ci.yml

#
# Copyright (c) 2023 ZettaScale Technology
#
# This program and the accompanying materials are made available under the
# terms of the Eclipse Public License 2.0 which is available at
# http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
# which is available at https://www.apache.org/licenses/LICENSE-2.0.
#
# SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
#
# Contributors:
#   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
#
name: CI

on:
  push:
    branches: ["**"]
  pull_request:
    branches: ["**"]

env:
  CARGO_REGISTRIES_CRATES_IO_PROTOCOL: sparse
  CARGO_PROFILE_DEV_DEBUG: false
  RUSTUP_WINDOWS_PATH_ADD_BIN: 1
  # NOTE(fuzzypixelz): This should be changed to "minor" during a release cycle
  # with plans for changes that REQUIRE a minor version bump as defined by the Cargo reference
  # (https://doc.rust-lang.org/cargo/reference/semver.html).
  # However, a minor release could be published without such changes, in which case this variable need not be changed.
  CARGO_SEMVER_CHECKS_RELEASE_TYPE: minor
  # NOTE(fuzzypixelz): cargo-semver-checks uses the previous released version as a baseline, not the latest released
  # version on crates.io. Thus this needs to be updated after every release.
  CARGO_SEMVER_CHECKS_BASELINE_VERSION: 1.7.2
  # Nightly toolchain identifier used by cargo invocations
  # Normally keep it "nightly" to always use the latest nightly, but in case of a regression in the Rust compiler, 
  # it can be useful to fix it to a specific nightly version that is known to work.
  NIGHTLY_TOOLCHAIN: "nightly"

jobs:
  determine-runner:
    runs-on: ubuntu-latest
    outputs:
      runner: ${{ steps.set-runner.outputs.runner }}
    steps:
      - name: Clone this repository
        uses: actions/checkout@v4

      - name: Determine which runner to use
        id: set-runner
        run: |
          if [[ -f ci/runners.json ]]; then
            echo "runner=$(cat ci/runners.json)" >> $GITHUB_OUTPUT
          else
            echo "runner=['ubuntu-latest', 'windows-latest', 'macos-latest']" >> $GITHUB_OUTPUT
          fi

  check_rust:
    needs: determine-runner
    name: Check zenoh using Rust 1.75
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        os: ${{ fromJSON(needs.determine-runner.outputs.runner) }}

    steps:
      - name: Clone this repository
        uses: actions/checkout@v4

      - name: Update Rust 1.75.0 toolchain
        run: rustup update 1.75.0

      - name: Setup rust-cache
        uses: Swatinem/rust-cache@v2
        with:
          cache-bin: false

      - name: Check zenoh with rust 1.75.0
        run: cargo +1.75.0 check --release --manifest-path ci/zenoh-1-75/Cargo.toml

      - name: Check clippy on stable rust without Cargo.lock to ensure compatibility with latest dependencies
        run: |
          rm Cargo.lock
          cargo +stable clippy --release --manifest-path ci/zenoh-1-75/Cargo.toml -- -D warnings
          git restore Cargo.lock

  check:
    needs: determine-runner
    name: Lints and doc tests on ${{ matrix.os }}
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        os: ${{ fromJSON(needs.determine-runner.outputs.runner) }}

    steps:
      - name: Clone this repository
        uses: actions/checkout@v4

      - name: Update Stable Rust toolchain
        run: rustup update stable

      - name: Make sure necessary tools are installed
        run: |
          rustup component add clippy --toolchain stable
          rustup component add rustfmt --toolchain ${{ env.NIGHTLY_TOOLCHAIN }}

      - name: Setup rust-cache
        uses: Swatinem/rust-cache@v2
        with:
          cache-bin: false

      - name: Install latest cargo-deny
        uses: taiki-e/install-action@cargo-deny

      - name: Install latest cargo-machete
        uses: taiki-e/install-action@cargo-machete

      - name: Install latest cargo-semver-checks
        uses: taiki-e/install-action@cargo-semver-checks
        
      - name: Install latest taplo
        uses: taiki-e/install-action@taplo
  
      - name: Code format check
        run: rustfmt +${{ env.NIGHTLY_TOOLCHAIN }} --check --config "unstable_features=true,imports_granularity=Crate,group_imports=StdExternalCrate,skip_children=true" $(git ls-files '*.rs')

      - name: Clippy zenoh no-default-features
        run: cargo +stable clippy -p zenoh --all-targets --no-default-features -- --deny warnings

      - name: Clippy zenoh
        run: cargo +stable clippy -p zenoh --all-targets -- --deny warnings

      - name: Clippy zenoh unstable
        run: cargo +stable clippy -p zenoh --all-targets --features unstable -- --deny warnings

      - name: Clippy zenoh internal
        run: cargo +stable clippy -p zenoh --all-targets --features unstable,internal -- --deny warnings

      - name: Clippy zenoh shared-memory
        run: cargo +stable clippy -p zenoh --all-targets --features unstable,shared-memory -- --deny warnings

      - name: Clippy workspace
        run: cargo +stable clippy --all-targets --features test -- --deny warnings

      - name: Clippy workspace unstable
        run: cargo +stable clippy --all-targets --features unstable,test -- --deny warnings

      - name: Clippy all features
        if: ${{ matrix.os == 'ubuntu-latest' || matrix.os == 'macos-latest' }}
        run: cargo +stable clippy --all-targets --all-features -- --deny warnings

      - name: Install generic no_std target
        # Generic no_std target architecture is x86_64-unknown-none
        run: rustup target add x86_64-unknown-none

      - name: Perform no_std checks
        run: cargo check --bin nostd_check --target x86_64-unknown-none --manifest-path ci/nostd-check/Cargo.toml

      - name: Run doctests
        run: cargo test --doc

      - name: Build doc
        run: cargo doc --no-deps --features unstable
        env:
          RUSTDOCFLAGS: -Dwarnings

      - name: Check licenses
        run: cargo deny check licenses

      - name: Check unused dependencies
        run: cargo machete

      - name: Check SemVer Compatibility
        run: cargo +stable semver-checks --verbose --default-features --package zenoh --release-type ${{ env.CARGO_SEMVER_CHECKS_RELEASE_TYPE }} --baseline-version ${{ env.CARGO_SEMVER_CHECKS_BASELINE_VERSION }}
        
      - name: Check TOML formatting
        if: ${{ !contains(matrix.os, 'windows') }}
        run: taplo fmt --check --diff

  test:
    needs: determine-runner
    name: Unit tests on ${{ matrix.os }}
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        os: ${{ fromJSON(needs.determine-runner.outputs.runner) }}

    steps:
      - name: Clone this repository
        uses: actions/checkout@v4

      - name: Install latest Rust toolchain
        run: rustup show

      - name: Setup rust-cache
        uses: Swatinem/rust-cache@v2
        with:
          cache-bin: false

      - name: Set rustflags
        if: ${{ matrix.os == 'windows-latest' }}
        shell: bash
        run: |
            echo "RUSTFLAGS=-Clink-arg=/DEBUG:NONE" >> $GITHUB_ENV

      - name: Install latest nextest
        uses: taiki-e/install-action@nextest

      - name: Run tests stable (sudo macos)
        if: ${{ matrix.os == 'macos-latest' }}
        run: sudo cargo nextest run -p zenoh

      - name: Run tests stable
        if: ${{ matrix.os != 'macos-latest' }}
        run: cargo nextest run -p zenoh

      - name: Check for feature leaks
        if: ${{ matrix.os == 'ubuntu-latest' }}
        run: cargo nextest run -p zenohd --no-default-features

      - name: Upload test results to Codecov
        if: ${{ !cancelled() }}
        uses: codecov/test-results-action@v1
        with:
          token: ${{ secrets.CODECOV_TOKEN }}

  test_unstable:
    needs: determine-runner
    name: Unit tests on ${{ matrix.os }} (unstable)
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        os: ${{ fromJSON(needs.determine-runner.outputs.runner) }}

    steps:
      - name: Clone this repository
        uses: actions/checkout@v4

      - name: Install latest Rust toolchain
        run: rustup show

      - name: Setup rust-cache
        uses: Swatinem/rust-cache@v2
        with:
          cache-bin: false

      - name: Set rustflags
        if: ${{ matrix.os == 'windows-latest' }}
        shell: bash
        run: |
            echo "RUSTFLAGS=-Clink-arg=/DEBUG:NONE" >> $GITHUB_ENV

      - name: Install latest nextest
        uses: taiki-e/install-action@nextest

      - name: Run tests with unstable (sudo macos)
        if: ${{ matrix.os == 'macos-latest' }}
        run: |
          sudo cargo build -p zenoh-plugin-rest --lib
          sudo cargo nextest run -F test -F plugins,unstable,internal --exclude zenoh-examples --exclude zenoh-plugin-example --workspace

      - name: Run tests with unstable
        if: ${{ matrix.os != 'macos-latest' }}
        run: |
          cargo build -p zenoh-plugin-rest --lib
          cargo nextest run -F test -F plugins,unstable,internal --exclude zenoh-examples --exclude zenoh-plugin-example --workspace

      - name: Upload test results to Codecov
        if: ${{ !cancelled() }}
        uses: codecov/test-results-action@v1
        with:
          token: ${{ secrets.CODECOV_TOKEN }}

  test_shm:
    needs: determine-runner
    name: Unit tests on ${{ matrix.os }} (shared memory)
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        os: ${{ fromJSON(needs.determine-runner.outputs.runner) }}

    steps:
      - name: Clone this repository
        uses: actions/checkout@v4

      - name: Install latest Rust toolchain
        run: rustup show

      - name: Setup rust-cache
        uses: Swatinem/rust-cache@v2
        with:
          cache-bin: false

      - name: Set rustflags
        if: ${{ matrix.os == 'windows-latest' }}
        shell: bash
        run: |
            echo "RUSTFLAGS=-Clink-arg=/DEBUG:NONE" >> $GITHUB_ENV

      - name: Install latest nextest
        uses: taiki-e/install-action@nextest

      - name: Run tests with SHM (sudo macos)
        if: ${{ matrix.os == 'macos-latest' }}
        run: sudo cargo nextest run -F test -F shared-memory -F unstable -E 'not (test(test_default_features) or test(test_adminspace_read))' --exclude zenoh-examples --exclude zenoh-plugin-example --workspace
        env:
          RUST_BACKTRACE: 1

      - name: Run tests with SHM
        if: ${{ matrix.os == 'windows-latest' }}
        run: cargo nextest run -F test -F shared-memory -F unstable -E 'not (test(test_default_features) or test(test_adminspace_read))' --exclude zenoh-examples --exclude zenoh-plugin-example --workspace

      - name: Run tests with SHM + unixpipe
        if: ${{ matrix.os == 'ubuntu-latest' }}
        run: |
          sudo prlimit --memlock=unlimited --pid=$$
          cargo nextest run -F test -F shared-memory -F unstable -F transport_unixpipe -E 'not (test(test_default_features) or test(test_adminspace_read))' --exclude zenoh-examples --exclude zenoh-plugin-example --workspace

      - name: Upload test results to Codecov
        if: ${{ !cancelled() }}
        uses: codecov/test-results-action@v1
        with:
          token: ${{ secrets.CODECOV_TOKEN }}

  valgrind:
    name: Memory leak checks
    runs-on: ubuntu-latest
    needs: check
    steps:
      - name: Clone this repository
        uses: actions/checkout@v4

      - name: Install latest Rust toolchain
        run: rustup show

      - name: Install valgrind
        uses: taiki-e/install-action@valgrind

      - uses: Swatinem/rust-cache@v2
        with:
          cache-bin: false

      - name: Run memory leaks check
        run: ci/valgrind-check/run.sh
        shell: bash

  typos:
    name: Typos Check
    runs-on: ubuntu-latest
    steps:
      - name: Clone this repository
        uses: actions/checkout@v4

      - name: Check spelling
        uses: crate-ci/typos@master

  markdown_lint:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4
      - uses: DavidAnson/markdownlint-cli2-action@v18
        with:
          config: '.markdownlint.yaml'
          globs: '**/README.md'

  doc:
    name: Generate documentation
    runs-on: ubuntu-latest
    steps:
      - name: Clone this repository
        uses: actions/checkout@v4

      # Use a similar command than docs.rs build: rustdoc with nightly toolchain
      - name: Install Rust toolchain nightly for docs gen
        run: rustup toolchain install nightly

      - name: Run rustdoc using Nightly Rust and Zenoh unstable
        # NOTE: force 'unstable' feature for doc generation, as forced for docs.rs build in zenoh/Cargo.toml
        run: |
          cargo +${{ env.NIGHTLY_TOOLCHAIN }} rustdoc --manifest-path ./zenoh/Cargo.toml --lib --features "shared-memory unstable" -j3 \
            -Z rustdoc-map -Z unstable-options -Z rustdoc-scrape-examples \
            --config build.rustdocflags='["--cfg", "docsrs", "-Z", "unstable-options", "--emit=invocation-specific", "--cap-lints", "warn", "--extern-html-root-takes-precedence"]'

  coverage:
    name: Coverage
    strategy:
      fail-fast: false
      matrix:
        os: [ubuntu-latest]
        rust: [nightly]
    runs-on: ${{ matrix.os }}
    steps:
      - name: Free Disk Space (Ubuntu)
        uses: jlumbroso/free-disk-space@main
        with:
          tool-cache: false
          android: true
          dotnet: true
          haskell: true
          large-packages: true
          docker-images: true
          swap-storage: true

      - name: Install build-essential (Ubuntu)
        if: ${{ matrix.os == 'ubuntu-latest' }}
        run: |
          sudo apt-get update
          sudo apt-get install -y build-essential clang libc6-dev

      - name: Checkout sources
        uses: actions/checkout@v4

      - name: Install Rust toolchain
        env:
          RUSTUP_TOOLCHAIN: ${{ matrix.rust == 'nightly' && env.NIGHTLY_TOOLCHAIN || matrix.rust }}
        run: |
          rustup update ${{ env.RUSTUP_TOOLCHAIN }}
          rustup component add llvm-tools-preview

      - uses: Swatinem/rust-cache@v2
        with:
          cache-bin: false

      - name: Install cargo-llvm-cov
        uses: taiki-e/install-action@cargo-llvm-cov

      - name: Generate code coverage
        env:
          RUSTUP_TOOLCHAIN: ${{ matrix.rust == 'nightly' && env.NIGHTLY_TOOLCHAIN || matrix.rust }}
          RUST_LOG: None
        run: |
          sudo prlimit --memlock=unlimited --pid=$$
          cargo llvm-cov test --features unstable --features test --features shared-memory \
          ${{ matrix.rust == 'nightly' && '--doctests' || '' }} --lcov --output-path lcov.info \
          --no-cfg-coverage --no-cfg-coverage-nightly --ignore-run-fail -- \
          --skip test_default_features \
          --skip router_linkstate \
          --skip three_node_combination  \
          --skip three_node_combination_multicast \
          --skip two_node_combination \
          --skip test_gossip \
          --skip metadata_alloc_concurrent \
          --skip metadata_link_concurrent \
          --skip metadata_link_failure_concurrent

      - name: Upload coverage to Codecov
        uses: codecov/codecov-action@v5
        with:
          token: ${{ secrets.CODECOV_TOKEN }}
          files: lcov.info
          fail_ci_if_error: true

      # Cleanup profraw files to avoid failing during rust-cache
      # post run cleanup. It requires enough space on disk left to save the cache
      - name: Cleanup profraw files
        run: |
          find . -name "*.profraw" -type f -delete

  # NOTE: In GitHub repository settings, the "Require status checks to pass
  # before merging" branch protection rule ensures that commits are only merged
  # from branches where specific status checks have passed. These checks are
  # specified manually as a list of workflow job names. Thus we use this extra
  # job to signal whether all CI checks have passed.
  ci:
    name: CI status checks
    runs-on: ubuntu-latest
    needs: [check_rust, check, test, test_unstable, test_shm, valgrind, typos, markdown_lint, doc, coverage]
    if: always()
    steps:
      - name: Check whether all jobs pass
        run: echo '${{ toJson(needs) }}' | jq -e 'all(.result == "success")'