build: migrate ROS stack to Jazzy, Python 3.12, and NumPy 2 #322
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| name: CI Check | |
| on: | |
| push: | |
| branches: [main, dev] | |
| pull_request: | |
| branches: [main, dev] | |
| jobs: | |
| registry-check: | |
| runs-on: windows-2022 | |
| env: | |
| # Fix Unicode encoding issue on Windows runner (cp1252 -> utf-8) | |
| PYTHONIOENCODING: utf-8 | |
| PYTHONUTF8: 1 | |
| # 强制 matplotlib 使用无头后端，避免在无显示的 Windows runner 上加载 GUI 后端 DLL 导致原生崩溃 | |
| MPLBACKEND: Agg | |
| # 原生崩溃(0xC0000005 访问违例)时打印 Python 调用栈，便于定位是哪个设备模块 import 崩溃 | |
| PYTHONFAULTHANDLER: "1" | |
| defaults: | |
| run: | |
| shell: cmd | |
| steps: | |
| - uses: actions/checkout@v6 | |
| with: | |
| fetch-depth: 0 | |
| - name: Setup Miniforge | |
| uses: conda-incubator/setup-miniconda@v4 | |
| with: | |
| miniforge-version: latest | |
| use-mamba: true | |
| python-version: '3.12.13' | |
| channels: conda-forge,robostack-jazzy | |
| channel-priority: strict | |
| activate-environment: check-env | |
| auto-update-conda: false | |
| show-channel-urls: true | |
| - name: Install ROS 2 Jazzy dependencies and build tools | |
| run: | | |
| echo Installing ROS 2 Jazzy dependencies... | |
| mamba install -n check-env --override-channels -c conda-forge -c robostack-jazzy conda-forge::numpy=2 conda-forge::uv conda-forge::opencv conda-forge::colcon-common-extensions robostack-jazzy::ros2-distro-mutex=0.15 robostack-jazzy::ros-jazzy-ros-core robostack-jazzy::ros-jazzy-action-msgs robostack-jazzy::ros-jazzy-std-msgs robostack-jazzy::ros-jazzy-geometry-msgs robostack-jazzy::ros-jazzy-control-msgs robostack-jazzy::ros-jazzy-nav2-msgs robostack-jazzy::ros-jazzy-cv-bridge robostack-jazzy::ros-jazzy-vision-opencv robostack-jazzy::ros-jazzy-tf-transformations robostack-jazzy::ros-jazzy-moveit-msgs robostack-jazzy::ros-jazzy-tf2-ros robostack-jazzy::ros-jazzy-tf2-ros-py conda-forge::transforms3d -y | |
| - name: Initialize MSVC x64 toolchain | |
| uses: ilammy/msvc-dev-cmd@v1 | |
| with: | |
| arch: x64 | |
| - name: Build unilabos_msgs for Jazzy/cp312 | |
| run: | | |
| call conda activate check-env | |
| colcon build --base-paths unilabos_msgs --build-base build\unilabos_msgs --install-base install\unilabos_msgs --merge-install --packages-select unilabos_msgs --cmake-args -DBUILD_TESTING=OFF | |
| call install\unilabos_msgs\setup.bat | |
| python -c "from unilabos_msgs.msg import Resource; print('unilabos_msgs Jazzy/cp312: OK')" | |
| - name: Install pip dependencies and unilabos | |
| run: | | |
| call conda activate check-env | |
| call install\unilabos_msgs\setup.bat | |
| echo Installing pip dependencies... | |
| uv pip install -r unilabos/utils/requirements.txt | |
| uv pip install pywinauto git+https://github.com/Xuwznln/pylabrobot.git | |
| uv pip uninstall enum34 || echo enum34 not installed, skipping | |
| uv pip install pytest | |
| uv pip install . | |
| - name: Run HostLink networking tests | |
| run: | | |
| call conda activate check-env | |
| call install\unilabos_msgs\setup.bat | |
| echo Running HostLink, ROS2 domain and networking runtime tests... | |
| python -m pytest -q tests\hostlink tests\networking tests\ros\test_domain_init.py -p no:launch_testing -p no:launch_ros | |
| - name: Run check mode (AST registry validation) | |
| # check_mode 会真实 import 所有设备类(连带 matplotlib/opencv 等原生库)。 | |
| # Windows runner 上偶发原生崩溃(退出码 -1073741819 = 0xC0000005 访问违例)， | |
| # 这是环境/DLL 层面的 flaky 崩溃，与注册表内容无关，因此对该步做有限次重试。 | |
| # 注意：段错误退出码为负数，必须用 "%ERRORLEVEL% EQU 0" 显式判断， | |
| # 不能用 "if errorlevel 1"(它对负数退出码会误判为成功)。 | |
| run: | | |
| call conda activate check-env | |
| call install\unilabos_msgs\setup.bat | |
| echo Running check mode... | |
| set ATTEMPTS=4 | |
| set COUNT=0 | |
| :retry | |
| set /a COUNT+=1 | |
| echo === Check attempt %COUNT% of %ATTEMPTS% === | |
| python -m unilabos --check_mode --skip_env_check | |
| if %ERRORLEVEL% EQU 0 ( | |
| echo Check passed on attempt %COUNT% | |
| exit /b 0 | |
| ) | |
| echo Attempt %COUNT% failed with exit code %ERRORLEVEL% | |
| if %COUNT% LSS %ATTEMPTS% goto retry | |
| echo All %ATTEMPTS% attempts failed | |
| exit /b 1 | |
| - name: Check for uncommitted changes | |
| shell: bash | |
| run: | | |
| if ! git diff --exit-code; then | |
| echo "::error::检测到文件变化！请先在本地运行 'python -m unilabos --complete_registry' 并提交变更" | |
| echo "变化的文件:" | |
| git diff --name-only | |
| exit 1 | |
| fi | |
| echo "检查通过：无文件变化" |