Clean up and add run test

Signed-off-by: knmcguire <[email protected]>

Author: knmcguire

.github/workflows/rust-win.yml

@@ -1,12 +1,6 @@
 name: Rust ROS 2 Windows build
 
 on:
-  #push:
-  #  branches: [ main ]
-  #pull_request:
-  #  branches: [ main ]
-  #schedule:
-  #  - cron: '22 2 * * 2'
   push:
     branches: [ win-ci]
   workflow_dispatch:
@@ -17,49 +11,74 @@ env:
 jobs:
   build:
     runs-on: windows-latest
-    env:
-      LIBCLANG_PATH: C:\pixi_ws\.pixi\envs\default\Library\bin
-      RUST_BACKTRACE: 1
-      RUST_LOG: debug
     steps:
       - uses: actions/checkout@v4
+
       - uses: ilammy/[email protected]
-      - name: Make new directory environment and copy ros2_rust repo in there
+
+      - name: Make new directories and copy ros2_rust repo
         run: |
           mkdir C:\workspace\src
           mkdir C:\pixi_ws
           xcopy /E /I /Y D:\a\ros2_rust\ros2_rust C:\workspace\src\ros2_rust
+
       - name: Get pixi toml file
         run: irm https://raw.githubusercontent.com/ros2/ros2/refs/heads/rolling/pixi.toml -OutFile C:\pixi_ws\pixi.toml
-      - name: Setup Pixi environment
+
+      - name: Setup Pixi environment woth ROS2 toml file
         uses: prefix-dev/[email protected]
         with:
           manifest-path: C:/pixi_ws/pixi.toml
+
       - name: Get prebuild ROS files and unzip
         run: |
           irm https://ci.ros2.org/view/packaging/job/packaging_windows/lastSuccessfulBuild/artifact/ws/ros2-package-windows-AMD64.zip -Outfile ros2-package-windows-AMD64.zip
           Expand-Archive -Path ros2-package-windows-AMD64.zip -DestinationPath C:/pixi_ws/
-      - name: Install Rust ROS prerequisites
-        run: pixi add libclang --manifest-path C:\pixi_ws\pixi.toml
-      - name: Rename libclang-13.dll to libclang.dll
+
+      - name: Install ros2_rust prerequisites 
+        # Prerequisits and fixes for windows build ros2_rust:
+        #     * examples_rclrs_message_demo error and incompatibility with backtrace v0.3.75 with rustc 1.75. (TODO update in ROS2 pixi.toml) 
+        #     * Libclang has to be added (from the ros2_rust instructions) and the dll has to be renamed
+        #     * colcon-ros-cargo and colcon-cargo have to be added as PyPI packages
         run: |
+          pixi add --manifest-path C:\pixi_ws\pixi.toml rust 
+          pixi add libclang --manifest-path C:\pixi_ws\pixi.toml
           $src = "C:\pixi_ws\.pixi\envs\default\Library\bin\libclang-13.dll"
           $dst = "C:\pixi_ws\.pixi\envs\default\Library\bin\libclang.dll"
           if (Test-Path $src) { Rename-Item -Path $src -NewName "libclang.dll" }
-      - name: Adding Colcon to pixi as PyPI
-        working-directory: C:\pixi_ws\
-        run: |
           pixi add --pypi "colcon-ros-cargo@git+https://github.com/colcon/colcon-ros-cargo.git" --manifest-path C:\pixi_ws\pixi.toml
           pixi add --pypi "colcon-cargo@git+https://github.com/colcon/colcon-cargo.git" --manifest-path C:\pixi_ws\pixi.toml
-      - name: Import other rolling ROS rust repos
-        run: pixi run --manifest-path C:\pixi_ws\pixi.toml vcs import C:/workspace/src --input C:/workspace/src/ros2_rust/ros2_rust_rolling.repos
-      - name: update rust version
-        run: pixi add --manifest-path C:\pixi_ws\pixi.toml rust # necessary  for examples_rclrs_message_demo error and incompatibility with backtrace v0.3.75 with rustc 1.75. (TODO update in ROS2 pixi.toml) 
+
       - name: Build the rust package
-        #env:
-        #  BINDGEN_EXTRA_CLANG_ARGS: -D_Check_return_= # to handle the clang error with the windows specific bindgen error
+        env:
+          LIBCLANG_PATH: C:\pixi_ws\.pixi\envs\default\Library\bin # See https://github.com/ros2-rust/ros2_rust?tab=readme-ov-file#sounds-great-how-can-i-try-this-out
+          BINDGEN_EXTRA_CLANG_ARGS: -D_Check_return_= # to handle the clang error with the windows specific bindgen error
         run: |
           call C:\pixi_ws\ros2-windows\setup.bat
+          pixi run --manifest-path C:\pixi_ws\pixi.toml vcs import C:/workspace/src --input C:/workspace/src/ros2_rust/ros2_rust_rolling.repos
           pixi run --manifest-path C:\pixi_ws\pixi.toml colcon build 
         working-directory: C:/workspace
         shell: cmd
+
+      - name: Run cargo test on Rust packages
+        run: |
+          call C:\pixi_ws\ros2-windows\setup.bat
+          cd C:\workspace
+          for /f "tokens=1,2,3" %%A in ('pixi run --manifest-path C:\pixi_ws\pixi.toml colcon list') do (
+            if "%%C"=="(ament_cargo)" (
+              if /I not "%%A"=="examples_rclrs_minimal_pub_sub" if /I not "%%A"=="examples_rclrs_minimal_client_service" if /I not "%%A"=="rust_pubsub" (
+                cd %%B
+                echo Running cargo test in %%B
+                if /I "%%~nxB"=="rclrs" (
+                  cargo test -F default,dyn_msg
+                ) else if /I "%%~nxB"=="rosidl_runtime_rs" (
+                  cargo test -F default
+                ) else (
+                  cargo test --all-features
+                )
+                cd ..
+              )
+            )
+          )
+        shell: cmd
+        working-directory: C:\workspace