Fix hanged coordinator when failing to connect to the daemon on destr… #3296
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| name: CI | |
| on: | |
| push: | |
| branches: | |
| - main | |
| pull_request: | |
| workflow_dispatch: | |
| env: | |
| RUST_LOG: INFO | |
| jobs: | |
| test: | |
| name: "Test" | |
| strategy: | |
| matrix: | |
| platform: [ubuntu-latest, macos-latest, windows-latest] | |
| fail-fast: false | |
| runs-on: ${{ matrix.platform }} | |
| timeout-minutes: 60 | |
| steps: | |
| - name: Print available space (Windows only) | |
| run: Get-PSDrive | |
| if: runner.os == 'Windows' | |
| - name: Override cargo target dir (Windows only) | |
| run: echo "CARGO_TARGET_DIR=C:\cargo-target" >> "$GITHUB_ENV" | |
| shell: bash | |
| if: runner.os == 'Windows' | |
| - uses: actions/checkout@v3 | |
| - uses: r7kamura/[email protected] | |
| - run: cargo --version --verbose | |
| - name: Free Disk Space (Ubuntu) | |
| uses: jlumbroso/free-disk-space@main | |
| if: runner.os == 'Linux' | |
| with: | |
| # this might remove tools that are actually needed, | |
| # if set to "true" but frees about 6 GB | |
| tool-cache: false | |
| # all of these default to true, but feel free to set to | |
| # "false" if necessary for your workflow | |
| android: true | |
| dotnet: true | |
| haskell: true | |
| large-packages: false | |
| docker-images: true | |
| swap-storage: false | |
| - name: Free disk Space (Windows) | |
| if: runner.os == 'Windows' | |
| run: | | |
| docker system prune --all -f | |
| Remove-Item "C:\Android" -Force -Recurse | |
| - uses: Swatinem/rust-cache@v2 | |
| with: | |
| cache-provider: buildjet | |
| cache-on-failure: true | |
| # only save caches for `main` branch | |
| save-if: ${{ github.ref == 'refs/heads/main' }} | |
| cache-directories: ${{ env.CARGO_TARGET_DIR }} | |
| - name: "Check" | |
| run: cargo check --all | |
| - name: "Build (Without Python node as it is build with maturin)" | |
| run: cargo build --all --exclude dora-node-api-python | |
| - name: "Test" | |
| run: cargo test --all --exclude dora-ros2-bridge-python | |
| # Run examples as separate job because otherwise we will exhaust the disk | |
| # space of the GitHub action runners. | |
| examples: | |
| name: "Examples" | |
| strategy: | |
| matrix: | |
| platform: [ubuntu-22.04, macos-latest, windows-latest] | |
| fail-fast: false | |
| runs-on: ${{ matrix.platform }} | |
| timeout-minutes: 60 | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - uses: r7kamura/[email protected] | |
| - run: cargo --version --verbose | |
| - name: Free Disk Space (Ubuntu) | |
| uses: jlumbroso/free-disk-space@main | |
| if: runner.os == 'Linux' | |
| with: | |
| # this might remove tools that are actually needed, | |
| # if set to "true" but frees about 6 GB | |
| tool-cache: true | |
| # all of these default to true, but feel free to set to | |
| # "false" if necessary for your workflow | |
| android: true | |
| dotnet: true | |
| haskell: true | |
| large-packages: false | |
| docker-images: true | |
| swap-storage: true | |
| - name: Free disk Space (Windows) | |
| if: runner.os == 'Windows' | |
| run: | | |
| docker system prune --all -f | |
| Remove-Item "C:\Android" -Force -Recurse | |
| - uses: Swatinem/rust-cache@v2 | |
| with: | |
| cache-provider: buildjet | |
| cache-on-failure: true | |
| # only save caches for `main` branch | |
| save-if: ${{ github.ref == 'refs/heads/main' }} | |
| # general examples | |
| - name: "Build examples" | |
| timeout-minutes: 30 | |
| run: cargo build --examples | |
| - name: "Rust Dataflow example" | |
| timeout-minutes: 30 | |
| run: cargo run --example rust-dataflow | |
| - name: "Multiple Daemons example" | |
| timeout-minutes: 30 | |
| run: cargo run --example multiple-daemons | |
| - name: "C Dataflow example" | |
| timeout-minutes: 15 | |
| run: cargo run --example c-dataflow | |
| - name: "C++ Dataflow example" | |
| timeout-minutes: 15 | |
| run: cargo run --example cxx-dataflow | |
| - name: "Cmake example" | |
| if: runner.os == 'Linux' | |
| timeout-minutes: 30 | |
| run: cargo run --example cmake-dataflow | |
| - name: "Unix Domain Socket example" | |
| if: runner.os == 'Linux' | |
| run: cargo run --example rust-dataflow -- dataflow_socket.yml | |
| # ROS2 bridge examples | |
| ros2-bridge-examples: | |
| name: "ROS2 Bridge Examples" | |
| runs-on: ubuntu-22.04 | |
| timeout-minutes: 45 | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - uses: r7kamura/[email protected] | |
| - name: Free Disk Space (Ubuntu) | |
| uses: jlumbroso/free-disk-space@main | |
| if: runner.os == 'Linux' | |
| with: | |
| # this might remove tools that are actually needed, | |
| # if set to "true" but frees about 6 GB | |
| tool-cache: false | |
| # all of these default to true, but feel free to set to | |
| # "false" if necessary for your workflow | |
| android: true | |
| dotnet: true | |
| haskell: true | |
| large-packages: false | |
| docker-images: true | |
| swap-storage: false | |
| - run: cargo --version --verbose | |
| - uses: Swatinem/rust-cache@v2 | |
| with: | |
| cache-provider: buildjet | |
| cache-on-failure: true | |
| # only save caches for `main` branch | |
| save-if: ${{ github.ref == 'refs/heads/main' }} | |
| - uses: ros-tooling/[email protected] | |
| with: | |
| required-ros-distributions: humble | |
| - run: 'source /opt/ros/humble/setup.bash && echo AMENT_PREFIX_PATH=${AMENT_PREFIX_PATH} >> "$GITHUB_ENV"' | |
| - name: "Install pyarrow for testing" | |
| run: pip install numpy pyarrow | |
| - name: "Test" | |
| run: cargo test -p dora-ros2-bridge-python | |
| - name: "Rust ROS2 Bridge example" | |
| timeout-minutes: 30 | |
| env: | |
| QT_QPA_PLATFORM: offscreen | |
| run: | | |
| source /opt/ros/humble/setup.bash && ros2 run turtlesim turtlesim_node & | |
| source /opt/ros/humble/setup.bash && ros2 run examples_rclcpp_minimal_service service_main & | |
| cargo run --example rust-ros2-dataflow --features="ros2-examples" | |
| - uses: actions/setup-python@v2 | |
| if: runner.os != 'Windows' | |
| with: | |
| python-version: "3.8" | |
| - uses: actions/setup-python@v2 | |
| if: runner.os == 'Windows' | |
| with: | |
| python-version: "3.10" | |
| - name: "python-ros2-dataflow" | |
| timeout-minutes: 30 | |
| env: | |
| QT_QPA_PLATFORM: offscreen | |
| run: | | |
| # Reset only the turtlesim instance as it is not destroyed at the end of the previous job | |
| source /opt/ros/humble/setup.bash && ros2 service call /reset std_srvs/srv/Empty & | |
| cargo run --example python-ros2-dataflow --features="ros2-examples" | |
| - name: "c++-ros2-dataflow" | |
| timeout-minutes: 30 | |
| env: | |
| QT_QPA_PLATFORM: offscreen | |
| run: | | |
| # Reset only the turtlesim instance as it is not destroyed at the end of the previous job | |
| source /opt/ros/humble/setup.bash && ros2 service call /reset std_srvs/srv/Empty & | |
| cargo run --example cxx-ros2-dataflow --features="ros2-examples" | |
| bench: | |
| name: "Bench" | |
| strategy: | |
| matrix: | |
| platform: [ubuntu-latest, macos-latest, windows-latest] | |
| fail-fast: false | |
| runs-on: ${{ matrix.platform }} | |
| timeout-minutes: 60 | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - uses: r7kamura/[email protected] | |
| - run: cargo --version --verbose | |
| - uses: Swatinem/rust-cache@v2 | |
| with: | |
| cache-provider: buildjet | |
| cache-on-failure: true | |
| # only save caches for `main` branch | |
| save-if: ${{ github.ref == 'refs/heads/main' }} | |
| - name: "Benchmark example" | |
| timeout-minutes: 30 | |
| run: cargo run --example benchmark --release | |
| CLI: | |
| name: "CLI Test" | |
| strategy: | |
| matrix: | |
| platform: [ubuntu-latest, macos-latest, windows-latest] | |
| fail-fast: false | |
| runs-on: ${{ matrix.platform }} | |
| timeout-minutes: 60 | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - uses: r7kamura/[email protected] | |
| - run: cargo --version --verbose | |
| - name: Free Disk Space (Ubuntu) | |
| uses: jlumbroso/free-disk-space@main | |
| if: runner.os == 'Linux' | |
| with: | |
| # this might remove tools that are actually needed, | |
| # if set to "true" but frees about 6 GB | |
| tool-cache: true | |
| # all of these default to true, but feel free to set to | |
| # "false" if necessary for your workflow | |
| android: true | |
| dotnet: true | |
| haskell: true | |
| large-packages: false | |
| docker-images: true | |
| swap-storage: true | |
| - uses: Swatinem/rust-cache@v2 | |
| with: | |
| cache-provider: buildjet | |
| cache-on-failure: true | |
| # only save caches for `main` branch | |
| save-if: ${{ github.ref == 'refs/heads/main' }} | |
| # CLI tests | |
| - name: "Build cli and binaries" | |
| timeout-minutes: 45 | |
| # fail-fast by using bash shell explictly | |
| shell: bash | |
| run: | | |
| cargo install --path binaries/cli --locked | |
| - name: "Test CLI (Rust)" | |
| timeout-minutes: 30 | |
| # fail-fast by using bash shell explictly | |
| shell: bash | |
| run: | | |
| # Test Rust template Project | |
| dora new test_rust_project --internal-create-with-path-dependencies | |
| cd test_rust_project | |
| cargo build --all | |
| dora up | |
| dora list | |
| dora start dataflow.yml --name ci-rust-test --detach | |
| sleep 10 | |
| dora stop --name ci-rust-test --grace-duration 5s | |
| cd .. | |
| dora build examples/rust-dataflow/dataflow_dynamic.yml | |
| dora start examples/rust-dataflow/dataflow_dynamic.yml --name ci-rust-dynamic --detach | |
| cargo run -p rust-dataflow-example-sink-dynamic | |
| sleep 5 | |
| dora stop --name ci-rust-dynamic --grace-duration 5s | |
| dora destroy | |
| - name: "Test CLI (Python)" | |
| timeout-minutes: 30 | |
| # fail-fast by using bash shell explictly | |
| shell: bash | |
| run: | | |
| # Test Python template Project | |
| python3 -m venv .venv | |
| if [ ! -d ".venv/bin" ]; then | |
| mv .venv/Scripts .venv/bin # venv is placed under `Scripts` on Windows | |
| fi | |
| source .venv/bin/activate | |
| pip3 install maturin | |
| maturin build -m apis/python/node/Cargo.toml | |
| pip3 install target/wheels/* | |
| dora new test_python_project --lang python --internal-create-with-path-dependencies | |
| cd test_python_project | |
| dora up | |
| dora list | |
| dora build dataflow.yml | |
| dora start dataflow.yml --name ci-python-test --detach | |
| sleep 10 | |
| dora stop --name ci-python-test --grace-duration 5s | |
| # Run Python Node Example | |
| dora build ../examples/python-dataflow/dataflow.yml | |
| dora start ../examples/python-dataflow/dataflow.yml --name ci-python --detach | |
| sleep 80 | |
| dora stop --name ci-python --grace-duration 5s | |
| # Run Python Dynamic Node Example | |
| dora start ../examples/python-dataflow/dataflow_dynamic.yml --name ci-python-dynamic --detach | |
| opencv-plot --name plot | |
| sleep 80 | |
| dora stop --name ci-python-dynamic --grace-duration 5s | |
| # Run Python Operator Example | |
| dora start ../examples/python-operator-dataflow/dataflow.yml --name ci-python-operator --detach | |
| sleep 80 | |
| dora stop --name ci-python-operator --grace-duration 5s | |
| dora destroy | |
| - name: "Test CLI (C)" | |
| timeout-minutes: 30 | |
| # fail-fast by using bash shell explictly | |
| shell: bash | |
| if: runner.os == 'Linux' | |
| run: | | |
| # Test C template Project | |
| dora new test_c_project --lang c --internal-create-with-path-dependencies | |
| cd test_c_project | |
| dora up | |
| dora list | |
| cmake -B build | |
| cmake --build build | |
| cmake --install build | |
| dora start dataflow.yml --name ci-c-test --detach | |
| sleep 10 | |
| dora stop --name ci-c-test --grace-duration 5s | |
| dora destroy | |
| - name: "Test CLI (C++)" | |
| timeout-minutes: 30 | |
| # fail-fast by using bash shell explictly | |
| shell: bash | |
| if: runner.os == 'Linux' | |
| run: | | |
| # Test C++ template Project | |
| dora new test_cxx_project --lang cxx --internal-create-with-path-dependencies | |
| cd test_cxx_project | |
| dora up | |
| dora list | |
| cmake -B build | |
| cmake --build build | |
| cmake --install build | |
| dora start dataflow.yml --name ci-cxx-test --detach | |
| sleep 10 | |
| dora stop --name ci-cxx-test --grace-duration 5s | |
| dora destroy | |
| clippy: | |
| name: "Clippy" | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - uses: r7kamura/[email protected] | |
| - run: cargo --version --verbose | |
| - name: "Clippy" | |
| run: cargo clippy --all | |
| - name: "Clippy (tracing feature)" | |
| run: cargo clippy --all --features tracing | |
| if: false # only the dora-runtime has this feature, but it is currently commented out | |
| - name: "Clippy (metrics feature)" | |
| run: cargo clippy --all --features metrics | |
| if: false # only the dora-runtime has this feature, but it is currently commented out | |
| rustfmt: | |
| name: "Formatting" | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - uses: r7kamura/[email protected] | |
| - name: "rustfmt" | |
| run: cargo fmt --all -- --check | |
| check-license: | |
| name: "License Checks" | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - uses: r7kamura/[email protected] | |
| - run: cargo --version --verbose | |
| - uses: Swatinem/rust-cache@v2 | |
| with: | |
| cache-provider: buildjet | |
| cache-on-failure: true | |
| # only save caches for `main` branch | |
| save-if: ${{ github.ref == 'refs/heads/main' }} | |
| - run: cargo install cargo-lichking | |
| - name: "Check dependency licenses" | |
| run: cargo lichking check | |
| typos: | |
| name: Typos | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v2 | |
| - uses: actions-rs/toolchain@v1 | |
| with: | |
| profile: minimal | |
| toolchain: stable | |
| override: true | |
| - name: Typos check with custom config file | |
| uses: crate-ci/typos@master | |
| cross-check: | |
| runs-on: ${{ matrix.platform.runner }} | |
| strategy: | |
| matrix: | |
| platform: | |
| - runner: ubuntu-20.04 | |
| target: x86_64-unknown-linux-gnu | |
| - runner: ubuntu-20.04 | |
| target: i686-unknown-linux-gnu | |
| - runner: ubuntu-20.04 | |
| target: aarch64-unknown-linux-gnu | |
| - runner: ubuntu-20.04 | |
| target: aarch64-unknown-linux-musl | |
| - runner: ubuntu-20.04 | |
| target: armv7-unknown-linux-musleabihf | |
| - runner: macos-12 | |
| target: aarch64-apple-darwin | |
| - runner: macos-12 | |
| target: x86_64-apple-darwin | |
| fail-fast: false | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - uses: r7kamura/[email protected] | |
| - name: "Add toolchains" | |
| run: rustup target add ${{ matrix.platform.target }} | |
| - name: "Build" | |
| uses: actions-rs/cargo@v1 | |
| with: | |
| use-cross: true | |
| command: check | |
| args: --target ${{ matrix.platform.target }} -p dora-cli |