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Merged
YuanYuYuan merged 2 commits into from
Jan 29, 2026
Merged

ci: add macos-latest #12

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63a9f9a
ci: support macos runner
YuanYuYuan Jan 29, 2026
6e73595
fix: Fix two test issues that caused timeouts/slowness on macOS CI:
YuanYuYuan Jan 29, 2026
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64 changes: 53 additions & 11 deletions .github/workflows/ci.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -43,17 +43,23 @@ jobs:
run: nix build .#checks.x86_64-linux.pre-commit-check -L

no-ros:
name: ROS-independent Test
runs-on: ubuntu-latest
name: ROS-independent Test (${{ matrix.os }})
runs-on: ${{ matrix.os }}
permissions:
id-token: write
contents: read
strategy:
fail-fast: false
matrix:
os: [ubuntu-latest, macos-latest]

steps:
- name: Checkout repository
uses: actions/checkout@v4

# Linux-specific setup
- name: Free Disk Space (Ubuntu)
if: runner.os == 'Linux'
uses: jlumbroso/free-disk-space@main
with:
large-packages: true
Expand All @@ -64,39 +70,75 @@ jobs:
docker-images: false
swap-storage: false

- name: Install Determinate Nix
- name: Install Determinate Nix (Linux)
if: runner.os == 'Linux'
uses: DeterminateSystems/determinate-nix-action@v3

- name: Setup sccache
uses: mozilla-actions/sccache-action@v0.0.9

- name: Install Nushell
- name: Install Nushell (Linux via Nix)
if: runner.os == 'Linux'
run: |
nix profile install nixpkgs#nushell
chmod +x scripts/test-pure-rust.nu

- name: Setup nix environment
- name: Setup nix environment (Linux)
if: runner.os == 'Linux'
run: |
nix print-dev-env '.#pureRust-ci' --accept-flake-config > /tmp/nix-dev-env.sh
echo "export SCCACHE_GHA_ENABLED=true" >> /tmp/nix-dev-env.sh
echo "export SCCACHE_CACHE_SIZE=2G" >> /tmp/nix-dev-env.sh
echo "export RUSTC_WRAPPER=sccache" >> /tmp/nix-dev-env.sh
echo "export CI=true" >> /tmp/nix-dev-env.sh

# macOS-specific setup
- name: Install Rust toolchain (macOS)
if: runner.os == 'macOS'
uses: actions-rust-lang/setup-rust-toolchain@v1
with:
toolchain: stable
components: clippy, rustfmt

- name: Install dependencies (macOS)
if: runner.os == 'macOS'
run: |
brew install nushell protobuf
cargo install cargo-nextest --locked
chmod +x scripts/test-pure-rust.nu

# Common setup
- name: Setup sccache
uses: mozilla-actions/sccache-action@v0.0.9

- name: Set environment variables (macOS)
if: runner.os == 'macOS'
run: |
echo "SCCACHE_GHA_ENABLED=true" >> $GITHUB_ENV
echo "RUSTC_WRAPPER=sccache" >> $GITHUB_ENV
echo "CI=true" >> $GITHUB_ENV

# Test steps
- name: Clippy (default workspace)
run: |
source /tmp/nix-dev-env.sh
if [ "$RUNNER_OS" == "Linux" ]; then
source /tmp/nix-dev-env.sh
fi
nu scripts/test-pure-rust.nu clippy-workspace
shell: bash

- name: Run tests
run: |
source /tmp/nix-dev-env.sh
if [ "$RUNNER_OS" == "Linux" ]; then
source /tmp/nix-dev-env.sh
fi
nu scripts/test-pure-rust.nu run-tests
shell: bash

- name: Check ros-z-msgs feature flags
run: |
source /tmp/nix-dev-env.sh
if [ "$RUNNER_OS" == "Linux" ]; then
source /tmp/nix-dev-env.sh
fi
nu scripts/test-pure-rust.nu check-bundled-msgs
shell: bash

python-tests:
name: Python Tests (ros-z-py) (${{ matrix.distro }})
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2 changes: 1 addition & 1 deletion ros-z/tests/action/wait.rs
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Expand Up @@ -192,7 +192,7 @@ mod tests {
Ok(())
}

#[tokio::test(flavor = "multi_thread", worker_threads = 1)]
#[tokio::test(flavor = "multi_thread", worker_threads = 2)]
async fn test_action_status_async_wait() -> Result<()> {
let (_client_node, _server_node, client, server) = setup_test_with_client_server().await?;

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3 changes: 2 additions & 1 deletion ros-z/tests/pubsub_qos.rs
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Expand Up @@ -628,7 +628,8 @@ mod tests {
.build_with_callback(move |msg: RosString| {
println!("Received: {}", msg.data);
received_count_clone.fetch_add(1, Ordering::SeqCst);
std::thread::sleep(std::time::Duration::from_secs(10));
// Sleep to simulate slow callback - publish() should not block on this
std::thread::sleep(std::time::Duration::from_millis(100));
})?;

// Wait for discovery
Expand Down
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