CI for each ROS distro branch

.github/mergify.yml

@@ -0,0 +1,35 @@
+pull_request_rules:
+  - name: Backport to Humble at reviewer's discretion
+    conditions:
+      - base=master
+      - "label=backport-humble"
+    actions:
+      backport:
+        branches:
+          - humble
+
+  - name: Backport to Galactic at reviewer's discretion
+    conditions:
+      - base=master
+      - "label=backport-galactic"
+    actions:
+      backport:
+        branches:
+          - galactic
+
+  - name: Backport to Foxy at reviewer's discretion
+    conditions:
+      - base=master
+      - "label=backport-foxy"
+    actions:
+      backport:
+        branches:
+          - foxy
+
+  - name: Ask to resolve conflict
+    conditions:
+      - conflict
+      - author!=mergify
+    actions:
+        comment:
+          message: This pull request is in conflict. Could you fix it @{{author}}?

.github/workflows/foxy-firmware-build.yml

@@ -0,0 +1,41 @@
+name: ROS Foxy Firmware Build
+
+on:
+  pull_request:
+    # Run on PRs only to branches starting with 'foxy'
+    branches:
+      - foxy*
+    # Don't run when the following files are changed which don't effect firmware.
+    paths-ignore:
+      - 'docs/**'
+      - .gitignore
+      - LICENSE
+      - README.md
+
+  push:
+    # Run on pushes only to branches starting with 'foxy'
+    branches:
+      - foxy*
+    # Don't run when the following files are changed which don't effect firmware.
+    paths-ignore:
+      - 'docs/**'
+      - .gitignore
+      - LICENSE
+      - README.md
+
+  # Run daily at midnight to detect flakiness and broken dependencies
+  schedule:
+    - cron: '0 0 * * *'
+
+  # Allow manual triggering
+  workflow_dispatch:
+
+
+jobs:
+  firmware:
+    # The current file calls the firmware workflow with the following parameters
+    uses: ./.github/workflows/reusable-platformio-ci.yml
+    with:
+      ros_distro: foxy
+      # The reference field will be set to 'foxy' only if the event that triggered the workflow is schedule. Otherwise, it will be left blank.
+      reference: ${{ github.event_name == 'schedule' && 'foxy' || '' }}

.github/workflows/galactic-firmware-build.yml

@@ -0,0 +1,41 @@
+name: ROS Galactic Firmware Build
+
+on:
+  pull_request:
+    # Run on PRs only to branches starting with 'galactic'
+    branches:
+      - galactic*
+    # Don't run when the following files are changed which don't effect firmware.
+    paths-ignore:
+      - 'docs/**'
+      - .gitignore
+      - LICENSE
+      - README.md
+
+  push:
+    # Run on pushes only to branches starting with 'galactic'
+    branches:
+      - galactic*
+    # Don't run when the following files are changed which don't effect firmware.
+    paths-ignore:
+      - 'docs/**'
+      - .gitignore
+      - LICENSE
+      - README.md
+
+  # Run daily at midnight to detect flakiness and broken dependencies
+  schedule:
+    - cron: '0 0 * * *'
+
+  # Allow manual triggering
+  workflow_dispatch:
+
+
+jobs:
+  firmware:
+    # The current file calls the firmware workflow with the following parameters
+    uses: ./.github/workflows/reusable-platformio-ci.yml
+    with:
+      ros_distro: galactic
+      # The reference field will be set to 'galactic' only if the event that triggered the workflow is schedule. Otherwise, it will be left blank.
+      reference: ${{ github.event_name == 'schedule' && 'galactic' || '' }}

.github/workflows/humble-firmware-build.yml

@@ -0,0 +1,41 @@
+name: ROS Humble Firmware Build
+
+on:
+  pull_request:
+    # Run on PRs only to branches starting with 'humble'
+    branches:
+      - humble*
+    # Don't run when the following files are changed which don't effect firmware.
+    paths-ignore:
+      - 'docs/**'
+      - .gitignore
+      - LICENSE
+      - README.md
+
+  push:
+    # Run on pushes only to branches starting with 'humble'
+    branches:
+      - humble*
+    # Don't run when the following files are changed which don't effect firmware.
+    paths-ignore:
+      - 'docs/**'
+      - .gitignore
+      - LICENSE
+      - README.md
+
+  # Run daily at midnight to detect flakiness and broken dependencies
+  schedule:
+    - cron: '0 0 * * *'
+
+  # Allow manual triggering
+  workflow_dispatch:
+
+
+jobs:
+  firmware:
+    # The current file calls the firmware workflow with the following parameters
+    uses: ./.github/workflows/reusable-platformio-ci.yml
+    with:
+      ros_distro: humble
+      # The reference field will be set to 'humble' only if the event that triggered the workflow is schedule. Otherwise, it will be left blank.
+      reference: ${{ github.event_name == 'schedule' && 'humble' || '' }}

.github/workflows/ci-pio.yml → .github/workflows/reusable-platformio-ci.yml

@@ -1,10 +1,20 @@
-name: PlatformIO CI
+name: Reusable PlatformIO CI
 
 # Controls when this action will run.
 on:
-  push:
-  pull_request: 
-  workflow_dispatch:
+  workflow_call:
+    inputs:
+      ros_distro:
+        description: 'ROS_DISTRO variable'
+        required: true
+        type: string
+
+      reference:
+        description: 'Branch or tag of repo to checkout for build.'
+        default: ''
+        required: false
+        type: string
+
 
 jobs:
   # This job is used to build the calibration firmware
@@ -15,6 +25,8 @@ jobs:
     steps:
       # Check out the repository
       - uses: actions/checkout@v3
+        with:
+          ref: ${{ inputs.reference }}
 
       # Cache dependencies to speed up workflows
       - uses: actions/cache@v3
@@ -47,13 +59,16 @@ jobs:
     steps:
       # check out the repository
       - uses: actions/checkout@v3
+        with:
+          ref: ${{ inputs.reference }}
 
       - name: Set up Python
         uses: actions/setup-python@v4
         with:
           python-version: '3.9'
 
       # run the python script to parse the platformio.ini file and output as json to a matrix
+      # pass the ros distros desired as arguments
       - name: Parse platformio.ini
         id: set-matrix
         run: |
@@ -65,7 +80,7 @@ jobs:
     # require the pio-fw-matrix job to complete before running
     needs: pio-fw-matrix
     runs-on: ubuntu-latest
-    name: Build ${{ matrix.env }} firmware
+    name: Build ${{ matrix.env }} firmware on ROS ${{ inputs.ros_distro }}
     strategy:
       # don't stop all jobs if one fails
       fail-fast: false
@@ -76,6 +91,8 @@ jobs:
     steps:
       # Check out the repository
       - uses: actions/checkout@v3
+        with:
+          ref: ${{ inputs.reference }}
 
       # speed up workflows by caching dependencies
       - uses: actions/cache@v3
@@ -87,30 +104,27 @@ jobs:
 
       - uses: actions/setup-python@v4
         with:
-          python-version: '3.9'
+          python-version: '3.10'
 
       - name: Install PlatformIO Core
-        run: pip install --upgrade platformio
-
-      - name: Install PIO in Home
-        run: |
-          python3 -c "$(curl -fsSL https://raw.githubusercontent.com/platformio/platformio/master/scripts/get-platformio.py)"
-          echo "PATH=\"\$PATH:\$HOME/.platformio/penv/bin\"" >> $HOME/.bashrc
-          source $HOME/.bashrc
+        run: pip3 install --upgrade platformio
 
-      # NOTE all req. PIO pip packages should already be installed, but found these to be necessary
-      # Missing packages determined from error messages
-      - name: Install required pip packages
+      - name: Initialize Platformio, manually create .platformio and penv if needed
         run: |
-          source $HOME/.platformio/penv/bin/activate
-          pip install --upgrade catkin_pkg
-          pip uninstall em
-          pip install empy lark
-
+          pio --version
+          if [ ! -d ~/.platformio ]; then
+            mkdir ~/.platformio
+          fi
+
+          if [ ! -d ~/.platformio/penv ]; then
+            cd ~/.platformio
+            python3 -m venv penv
+          fi
+
       # Build the firmware for each environment in parallel
       - name: Build Firmware
         env:
-            ROS_DISTRO: rolling
+          ROS_DISTRO: ${{ inputs.ros_distro }}
         run: |
           cd firmware
           pio run -e ${{ matrix.env }}

.github/workflows/rolling-firmware-build.yml

@@ -0,0 +1,48 @@
+name: ROS Rolling Firmware Build
+
+# Get the default branch name from the repository settings
+env:
+  DEFAULT_BRANCH: ${{ github.event.repository.default_branch }}
+
+on:
+  pull_request:
+    # Run only on PRs to the default branch (usually main or master)
+    branches:
+      - DEFAULT_BRANCH
+    # Don't run when the following files are changed which don't effect firmware.
+    paths-ignore:
+      - 'docs/**'
+      - .gitignore
+      - LICENSE
+      - README.md
+
+  push:
+    # Run on pushes to any branches except these distro-specific branches
+    branches-ignore:
+      - iron*
+      - humble*
+      - galactic*
+      - foxy*
+    # Don't run when the following files are changed which don't effect firmware.
+    paths-ignore:
+      - 'docs/**'
+      - .gitignore
+      - LICENSE
+      - README.md
+
+  # Run daily at midnight to detect flakiness and broken dependencies
+  schedule:
+    - cron: '0 0 * * *'
+
+  # Allow manual triggering
+  workflow_dispatch:
+
+
+jobs:
+  firmware:
+    # The current file calls the firmware workflow with the following parameters
+    uses: ./.github/workflows/reusable-platformio-ci.yml
+    with:
+      ros_distro: rolling
+      # The reference field will be set to the default branch only if the event that triggered the workflow is schedule. Otherwise, it will be left blank.
+      reference: ${{ github.event_name == 'schedule' && github.event.repository.default_branch || '' }}

README.md

@@ -1,3 +1,12 @@
+## Build status
+<!-- Build Status populated by Github Actions runs -->
+ROS 2 Distro | Branch | Build status
+:----------: | :----: | :----------:
+**Rolling** | [`master`](../../tree/master) | [![Rolling Firmware Build](../../actions/workflows/rolling-firmware-build.yml/badge.svg?branch=master)](../../actions/workflows/rolling-firmware-build.yml?branch=master)
+**Humble** | [`humble`](../../tree/humble) | [![Humble Firmware Build](../../actions/workflows/humble-firmware-build.yml/badge.svg?branch=humble)](../../actions/workflows/humble-firmware-build.yml?branch=humble)
+**Galactic** | [`galactic`](../../tree/galactic) | [![Galactic Firmware Build](../../actions/workflows/galactic-firmware-build.yml/badge.svg?branch=galactic)](../../actions/workflows/galactic-firmware-build.yml?branch=galactic)
+**Foxy** | [`foxy`](../../tree/foxy) | [![Foxy Firmware Build](../../actions/workflows/foxy-firmware-build.yml/badge.svg?branch=foxy)](../../actions/workflows/foxy-firmware-build.yml?branch=foxy)
+
 ## Installation
 All software mentioned in this guide must be installed on the robot computer.