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rosbag2 storage plugin for Rerun .rrd files
A rosbag2 storage plugin that records ROS 2 bags as Rerun `.rrd` files: a thin C++ pluginlib shim over a Rust core that does the CDR decoding, Arrow building and Rerun writing. Supports raw, reflected and lens representations, live streaming to a running viewer, layering onto an existing recording id, indexed seeking and replay through `ros2 bag play`. Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
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‎.clang-format‎

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BasedOnStyle: Google
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# Make it slightly more similar to Rust.
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# Based loosely on https://gist.github.com/YodaEmbedding/c2c77dc693d11f3734d78489f9a6eea4
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AccessModifierOffset: -2
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AlignAfterOpenBracket: BlockIndent
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AllowAllArgumentsOnNextLine: false
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AllowShortBlocksOnASingleLine: false
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AllowShortCaseLabelsOnASingleLine: false
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AllowShortFunctionsOnASingleLine: Empty
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AllowShortIfStatementsOnASingleLine: Never
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AlwaysBreakAfterReturnType: None
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AlwaysBreakBeforeMultilineStrings: true
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BinPackArguments: false
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BreakStringLiterals: false
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ColumnLimit: 100
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ContinuationIndentWidth: 4
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DerivePointerAlignment: false
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EmptyLineBeforeAccessModifier: LogicalBlock
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IndentWidth: 4
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IndentWrappedFunctionNames: true
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InsertBraces: true
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InsertTrailingCommas: Wrapped
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MaxEmptyLinesToKeep: 1
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NamespaceIndentation: All
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PointerAlignment: Left
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ReflowComments: false
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SeparateDefinitionBlocks: Always
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SpacesBeforeTrailingComments: 1
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# Don't change include blocks, we want to control this manually.
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# Sorting headers however is allowed as all our headers should be standalone.
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IncludeBlocks: Preserve
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SortIncludes: CaseInsensitive

‎.gitattributes‎

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* text=auto eol=lf
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Cargo.lock linguist-generated=false

‎.github/pull_request_template.md‎

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<!--
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* Keep your PR:s small and focused.
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* The PR title is what ends up in the changelog, so make it descriptive!
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* If applicable, add a screenshot or gif.
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* Do NOT open PR:s from your `main` branch, as that makes it hard for maintainers to test and add commits to your PR.
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* Remember to run `cargo fmt` and `cargo clippy`.
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* Open the PR as a draft until you have self-reviewed it and it passes CI.
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* When you have addressed a PR comment, mark it as resolved.
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Please be patient!
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-->
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* Closes #ISSUE_NUMBER

‎.github/workflows/cargo_shear.yml‎

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name: Cargo Shear
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on:
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push:
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branches:
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- "main"
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pull_request:
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types: [opened, synchronize]
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jobs:
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cargo-shear:
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runs-on: ubuntu-latest
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steps:
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- name: Checkout
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uses: actions/checkout@v4
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- name: Install Cargo Shear
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uses: taiki-e/install-action@v2.48.7
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with:
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tool: cargo-shear@1.11.2
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- name: Run Cargo Shear
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run: |
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cargo shear

‎.github/workflows/cpp.yml‎

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# Copied from https://github.com/rerun-io/rerun_template
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# The C++ shim is an ament package: CI for it needs a ROS 2 environment (robostack),
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# which is not set up yet. Manual trigger only until then.
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on:
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workflow_dispatch:
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name: C++
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jobs:
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cpp-check:
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name: C++
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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- uses: prefix-dev/setup-pixi@v0.8.8
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with:
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pixi-version: v0.77.1
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cache: true
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- run: pixi run build
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‎.github/workflows/enforce_branch_name.yml‎

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name: PR Branch Name Check
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on:
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pull_request_target:
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types: [opened, reopened, synchronize]
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permissions:
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issues: write
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jobs:
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check-source-branch:
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runs-on: ubuntu-latest
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steps:
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- name: Check PR source branch
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env:
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IS_FORK: ${{ github.event.pull_request.head.repo.fork }}
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HEAD_REF: ${{ github.event.pull_request.head.ref }}
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run: |
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# Check if PR is from a fork
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if [[ "${IS_FORK}" == "true" ]]; then
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# Check if PR is from the master/main branch of a fork
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if [[ "${HEAD_REF}" == "master" || "${HEAD_REF}" == "main" ]]; then
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echo "ERROR: Pull requests from the master/main branch of forks are not allowed, because it prevents maintainers from contributing to your PR"
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echo "Please create a feature branch in your fork and submit the PR from that branch instead."
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exit 1
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fi
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fi
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- name: Leave comment if PR is from master/main branch of fork d
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if: ${{ failure() }}
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uses: actions/github-script@v6
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with:
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github-token: ${{ secrets.GITHUB_TOKEN }}
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script: |
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github.rest.issues.createComment({
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issue_number: context.issue.number,
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owner: context.repo.owner,
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repo: context.repo.repo,
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body: '⚠️ **ERROR:** Pull requests from the `master`/`main` branch of forks are not allowed, because it prevents maintainers from contributing to your PR. Please create a feature branch in your fork and submit the PR from that branch instead.'
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})

‎.github/workflows/labels.yml‎

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# Copied from https://github.com/rerun-io/rerun_template
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# https://github.com/marketplace/actions/require-labels
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# Check for existence of labels
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# See all our labels at https://github.com/rerun-io/rerun/issues/labels
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name: PR Labels
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on:
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pull_request:
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types:
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- opened
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- synchronize
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- reopened
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- labeled
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- unlabeled
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jobs:
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label:
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runs-on: ubuntu-latest
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steps:
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- name: Check for a "do-not-merge" label
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uses: mheap/github-action-required-labels@v3
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with:
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mode: exactly
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count: 0
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labels: "do-not-merge"
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- name: Require label "include in changelog" or "exclude from changelog"
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uses: mheap/github-action-required-labels@v3
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with:
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mode: minimum
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count: 1
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labels: "exclude from changelog, include in changelog"

‎.github/workflows/links.yml‎

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# Copied from https://github.com/rerun-io/rerun_template
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on:
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push:
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branches:
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- "main"
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pull_request:
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types: [ opened, synchronize ]
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name: Link checker
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jobs:
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link-checker:
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name: Check links
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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- name: Restore lychee cache
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uses: actions/cache@v4
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with:
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path: .lycheecache
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key: cache-lychee-${{ github.sha }}
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restore-keys: cache-lychee-
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# Check https://github.com/lycheeverse/lychee on how to run locally.
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- name: Link Checker
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id: lychee
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uses: lycheeverse/lychee-action@v2
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with:
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fail: true
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# When given a directory, lychee checks only markdown, html and text files, everything else we have to glob in manually.
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args: |
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--root-dir . --cache --max-cache-age 1d . "**/*.rs" "**/*.toml" "**/*.hpp" "**/*.cpp" "**/CMakeLists.txt" "**/*.py" "**/*.yml"

‎.github/workflows/python.yml‎

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# Copied from https://github.com/rerun-io/rerun_template
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on:
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push:
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branches:
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- "main"
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pull_request:
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types: [ opened, synchronize ]
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name: Python
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jobs:
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python-check:
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name: Python
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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- uses: prefix-dev/setup-pixi@v0.8.8
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with:
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pixi-version: v0.77.1
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cache: true
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- run: pixi run py-fmt-check
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- run: pixi run py-lint

‎.github/workflows/rust.yml‎

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# Copied from https://github.com/rerun-io/rerun_template
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on:
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push:
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branches:
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- "main"
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pull_request:
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types: [ opened, synchronize ]
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name: Rust
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env:
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RUSTFLAGS: -D warnings
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RUSTDOCFLAGS: -D warnings
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jobs:
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rust-check:
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name: Rust
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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- uses: actions-rust-lang/setup-rust-toolchain@v1
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with:
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components: rust-docs, clippy, rustfmt
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toolchain: 1.96.0
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override: true
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- uses: prefix-dev/setup-pixi@v0.8.8
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with:
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pixi-version: v0.77.1
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- name: Rustfmt
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run: pixi run cargo fmt --all -- --check
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- name: check --all-features
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run: pixi run cargo check --all-features --all-targets
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- name: check default features
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run: pixi run cargo check --all-targets
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- name: check --no-default-features
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run: pixi run cargo check --no-default-features --all-targets
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# No doc-tests: the one crate is a staticlib, which has no lib target to run them in.
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- name: cargo doc --lib
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run: pixi run cargo doc --lib --no-deps --all-features
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- name: cargo doc --document-private-items
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run: pixi run cargo doc --document-private-items --no-deps --all-features
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- name: Build tests
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run: pixi run cargo build --tests --all-features
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- name: Run test
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run: pixi run cargo test --all-features
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- name: Clippy
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run: pixi run cargo clippy --all-targets --all-features -- -D warnings
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# ---------------------------------------------------------------------------
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# ---------------------------------------------------------------------------
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cargo-deny:
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name: Check Rust dependencies (cargo-deny)
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v3
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- uses: EmbarkStudios/cargo-deny-action@v2
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with:
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rust-version: "1.96.0"
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log-level: warn
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command: check

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