build \
+          --cmake-args \
+            -DCMAKE_C_COMPILER=clang \
+            -DCMAKE_CXX_COMPILER=clang++ \
+            -DCMAKE_BUILD_TYPE=RelWithDebInfo \
+            -DBUILD_TESTING=On \
+          --symlink-install \
+          --packages-select \
+            test_interface_files \
+            iceoryx_platform\
+            iceoryx_hoofs \
+            iceoryx2_cxx \
+            rmw_iceoryx2_cxx_test_msgs \
+            rmw_iceoryx2_cxx
+
+    - name: Run tests
+      run: |
+        cd $WORKSPACE_DIR
+        . /opt/ros/rolling/setup.sh
+        . install/setup.sh
+        colcon test \
+          --packages-select \
+            rmw_iceoryx2_cxx \
+          --event-handlers console_direct+ \
+          --return-code-on-test-failure
+
+    - name: Generate test reports
+      if: always()
+      run: |
+        cd $WORKSPACE_DIR
+        colcon test-result --verbose
+
+    - name: Upload test results
+      if: always()
+      uses: actions/upload-artifact@v4
+      with:
+        name: test-results
+        path: |
+          ${{ env.WORKSPACE_DIR }}/build/*/test_results/*/*.xml
+          ${{ env.WORKSPACE_DIR }}/log/**/test*.log

rmw_iceoryx2.repos → deps.repos

@@ -7,7 +7,3 @@ repositories:
     type: git
     url: [email protected]:eclipse-iceoryx/iceoryx2.git
     version: 54ebc96d03f4d7b14257413ccff6529cbb7288a3
-  rmw_iceoryx2:
-    type: git
-    url: [email protected]:ekxide/rmw_iceoryx2.git
-    version: v0.1.0

doc/release-notes/unreleased.md

@@ -38,7 +38,8 @@
     conflicts when merging.
 -->
 
-* Example text [#1](https://github.com/ekxide/rmw_iceoryx2/issues/1)
+* Use VCS to manage dependencies [#13](https://github.com/ekxide/rmw_iceoryx2/issues/13)
+* Add CI workflow for building and testing [#12](https://github.com/ekxide/rmw_iceoryx2/issues/12)
 
 ### New API features
 
@@ -47,7 +48,6 @@
     conflicts when merging.
 -->
 
-* Use VCS to manage dependencies [#13](https://github.com/ekxide/rmw_iceoryx2/issues/13)
 
 ### API Breaking Changes
 

rmw_iceoryx2_cxx/CMakeLists.txt

@@ -1,3 +1,12 @@
+# Copyright (c) 2024 by Ekxide IO GmbH All rights reserved.
+#
+# This program and the accompanying materials are made available under the
+# terms of the Apache Software License 2.0 which is available at
+# https://www.apache.org/licenses/LICENSE-2.0, or the MIT license
+# which is available at https://opensource.org/licenses/MIT.
+#
+# SPDX-License-Identifier: Apache-2.0 OR MIT
+
 cmake_minimum_required(VERSION 3.5)
 project(rmw_iceoryx2_cxx)
 
@@ -32,9 +41,9 @@ set(AMENT_PACKAGES
     rcpputils
     rmw
     rosidl_runtime_cpp
-    rosidl_typesupport_introspection_c    
+    rosidl_typesupport_introspection_c
     rosidl_typesupport_introspection_cpp
-    rosidl_typesupport_fastrtps_c         
+    rosidl_typesupport_fastrtps_c
     rosidl_typesupport_fastrtps_cpp
     fastrtps
 )
@@ -128,9 +137,17 @@ if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   find_package(ament_cmake_gtest REQUIRED)
 
+  # disabled because alternative copyright check utilized
+  set(ament_cmake_copyright_FOUND TRUE)
+  # disabled because clang-format and clang-tidy preferred
+  set(ament_cmake_cpplint_FOUND TRUE)
+  set(ament_cmake_uncrustify_FOUND TRUE)
+  # disabled because <package format="3"> not supported
+  set(ament_cmake_xmllint_FOUND TRUE)
+
   ament_lint_auto_find_test_dependencies()
 
-  ament_add_gtest(test_rmw_iceoryx2_cxx 
+  ament_add_gtest(test_rmw_iceoryx2_cxx
     test/testing/base.cpp
     test/test_iox2_context_impl.cpp
     test/test_iox2_guard_condition_impl.cpp
@@ -153,7 +170,7 @@ if(BUILD_TESTING)
     test/test_rmw_publish_subscribe.cpp
     test/test_rmw_waitset.cpp
   )
-  target_link_libraries(test_rmw_iceoryx2_cxx 
+  target_link_libraries(test_rmw_iceoryx2_cxx
     ${PROJECT_NAME}
   )
   ament_target_dependencies(test_rmw_iceoryx2_cxx

rmw_iceoryx2_cxx/include/rmw_iceoryx2_cxx/message/serialize.hpp

@@ -0,0 +1,8 @@
+// Copyright (c) 2024 by Ekxide IO GmbH All rights reserved.
+//
+// This program and the accompanying materials are made available under the
+// terms of the Apache Software License 2.0 which is available at
+// https://www.apache.org/licenses/LICENSE-2.0, or the MIT license
+// which is available at https://opensource.org/licenses/MIT.
+//
+// SPDX-License-Identifier: Apache-2.0 OR MIT

rmw_iceoryx2_cxx/package.xml

@@ -4,9 +4,12 @@
   <name>rmw_iceoryx2_cxx</name>
   <version>0.1.0</version>
   <description>RMW implementation for the pure Rust next-gen zero-copy middleware iceoryx2</description>
-  <author email="[email protected]">Jeff Ithier</author>
   <maintainer email="[email protected]">ekxide developers</maintainer>
+
+  <author email="[email protected]">Jeff Ithier</author>
+
   <license>Apache 2.0</license>
+  <license>MIT</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 

rmw_iceoryx2_cxx/src/message/typesupport.cpp

@@ -0,0 +1,8 @@
+// Copyright (c) 2024 by Ekxide IO GmbH All rights reserved.
+//
+// This program and the accompanying materials are made available under the
+// terms of the Apache Software License 2.0 which is available at
+// https://www.apache.org/licenses/LICENSE-2.0, or the MIT license
+// which is available at https://opensource.org/licenses/MIT.
+//
+// SPDX-License-Identifier: Apache-2.0 OR MIT

rmw_iceoryx2_cxx/src/rmw/identifier.cpp

@@ -1,16 +1,11 @@
 // Copyright (c) 2024 by Ekxide IO GmbH All rights reserved.
 //
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
+// This program and the accompanying materials are made available under the
+// terms of the Apache Software License 2.0 which is available at
+// https://www.apache.org/licenses/LICENSE-2.0, or the MIT license
+// which is available at https://opensource.org/licenses/MIT.
 //
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
+// SPDX-License-Identifier: Apache-2.0 OR MIT
 
 #include "rmw_iceoryx2_cxx/identifier.hpp"
 

rmw_iceoryx2_cxx_demo_nodes/CMakeLists.txt

@@ -1,3 +1,12 @@
+# Copyright (c) 2024 by Ekxide IO GmbH All rights reserved.
+# 
+# This program and the accompanying materials are made available under the
+# terms of the Apache Software License 2.0 which is available at
+# https://www.apache.org/licenses/LICENSE-2.0, or the MIT license
+# which is available at https://opensource.org/licenses/MIT.
+# 
+# SPDX-License-Identifier: Apache-2.0 OR MIT
+
 cmake_minimum_required(VERSION 3.8)
 project(rmw_iceoryx2_cxx_demo_nodes)
 

rmw_iceoryx2_cxx_test_msgs/CMakeLists.txt

@@ -1,3 +1,12 @@
+# Copyright (c) 2024 by Ekxide IO GmbH All rights reserved.
+# 
+# This program and the accompanying materials are made available under the
+# terms of the Apache Software License 2.0 which is available at
+# https://www.apache.org/licenses/LICENSE-2.0, or the MIT license
+# which is available at https://opensource.org/licenses/MIT.
+# 
+# SPDX-License-Identifier: Apache-2.0 OR MIT
+
 cmake_minimum_required(VERSION 3.5)
 project(rmw_iceoryx2_cxx_test_msgs)
 

scripts/ci/check-clang-tidy.sh

@@ -0,0 +1,8 @@
+# Copyright (c) 2024 by Ekxide IO GmbH All rights reserved.
+# 
+# This program and the accompanying materials are made available under the
+# terms of the Apache Software License 2.0 which is available at
+# https://www.apache.org/licenses/LICENSE-2.0, or the MIT license
+# which is available at https://opensource.org/licenses/MIT.
+# 
+# SPDX-License-Identifier: Apache-2.0 OR MIT

scripts/ci/check-commit-msg.sh

@@ -1,11 +1,11 @@
-#  Copyright (c) 2024 by Ekxide IO GmbH All rights reserved.
+# Copyright (c) 2024 by Ekxide IO GmbH All rights reserved.
 # 
-#  This program and the accompanying materials are made available under the
-#  terms of the Apache Software License 2.0 which is available at
-#  https://www.apache.org/licenses/LICENSE-2.0, or the MIT license
-#  which is available at https://opensource.org/licenses/MIT.
+# This program and the accompanying materials are made available under the
+# terms of the Apache Software License 2.0 which is available at
+# https://www.apache.org/licenses/LICENSE-2.0, or the MIT license
+# which is available at https://opensource.org/licenses/MIT.
 # 
-#  SPDX-License-Identifier: Apache-2.0 OR MIT
+# SPDX-License-Identifier: Apache-2.0 OR MIT
 
 #!/bin/bash
 

scripts/ci/check-spdx-license-header.sh

@@ -1,11 +1,11 @@
-#  Copyright (c) 2024 by Ekxide IO GmbH All rights reserved.
+# Copyright (c) 2024 by Ekxide IO GmbH All rights reserved.
 # 
-#  This program and the accompanying materials are made available under the
-#  terms of the Apache Software License 2.0 which is available at
-#  https://www.apache.org/licenses/LICENSE-2.0, or the MIT license
-#  which is available at https://opensource.org/licenses/MIT.
+# This program and the accompanying materials are made available under the
+# terms of the Apache Software License 2.0 which is available at
+# https://www.apache.org/licenses/LICENSE-2.0, or the MIT license
+# which is available at https://opensource.org/licenses/MIT.
 # 
-#  SPDX-License-Identifier: Apache-2.0 OR MIT
+# SPDX-License-Identifier: Apache-2.0 OR MIT
 
 #!/bin/bash