refactor: manage CI using nix

.github/workflows/ci.yml

@@ -7,10 +7,11 @@ on:
     branches: [ main ]
 
 jobs:
-  no-ros:
-    name: ROS-independent Test
+  nix-matrix:
+    name: Generate Nix CI Matrix
     runs-on: ubuntu-latest
-
+    outputs:
+      matrix: ${{ steps.set-matrix.outputs.matrix }}
     steps:
       - name: Checkout repository
         uses: actions/checkout@v4
@@ -23,63 +24,22 @@ jobs:
             experimental-features = nix-command flakes
             accept-flake-config = true
 
-      - name: Setup sccache
-        if: env.ACT != 'true'
-        uses: mozilla-actions/sccache-action@v0.0.9
-
-      - name: Check Nix formatting
-        run: |
-          nix fmt -- --check flake.nix
-
-      - name: Check Markdown formatting
-        run: |
-          nix develop '.#noRos-ci' -c markdownlint '**/*.md'
-
-      - name: Check Rust formatting
-        run: |
-          nix develop '.#noRos-ci' -c cargo fmt --all -- --check
-
-      - name: Clippy (default workspace)
-        run: |
-          nix develop '.#noRos-ci' -c cargo clippy --lib --bins --tests -- -D warnings
-
-      - name: Check default workspace
-        run: |
-          nix develop '.#noRos-ci' -c cargo check
-
-      - name: Build default workspace
-        run: |
-          nix develop '.#noRos-ci' -c cargo build
-
-      - name: Build examples without ROS dependencies
-        run: |
-          nix develop '.#noRos-ci' -c cargo build --example z_custom_message
-
-      - name: Run tests
-        run: |
-          nix develop '.#noRos-ci' -c cargo test
-
-      - name: Check ros-z-msgs with bundled messages (no ROS required)
-        run: |
-          nix develop '.#noRos-ci' -c cargo check -p ros-z-msgs
-          nix develop '.#noRos-ci' -c cargo check -p ros-z-msgs --features bundled_msgs
-          nix develop '.#noRos-ci' -c cargo check -p ros-z-msgs --features common_interfaces
+      - name: Setup Magic Nix Cache
+        uses: DeterminateSystems/magic-nix-cache-action@v8
 
-      - name: Build ros-z-msgs with individual bundled packages
+      - name: Generate CI matrix from flake
+        id: set-matrix
         run: |
-          nix develop '.#noRos-ci' -c cargo build -p ros-z-msgs --no-default-features --features std_msgs
-          nix develop '.#noRos-ci' -c cargo build -p ros-z-msgs --no-default-features --features geometry_msgs
-          nix develop '.#noRos-ci' -c cargo build -p ros-z-msgs --no-default-features --features sensor_msgs
-          nix develop '.#noRos-ci' -c cargo build -p ros-z-msgs --no-default-features --features nav_msgs
+          set -euo pipefail
+          matrix="$(nix eval --json '.#githubActions.matrix')"
+          echo "matrix=$matrix" >> "$GITHUB_OUTPUT"
 
-  with-ros:
-    name: ROS-dependent Test (${{ matrix.distro }})
+  nix-build:
+    name: ${{ matrix.attr }}
+    needs: nix-matrix
     runs-on: ubuntu-latest
     strategy:
-      matrix:
-        distro: [jazzy]
-        # distro: [jazzy, rolling]  # Uncomment to test rolling when stable
-
+      matrix: ${{fromJSON(needs.nix-matrix.outputs.matrix)}}
     steps:
       - name: Checkout repository
         uses: actions/checkout@v4
@@ -99,50 +59,11 @@ jobs:
         with:
           name: ros
           authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
-          skipPush: true
-
-      - name: Setup sccache
-        if: env.ACT != 'true'
-        uses: mozilla-actions/sccache-action@v0.0.9
-
-      - name: Check rcl-z
-        run: |
-          nix develop '.#${{ matrix.distro }}-ci' -c cargo check -p rcl-z
-
-      - name: Check ros-z-msgs (default bundled features)
-        run: |
-          nix develop '.#${{ matrix.distro }}-ci' -c cargo check -p ros-z-msgs
-
-      - name: Check ros-z-msgs with external messages
-        run: |
-          nix develop '.#${{ matrix.distro }}-ci' -c cargo check -p ros-z-msgs --features external_msgs
-          nix develop '.#${{ matrix.distro }}-ci' -c cargo check -p ros-z-msgs --features example_interfaces
+          # Push build outputs to cachix for reuse
+          skipPush: false
 
-      - name: Check ros-z-msgs with all messages (bundled + external)
-        run: |
-          nix develop '.#${{ matrix.distro }}-ci' -c cargo check -p ros-z-msgs --features all_msgs
-
-      - name: Check with protobuf feature
-        run: |
-          nix develop '.#${{ matrix.distro }}-ci' -c cargo check -p ros-z -p ros-z-msgs --features ros-z/protobuf,ros-z-msgs/protobuf
-
-      - name: Check ros-z (with rcl-z feature)
-        run: |
-          nix develop '.#${{ matrix.distro }}-ci' -c cargo check -p ros-z --features rcl-z
-
-      - name: Build ROS message examples
-        run: |
-          nix develop '.#${{ matrix.distro }}-ci' -c cargo build -p ros-z-msgs
-          nix develop '.#${{ matrix.distro }}-ci' -c cargo build --example twist_pub
-          nix develop '.#${{ matrix.distro }}-ci' -c cargo build --example battery_state_sub
-          nix develop '.#${{ matrix.distro }}-ci' -c cargo build --example laser_scan
-          nix develop '.#${{ matrix.distro }}-ci' -c cargo build --example z_srvcli --features external_msgs
-
-      - name: Build protobuf demo
-        run: |
-          nix develop '.#${{ matrix.distro }}-ci' -c cargo build -p protobuf_demo
+      - name: Setup Magic Nix Cache
+        uses: DeterminateSystems/magic-nix-cache-action@v8
 
-      # FIXME: This requires the installation of rmw_zenoh_cpp triggering a build from source...
-      # - name: Run unit tests
-      #   run: |
-      #     nix develop .#ci -c cargo test --all-features
+      - name: Run check
+        run: nix build -L '.#${{ matrix.attr }}'

README.md

@@ -108,13 +108,12 @@ nix develop .#noRos-ci
 
 **Note on `ros-z-msgs`:** This package can build without ROS installed! When
 ROS is not available, it automatically falls back to using bundled message
-definitions from the roslibrust repository. The build system searches for ROS
-packages in this order:
+definitions from the roslibrust git dependency. The build system searches for
+ROS packages in this order:
 
 1. System ROS installation (via `AMENT_PREFIX_PATH` or `CMAKE_PREFIX_PATH`)
 2. Common ROS installation paths (`/opt/ros/{rolling,jazzy,iron,humble}`)
-3. Local roslibrust checkout (`../../roslibrust/assets/`)
-4. Roslibrust git dependency (`~/.cargo/git/checkouts/roslibrust-*/assets/`)
+3. Roslibrust git dependency (`~/.cargo/git/checkouts/roslibrust-*/assets/`)
 
 This allows `ros-z-msgs` to generate message types even in environments without
 ROS 2 installed. The default `common_interfaces` feature includes `std_msgs`,

ci.nix

@@ -0,0 +1,181 @@
+# CI checks module
+# This module defines all CI checks for ros-z project
+{
+  pkgs,
+  self,
+  commonBuildInputs,
+  mkRosEnv,
+  exportEnvVars,
+}:
+let
+  # Vendor Cargo dependencies for sandboxed builds
+  cargoVendorDir = pkgs.rustPlatform.importCargoLock {
+    lockFile = ./Cargo.lock;
+    outputHashes = {
+      "cdr-encoding-0.10.2" = "sha256-bpo8Fu3Qp5TapzFFAvyRJdSiO50G3YBBTSJNV/cNa4Y=";
+      "roslibrust-0.16.0" = "sha256-qi4h1ksC/iLwK1uiUs6LU9CX3RDYVOd6E4SRdUAbqZo=";
+    };
+  };
+
+  # Fetch roslibrust git repo for assets directory (with submodules for ros2_common_interfaces)
+  roslibrustSrc = pkgs.fetchgit {
+    url = "https://github.com/YuanYuYuan/roslibrust";
+    rev = "f08547babb04c3b19a77af9a55a10b8148908e55"; # dev/ros-z branch
+    hash = "sha256-qi4h1ksC/iLwK1uiUs6LU9CX3RDYVOd6E4SRdUAbqZo=";
+    fetchSubmodules = true;
+  };
+in
+let
+  # Create a cargo check that runs in sandbox with vendored dependencies
+  mkCargoCheck =
+    {
+      name,
+      packages,
+      rosEnv ? null,
+      script,
+      extraAttrs ? { },
+    }:
+    pkgs.stdenv.mkDerivation (
+      {
+        name = "check-${name}";
+        src = self;
+        nativeBuildInputs = packages ++ [ pkgs.nixfmt-rfc-style ]; # For format checks
+        buildInputs = pkgs.lib.optional (rosEnv != null) rosEnv;
+
+        # Disable ROS setup hooks that interfere with Cargo builds
+        dontUseCmakeConfigure = true;
+        dontUseColconBuildSetup = true;
+
+        buildPhase = ''
+          # Export environment variables
+          ${exportEnvVars}
+
+          # Disable sccache in sandbox (no HOME directory)
+          unset RUSTC_WRAPPER
+
+          # Setup ROS environment if provided
+          ${pkgs.lib.optionalString (rosEnv != null) ''
+            export AMENT_PREFIX_PATH="${rosEnv}"
+            export CMAKE_PREFIX_PATH="${rosEnv}"
+          ''}
+
+          # Setup vendored cargo dependencies
+          export CARGO_HOME=$(pwd)/.cargo
+          mkdir -p .cargo
+          cat > .cargo/config.toml <<EOF
+          [source.crates-io]
+          replace-with = "vendored-sources"
+
+          [source."https://github.com/YuanYuYuan/cdr-encoding"]
+          git = "https://github.com/YuanYuYuan/cdr-encoding"
+          branch = "feat/byte-buf"
+          replace-with = "vendored-sources"
+
+          [source."https://github.com/YuanYuYuan/roslibrust"]
+          git = "https://github.com/YuanYuYuan/roslibrust"
+          branch = "dev/ros-z"
+          replace-with = "vendored-sources"
+
+          [source.vendored-sources]
+          directory = "${cargoVendorDir}"
+          EOF
+
+          # Point build.rs to roslibrust assets from fetched git repo
+          export ROSLIBRUST_ASSETS_DIR="${roslibrustSrc}/assets"
+
+          # Run checks
+          set -euo pipefail
+          ${script}
+        '';
+
+        installPhase = ''
+          touch $out
+        '';
+
+        # Disable hardening for ROS compatibility
+        hardeningDisable = [ "all" ];
+      }
+      // extraAttrs
+    );
+in
+let
+  # Formatting check - runs first and other checks depend on this
+  formatting = mkCargoCheck {
+    name = "formatting";
+    packages = commonBuildInputs;
+    script = ''
+      echo "=== Nix Formatting ==="
+      nixfmt --check flake.nix
+
+      echo "=== Markdown Linting ==="
+      markdownlint '**/*.md'
+
+      echo "=== Rust Formatting ==="
+      cargo fmt --all -- --check
+    '';
+  };
+
+  # ROS-independent checks (linting, build, test)
+  no-ros = mkCargoCheck {
+    name = "no-ros";
+    packages = commonBuildInputs;
+    script = ''
+      # This check depends on formatting passing first
+      # Reference the formatting check to create a build-time dependency
+      echo "Prerequisites: ${formatting}"
+
+      echo "=== Build & Test ==="
+      cargo build --workspace --lib --bins --exclude rcl-z --exclude protobuf_demo
+      cargo test --workspace --lib --bins --exclude rcl-z --exclude protobuf_demo
+
+      echo "=== Lint ==="
+      cargo clippy --workspace --lib --bins --exclude rcl-z -- -D warnings
+
+      echo "=== Message Package Checks ==="
+      cargo check -p ros-z-msgs
+      cargo check -p ros-z-msgs --features bundled_msgs
+      cargo check -p ros-z-msgs --features common_interfaces
+
+      echo "=== Individual Message Packages ==="
+      cargo build -p ros-z-msgs --no-default-features --features std_msgs
+      cargo build -p ros-z-msgs --no-default-features --features geometry_msgs
+      cargo build -p ros-z-msgs --no-default-features --features sensor_msgs
+      cargo build -p ros-z-msgs --no-default-features --features nav_msgs
+    '';
+  };
+
+  # ROS-dependent checks for Jazzy distribution
+  with-ros-jazzy = mkCargoCheck {
+    name = "with-ros-jazzy";
+    packages = commonBuildInputs;
+    rosEnv = (mkRosEnv "jazzy").build;
+    script = ''
+      # This check depends on formatting passing first
+      # Reference the formatting check to create a build-time dependency
+      echo "Prerequisites: ${formatting}"
+
+      echo "=== RCL Bindings ==="
+      cargo check -p rcl-z
+
+      echo "=== Message Packages ==="
+      cargo check -p ros-z-msgs
+      cargo check -p ros-z-msgs --features external_msgs
+      cargo check -p ros-z-msgs --features example_interfaces
+      cargo check -p ros-z-msgs --features all_msgs
+
+      echo "=== Feature Checks ==="
+      cargo check -p ros-z -p ros-z-msgs --features ros-z/protobuf,ros-z-msgs/protobuf
+      cargo check -p ros-z --features rcl-z
+
+      echo "=== Build Examples ==="
+      cargo build -p ros-z-msgs
+      cargo build --examples
+      cargo build --example z_srvcli --features external_msgs
+      cargo build -p protobuf_demo
+    '';
+  };
+in
+{
+  # Export all checks
+  inherit formatting no-ros with-ros-jazzy;
+}