From bc447afe6017f8551114962ffe0c59c3c0f1f4e3 Mon Sep 17 00:00:00 2001
From: stelzo <csieh@uos.de>
Date: Mon, 25 Mar 2024 12:35:46 +0100
Subject: [PATCH] standalone rclrs testing

---
 .github/workflows/r2r_galactic.yml   |  6 +++++
 .github/workflows/r2r_humble.yml     |  6 +++++
 .github/workflows/r2r_iron.yml       |  6 +++++
 .github/workflows/rclrs_humble.yml   | 21 +++++++++++++++++
 .github/workflows/rosrust_noetic.yml |  6 +++++
 .github/workflows/tests.yml          |  6 +++++
 tests/Dockerfile_rclrs_humble        | 34 ++++++++++++++++++++++++++++
 tests/rclrs_test.bash                | 25 ++++++++++++++++++++
 8 files changed, 110 insertions(+)
 create mode 100644 .github/workflows/rclrs_humble.yml
 create mode 100644 tests/Dockerfile_rclrs_humble
 create mode 100644 tests/rclrs_test.bash

diff --git a/.github/workflows/r2r_galactic.yml b/.github/workflows/r2r_galactic.yml
index 99180aa..f1718f5 100644
--- a/.github/workflows/r2r_galactic.yml
+++ b/.github/workflows/r2r_galactic.yml
@@ -2,7 +2,13 @@ name: r2r_galactic
 
 on:
   push:
+    branches:
+      - "*"
+      - "!rclrs"
   pull_request:
+    branches:
+      - "*"
+      - "!rclrs"
   workflow_dispatch:
 
 env:
diff --git a/.github/workflows/r2r_humble.yml b/.github/workflows/r2r_humble.yml
index 2f8721d..25cfe90 100644
--- a/.github/workflows/r2r_humble.yml
+++ b/.github/workflows/r2r_humble.yml
@@ -2,7 +2,13 @@ name: r2r_humble
 
 on:
   push:
+    branches:
+      - "*"
+      - "!rclrs"
   pull_request:
+    branches:
+      - "*"
+      - "!rclrs"
   workflow_dispatch:
 
 env:
diff --git a/.github/workflows/r2r_iron.yml b/.github/workflows/r2r_iron.yml
index a773884..fa435be 100644
--- a/.github/workflows/r2r_iron.yml
+++ b/.github/workflows/r2r_iron.yml
@@ -2,7 +2,13 @@ name: r2r_iron
 
 on:
   push:
+    branches:
+      - "*"
+      - "!rclrs"
   pull_request:
+    branches:
+      - "*"
+      - "!rclrs"
   workflow_dispatch:
 
 env:
diff --git a/.github/workflows/rclrs_humble.yml b/.github/workflows/rclrs_humble.yml
new file mode 100644
index 0000000..7ac4349
--- /dev/null
+++ b/.github/workflows/rclrs_humble.yml
@@ -0,0 +1,21 @@
+name: rclrs_humble
+
+on:
+  push:
+    branches:
+      - rclrs
+  pull_request:
+    branches:
+      - rclrs
+  workflow_dispatch:
+
+env:
+  CARGO_TERM_COLOR: always
+
+jobs:
+  tests_humble:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v2
+    - run: docker build . --file ./tests/Dockerfile_rclrs_humble --tag rclrs_humble
+    - run: docker run rclrs_humble cargo test
diff --git a/.github/workflows/rosrust_noetic.yml b/.github/workflows/rosrust_noetic.yml
index a5acf78..f262078 100644
--- a/.github/workflows/rosrust_noetic.yml
+++ b/.github/workflows/rosrust_noetic.yml
@@ -2,7 +2,13 @@ name: rosrust_noetic
 
 on:
   push:
+    branches:
+      - "*"
+      - "!rclrs"
   pull_request:
+    branches:
+      - "*"
+      - "!rclrs"
   workflow_dispatch:
 
 jobs:
diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index 8066730..c28dde0 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -2,7 +2,13 @@ name: Tests
 
 on:
   push:
+    branches:
+      - "*"
+      - "!rclrs"
   pull_request:
+    branches:
+      - "*"
+      - "!rclrs"
   workflow_dispatch:
 
 env:
diff --git a/tests/Dockerfile_rclrs_humble b/tests/Dockerfile_rclrs_humble
new file mode 100644
index 0000000..d5ee37b
--- /dev/null
+++ b/tests/Dockerfile_rclrs_humble
@@ -0,0 +1,34 @@
+# syntax=docker/dockerfile:1
+FROM ros:humble
+
+# Update default packages
+RUN apt-get update
+
+# Get Ubuntu packages
+RUN apt-get install -y \
+    build-essential \
+    curl \
+    libclang-dev \
+    git \
+    python3-pip \
+    python3-vcstool
+
+# Get Rust
+RUN curl --proto '=https' --tlsv1.2 https://sh.rustup.rs -sSf | bash -s -- -y
+RUN echo 'source $HOME/.cargo/env' >> $HOME/.bashrc
+RUN . $HOME/.cargo/env && cargo install --debug cargo-ament-build
+RUN pip install git+https://github.com/colcon/colcon-cargo.git
+RUN pip install git+https://github.com/colcon/colcon-ros-cargo.git
+
+WORKDIR /ros2_rust_build
+RUN git clone https://github.com/ros2-rust/ros2_rust.git src/ros2_rust
+RUN vcs import src < src/ros2_rust/ros2_rust_humble.repos
+
+WORKDIR /ros2_rust_build/src/ros_pointcloud2_tests
+COPY . .
+
+WORKDIR /ros2_rust_build
+RUN . $HOME/.cargo/env && . /opt/ros/humble/setup.sh && colcon build
+
+RUN chmod +x /ros2_rust_build/src/ros_pointcloud2_tests/tests/rclrs_test.bash
+ENTRYPOINT [ "/ros2_rust_build/src/ros_pointcloud2_tests/tests/rclrs_test.bash" ]
diff --git a/tests/rclrs_test.bash b/tests/rclrs_test.bash
new file mode 100644
index 0000000..4afaab4
--- /dev/null
+++ b/tests/rclrs_test.bash
@@ -0,0 +1,25 @@
+#!/bin/bash
+
+. "$HOME/.cargo/env"
+
+# run rustup to test with latest rust version
+rustup update
+
+if [ -e "/opt/ros/iron/setup.bash" ]; then
+    . "/opt/ros/iron/setup.bash"
+    . "/ros2_rust_build/install/local_setup.bash"
+fi
+
+if [ -e "/opt/ros/humble/setup.bash" ]; then
+    . "/opt/ros/humble/setup.bash"
+    . "/ros2_rust_build/install/local_setup.bash"
+fi
+
+if [ -e "/opt/ros/galactic/setup.bash" ]; then
+    . "/opt/ros/galactic/setup.bash"
+    . "/ros2_rust_build/install/local_setup.bash"
+fi
+
+cd /ros2_rust_build/src/ros_pointcloud2_tests/ || exit
+
+"$@"