Restructuring error reporting in start_traj_mode and start_point_queue_mode #396
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| # SPDX-FileCopyrightText: 2023, Yaskawa America, Inc. | |
| # SPDX-FileCopyrightText: 2023, Delft University of Technology | |
| # | |
| # SPDX-License-Identifier: CC0-1.0 | |
| name: "CI: build VS proj" | |
| on: | |
| # MSBuild CI only runs for PRs originating from this repository (due to | |
| # access to secrets). Enable CI runs on pushes to the 'main' branch, to | |
| # make sure MSBuild CI also gets run for contributions from external | |
| # repositories (after the PR has been merged, but it might still catch | |
| # problems that slipped past reviewers) | |
| push: | |
| branches: | |
| - main | |
| pull_request: | |
| branches: | |
| - main | |
| workflow_dispatch: | |
| jobs: | |
| msbuild_filter: | |
| runs-on: ubuntu-latest | |
| outputs: | |
| needs_msbuild: ${{ steps.paths_filter.outputs.vsproj }} | |
| steps: | |
| - name: Checkout MotoROS2 | |
| uses: actions/checkout@v4 | |
| - name: Check VS proj has changed | |
| id: paths_filter | |
| uses: dorny/paths-filter@v3 | |
| with: | |
| filters: | | |
| vsproj: | |
| - 'src/**' | |
| - 'lib/**' | |
| - 'MotoROS2.sln' | |
| msbuild: | |
| runs-on: windows-2022 | |
| needs: msbuild_filter | |
| # only run this job if: | |
| # - this is a manually triggered build, or | |
| # - it's a PR and: | |
| # - source files were changed, | |
| # - AND the PR came from a feature branch on the main repository | |
| if: | | |
| github.event_name == 'workflow_dispatch' || | |
| ( | |
| needs.msbuild_filter.outputs.needs_msbuild == 'true' && | |
| github.event.pull_request.head.repo.full_name == github.repository | |
| ) | |
| strategy: | |
| # keep jobs running even if one fails (we want to know on which | |
| # controllers and for which ROS 2 versions builds fail / succeed) | |
| fail-fast: false | |
| matrix: | |
| controller: [dx200, yrc1000, yrc1000u] | |
| # officially matrix doesn't support non-scalar values, but it does | |
| # seem to work, so let's use it. | |
| uros: [ | |
| { release: 20240917, codename: foxy }, | |
| { release: 20240917, codename: galactic }, | |
| { release: 20240917, codename: humble }, | |
| ] | |
| steps: | |
| - name: Uppercase controller identifier | |
| id: uppercaser | |
| shell: bash | |
| env: | |
| TEMP_VAR: "${{ matrix.controller }}" | |
| run: | | |
| echo "ctrlr=${TEMP_VAR^^}" >> $GITHUB_OUTPUT | |
| - name: Checkout MotoROS2 | |
| uses: actions/checkout@v4 | |
| with: | |
| path: 'motoros2' | |
| - name: Find MSBuild and add to PATH | |
| uses: microsoft/setup-msbuild@v2 | |
| - name: Generate token (micro_ros_motoplus) | |
| id: gen_token | |
| uses: actions/create-github-app-token@v1 | |
| with: | |
| app-id: ${{ secrets.MPLMB_APP_ID }} | |
| private-key: ${{ secrets.MPLMB_APP_PRIVATE_KEY }} | |
| owner: "yaskawa-global" | |
| repositories: "micro_ros_motoplus" | |
| - name: "Download M+ libmicroros (${{ matrix.uros.codename }}-${{ matrix.uros.release }} for ${{ steps.uppercaser.outputs.ctrlr }})" | |
| shell: bash | |
| env: | |
| GITHUB_TOKEN: ${{ steps.gen_token.outputs.token }} | |
| RELEASE_TYPE: ${{ (matrix.uros.prerelease && 'prerelease') || 'release' }} | |
| run: | | |
| gh \ | |
| release \ | |
| --repo="yaskawa-global/micro_ros_motoplus" \ | |
| download \ | |
| --pattern="micro_ros_motoplus*.zip" \ | |
| --output="micro_ros_motoplus.zip" \ | |
| ${{ env.RELEASE_TYPE }}-${{ matrix.uros.codename }}-${{ matrix.controller }}-${{ matrix.uros.release }} | |
| - name: Setup MotoROS2 build dir | |
| shell: bash | |
| run: | | |
| mkdir -p /c/build | |
| rm -rf /c/build/* | |
| # we do this to shorten the path. Windows/M+ SDK sometimes does | |
| cp -r "${{ github.workspace }}"/* /c/build/ | |
| ls -al /c/build | |
| - name: Extract M+ libmicroros distribution | |
| shell: bash | |
| run: | | |
| unzip -q /c/build/micro_ros_motoplus.zip \ | |
| -d /c/build/motoros2/libmicroros_${{ matrix.controller }}_${{ matrix.uros.codename }} | |
| - name: Download and setup M+ SDK (mpBuilder) | |
| shell: cmd | |
| run: | | |
| C:\msys64\usr\bin\wget.exe -q -O C:/build/mpsdk_ci.7z "${{ secrets.MPSDK_DOWNLOAD_URL }}" | |
| "C:\Program Files\7-Zip\7z.exe" x C:/build/mpsdk_ci.7z -oC:/build/ | |
| del /q C:\build\mpsdk_ci.7z | |
| - name: Add M+ SDK to PATH | |
| shell: bash | |
| run: echo "C:/build/mpsdk" >> $GITHUB_PATH | |
| - name: "Build MotoROS2 (config: ${{ steps.uppercaser.outputs.ctrlr }}_${{ matrix.uros.codename }})" | |
| shell: cmd | |
| env: | |
| MP_VS_Install: "C:/build/mpsdk/" | |
| WIND_BASE: "C:/" | |
| WIND_HOST_TYPE: "x86-win32" | |
| WIND_USR: "C:/" | |
| run: | | |
| msbuild ^ | |
| C:\build\motoros2\MotoROS2.sln ^ | |
| -t:Build ^ | |
| -nologo ^ | |
| -v:minimal ^ | |
| -p:Configuration=${{ steps.uppercaser.outputs.ctrlr }}_${{ matrix.uros.codename }} |