rosotacom-dev 2.5.dev26__tar.gz → 2.5.dev29__tar.gz

rosotacom_dev-2.5.dev29/.github/actions/setup-just/action.yml

@@ -0,0 +1,34 @@
+name: Set up just
+description: >
+  Install a pinned just release, verified by checksum.
+
+  Nineteen jobs used to reach it with `apt-get update && apt-get install -y
+  just`, and almost all of that step's 9-15s was the index refresh — in every
+  job, including all thirteen e2e slices, where it sat on the merge gate's
+  critical path. A release tarball is ~2s.
+
+  It also stops the CI toolchain drifting: apt gave whatever noble currently
+  ships (1.21.0 at the time of writing), which changes without anything here
+  saying so.
+
+runs:
+  using: composite
+  steps:
+    - name: Install just
+      shell: bash
+      run: |
+        set -euo pipefail
+        JUST_VERSION="1.58.0"
+        CHECKSUM="4a5cc2f53e6f0f8c59092a6cc38291eb729d46a7dd95d3ae582008881b84931d"
+        URL="https://github.com/casey/just/releases/download/${JUST_VERSION}/just-${JUST_VERSION}-x86_64-unknown-linux-musl.tar.gz"
+        # Unpacked outside the checkout: a stray tarball in the working tree is
+        # a thing every later step has to not trip over.
+        workdir="$(mktemp -d)"
+        # --fail, or a transient HTTP error body is saved as the tarball and
+        # reported as a checksum mismatch, which reads like a tampered release.
+        curl -sSLf --retry 3 --retry-all-errors -o "$workdir/just.tar.gz" "$URL"
+        echo "${CHECKSUM}  $workdir/just.tar.gz" | sha256sum --check
+        tar -xzf "$workdir/just.tar.gz" -C "$workdir" just
+        sudo mv "$workdir/just" /usr/local/bin/just
+        rm -rf "$workdir"
+        just --version

{rosotacom_dev-2.5.dev26 → rosotacom_dev-2.5.dev29}/.github/workflows/benchmark-calibrate.yml

@@ -44,9 +44,7 @@ jobs:
           cache: pip
 
       - name: Install just
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y just
+        uses: ./.github/actions/setup-just
 
       - name: Set up local environment
         run: just setup
@@ -87,10 +85,15 @@ jobs:
           python-version: "3.12"
           cache: pip
 
-      - name: Install just and tmux
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y just tmux
+      - name: Install just
+        uses: ./.github/actions/setup-just
+
+      - name: Ensure tmux
+        # Preinstalled on the GitHub-hosted image, so this is a probe
+        # rather than an install — but the dependency is named, so a
+        # runner image that drops it fails here instead of inside a
+        # session.
+        run: command -v tmux >/dev/null || { sudo apt-get update && sudo apt-get install -y tmux; }
 
       - name: Set up local environment
         run: just setup
@@ -132,9 +135,7 @@ jobs:
           cache: pip
 
       - name: Install just
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y just
+        uses: ./.github/actions/setup-just
 
       - name: Set up local environment
         run: just setup

{rosotacom_dev-2.5.dev26 → rosotacom_dev-2.5.dev29}/.github/workflows/benchmark-gate.yml

@@ -50,9 +50,7 @@ jobs:
           cache: pip
 
       - name: Install just
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y just
+        uses: ./.github/actions/setup-just
 
       - name: Set up local environment
         run: just setup
@@ -87,10 +85,15 @@ jobs:
           python-version: "3.12"
           cache: pip
 
-      - name: Install just and tmux
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y just tmux
+      - name: Install just
+        uses: ./.github/actions/setup-just
+
+      - name: Ensure tmux
+        # Preinstalled on the GitHub-hosted image, so this is a probe
+        # rather than an install — but the dependency is named, so a
+        # runner image that drops it fails here instead of inside a
+        # session.
+        run: command -v tmux >/dev/null || { sudo apt-get update && sudo apt-get install -y tmux; }
 
       - name: Set up local environment
         run: just setup
@@ -142,9 +145,7 @@ jobs:
           cache: pip
 
       - name: Install just
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y just
+        uses: ./.github/actions/setup-just
 
       - name: Set up local environment
         run: just setup

{rosotacom_dev-2.5.dev26 → rosotacom_dev-2.5.dev29}/.github/workflows/dev-release.yml

@@ -71,9 +71,7 @@ jobs:
           cache: pip
 
       - name: Install just
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y just
+        uses: ./.github/actions/setup-just
 
       - name: Set up local environment
         run: just setup

{rosotacom_dev-2.5.dev26 → rosotacom_dev-2.5.dev29}/.github/workflows/image-scan.yml

@@ -33,9 +33,7 @@ jobs:
           cache: pip
 
       - name: Install just
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y just
+        uses: ./.github/actions/setup-just
 
       - name: Set up local environment
         run: just setup

{rosotacom_dev-2.5.dev26 → rosotacom_dev-2.5.dev29}/.github/workflows/nightly-e2e.yml

@@ -19,25 +19,43 @@ concurrency:
 
 jobs:
   smoke-e2e:
-    # The same six slices the merge gate and the release run, instead of one
+    # The same diagnostic slices the merge gate and the release run, instead of one
     # sequential `just test-e2e-smoke` over the whole suite (#198). Keeping the
     # monolith here was deliberate while the slices were hand-maintained `-k`
     # expressions that had silently stopped covering three files; #197's
     # test_e2e_slices_partition_the_whole_suite closed that, so the union is
     # now guaranteed to be the monolith.
     #
-    # The gain is diagnosis: a red monolith says "e2e broke", six slices say
-    # which area did. It also removes a load-induced flake. On 2026-08-11 the
+    # The gain is diagnosis: a red monolith says "e2e broke"; a named slice says
+    # which area and, where relevant, which transport or behavior failed. It
+    # also removes a load-induced flake. On 2026-08-11 the
     # nightly failed with nine "Timed out waiting for container readiness"
     # errors after 1h12m on one runner, while the same tests on the same commit
-    # passed in the merge gate — where they are spread over six.
+    # passed in the merge gate — where they were spread over six at the time.
     name: smoke-e2e-${{ matrix.slice }}
     runs-on: ubuntu-latest
     timeout-minutes: 90
     strategy:
       fail-fast: false
       matrix:
-        slice: [heartbeat, chatter, occupancy-grid, sized-payload, remote-assist, remote-assist-streams, runtime-tools, media, concurrency, benchmark-ab, benchmark-replay, benchmark-capacity, benchmark-capacity-cases]
+        slice:
+          - heartbeat
+          - chatter
+          - occupancy-grid-dds
+          - occupancy-grid-zenoh
+          - sized-payload-fastdds
+          - sized-payload-zenoh
+          - remote-assist
+          - remote-assist-costmap
+          - remote-assist-camera
+          - runtime-tools
+          - media
+          - concurrency-parallel
+          - concurrency-conflict
+          - benchmark-ab
+          - benchmark-replay
+          - benchmark-capacity
+          - benchmark-capacity-cases
 
     steps:
       - name: Check out repository
@@ -51,10 +69,15 @@ jobs:
           python-version: "3.12"
           cache: pip
 
-      - name: Install just and tmux
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y just tmux
+      - name: Install just
+        uses: ./.github/actions/setup-just
+
+      - name: Ensure tmux
+        # Preinstalled on the GitHub-hosted image, so this is a probe
+        # rather than an install — but the dependency is named, so a
+        # runner image that drops it fails here instead of inside a
+        # session.
+        run: command -v tmux >/dev/null || { sudo apt-get update && sudo apt-get install -y tmux; }
 
       - name: Set up local environment
         run: just setup
@@ -98,10 +121,15 @@ jobs:
           python-version: "3.12"
           cache: pip
 
-      - name: Install just and tmux
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y just tmux
+      - name: Install just
+        uses: ./.github/actions/setup-just
+
+      - name: Ensure tmux
+        # Preinstalled on the GitHub-hosted image, so this is a probe
+        # rather than an install — but the dependency is named, so a
+        # runner image that drops it fails here instead of inside a
+        # session.
+        run: command -v tmux >/dev/null || { sudo apt-get update && sudo apt-get install -y tmux; }
 
       - name: Set up local environment
         run: just setup

{rosotacom_dev-2.5.dev26 → rosotacom_dev-2.5.dev29}/.github/workflows/pr-lightweight.yml

@@ -29,9 +29,7 @@ jobs:
           cache: pip
 
       - name: Install just
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y just
+        uses: ./.github/actions/setup-just
 
       - name: Set up local environment
         run: just setup

{rosotacom_dev-2.5.dev26 → rosotacom_dev-2.5.dev29}/.github/workflows/pr-merge-gate.yml

@@ -71,9 +71,7 @@ jobs:
           cache: pip
 
       - name: Install just
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y just
+        uses: ./.github/actions/setup-just
 
       - name: Set up local environment
         run: just setup
@@ -102,9 +100,7 @@ jobs:
           cache: pip
 
       - name: Install just
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y just
+        uses: ./.github/actions/setup-just
 
       - name: Set up local environment
         run: just setup
@@ -152,9 +148,7 @@ jobs:
           cache: pip
 
       - name: Install just
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y just
+        uses: ./.github/actions/setup-just
 
       - name: Set up local environment
         run: just setup
@@ -162,44 +156,55 @@ jobs:
       - name: Validate package
         run: just package
 
-  preflight-success:
-    name: preflight-success
+  quick-gate:
+    # Everything `e2e` waits for that is not the image, and deliberately no
+    # more. It exists to answer one question — is the tree obviously broken,
+    # such that seventeen slices would burn roughly 73 runner-minutes to say so.
+    #
+    # It replaced a `needs: preflight-success` edge that made e2e wait for the
+    # whole five-version matrix. That barrier cost 2.15 min of every gate run
+    # and had fired once in sixty runs, on `workflow-lint`, which takes 0.12
+    # min; the 2.0 min of `merge-lightweight` that set its height has never
+    # stopped an e2e round, and its expensive part is `test-nondocker-cov`
+    # (38s of 45s), which is a test suite rather than a tripwire.
+    #
+    # `lint` and `typecheck` are 4s together. The rest of this job is the fixed
+    # cost every job pays, which is also what `image` pays — so sizing the
+    # tripwire this way makes it free: e2e could not start before `image`
+    # finished anyway. Nothing merges on a weaker check than before, because
+    # `ci-success` still requires every preflight job.
+    name: quick-gate
     runs-on: ubuntu-latest
-    needs: [workflow-lint, dependency-review, build-lint, merge-lightweight, package]
-    if: always() && (github.event_name != 'pull_request' || github.event.pull_request.draft == false)
+    if: github.event_name != 'pull_request' || github.event.pull_request.draft == false
     steps:
-      - name: Check preflight jobs
+      - name: Check out repository
+        uses: actions/checkout@v6
+
+      - name: Set up Python
+        uses: actions/setup-python@v6
+        with:
+          python-version: "3.12"
+          cache: pip
+
+      - name: Install just
+        uses: ./.github/actions/setup-just
+
+      - name: Set up local environment
+        run: just setup
+
+      - name: Is the tree obviously broken
         run: |
-          if [[ "${{ needs.workflow-lint.result }}" != "success" ]]; then
-            echo "workflow-lint failed: ${{ needs.workflow-lint.result }}"
-            exit 1
-          fi
-          if [[ "${{ github.event_name }}" == "pull_request" && "${{ needs.dependency-review.result }}" != "success" ]]; then
-            echo "dependency-review failed: ${{ needs.dependency-review.result }}"
-            exit 1
-          fi
-          if [[ "${{ needs.build-lint.result }}" != "success" ]]; then
-            echo "build-lint failed: ${{ needs.build-lint.result }}"
-            exit 1
-          fi
-          if [[ "${{ needs.merge-lightweight.result }}" != "success" ]]; then
-            echo "merge-lightweight failed: ${{ needs.merge-lightweight.result }}"
-            exit 1
-          fi
-          if [[ "${{ needs.package.result }}" != "success" ]]; then
-            echo "package failed: ${{ needs.package.result }}"
-            exit 1
-          fi
-          echo "All preflight checks passed"
+          just lint
+          just typecheck
 
   image:
     # Publish the images the e2e suite builds, once per set of build inputs,
-    # instead of rebuilding them in each of thirteen jobs. #236 measured that
-    # build at 154s per job: 57s pulling the multi-GB ROS base from Docker Hub,
-    # 40s exporting layers, 47s of apt and pip. A pull from GHCR — co-located
-    # with the runners, no Hub rate limit, one transfer instead of a transfer
-    # plus a build — replaces all of it, and takes twelve of the thirteen Hub
-    # pulls off the merge gate's critical path.
+    # instead of rebuilding them in every job. #236 measured that build at
+    # 154s per job when the matrix had thirteen jobs: 57s pulling the multi-GB
+    # ROS base from Docker Hub, 40s exporting layers, 47s of apt and pip. A pull
+    # from GHCR — co-located with the runners, no Hub rate limit, one transfer
+    # instead of a transfer plus a build — replaces all of it. The benefit
+    # grows with the diagnostic matrix; seventeen jobs still build only once.
     #
     # The tag is a hash of everything that decides the image (base digest,
     # package lists, Dockerfile, entrypoint, ros2docker version, build UID):
@@ -208,8 +213,9 @@ jobs:
     # is stale" is not a state this can reach — which is the objection #226
     # raised against caching the image inline.
     #
-    # Runs beside preflight rather than after it: on a hit it inspects two
-    # manifests and stops, so it is never on the critical path.
+    # Runs beside the preflight jobs rather than after them: on a hit it
+    # inspects two manifests and stops. It is what sets when `e2e` can
+    # start, which is why `quick-gate` is sized to finish inside it.
     name: image
     runs-on: ubuntu-latest
     timeout-minutes: 60
@@ -231,9 +237,7 @@ jobs:
           cache: pip
 
       - name: Install just
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y just
+        uses: ./.github/actions/setup-just
 
       - name: Set up local environment
         run: just setup
@@ -291,24 +295,41 @@ jobs:
     # tests/contract/test_workflow_contracts.py keeps the three workflows and
     # the justfile agreeing.
     #
-    # The slices are chosen by measured cost, not grouped by theme (#226):
-    # themed slices spanned 7m39s to 18m31s, and one test ran in two of them.
-    # Thirteen rather than six because the model that predicted the balanced
-    # six within 25s also says twelve reaches the floor and more buys nothing
-    # (#235). Which tests a slice owns and what each costs is E2E_SLICES in
-    # tests/e2e/conftest.py — change that, not this line, to move a test.
+    # Slice names are diagnostic boundaries, not cost buckets. Costs tell us
+    # when a theme needs another runner; they never justify packing unrelated
+    # tests together. Seventeen is the smallest theme-preserving partition that
+    # reaches the measured floor: #253 split the four overloaded themes along
+    # transport, stream, or concurrency semantics. Which tests a slice owns and
+    # what each costs is E2E_SLICES in tests/e2e/conftest.py.
     name: e2e-${{ matrix.slice }}
     runs-on: ubuntu-latest
     timeout-minutes: 90
-    needs: [preflight-success, image]
-    if: always() && !cancelled() && needs.preflight-success.result == 'success' && needs.image.result == 'success'
+    needs: [quick-gate, image]
+    if: always() && !cancelled() && needs.quick-gate.result == 'success' && needs.image.result == 'success'
     permissions:
       contents: read
       packages: read
     strategy:
       fail-fast: false
       matrix:
-        slice: [heartbeat, chatter, occupancy-grid, sized-payload, remote-assist, remote-assist-streams, runtime-tools, media, concurrency, benchmark-ab, benchmark-replay, benchmark-capacity, benchmark-capacity-cases]
+        slice:
+          - heartbeat
+          - chatter
+          - occupancy-grid-dds
+          - occupancy-grid-zenoh
+          - sized-payload-fastdds
+          - sized-payload-zenoh
+          - remote-assist
+          - remote-assist-costmap
+          - remote-assist-camera
+          - runtime-tools
+          - media
+          - concurrency-parallel
+          - concurrency-conflict
+          - benchmark-ab
+          - benchmark-replay
+          - benchmark-capacity
+          - benchmark-capacity-cases
 
     steps:
       - name: Check out repository
@@ -322,10 +343,15 @@ jobs:
           python-version: "3.12"
           cache: pip
 
-      - name: Install just and tmux
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y just tmux
+      - name: Install just
+        uses: ./.github/actions/setup-just
+
+      - name: Ensure tmux
+        # Preinstalled on the GitHub-hosted image, so this is a probe
+        # rather than an install — but the dependency is named, so a
+        # runner image that drops it fails here instead of inside a
+        # session.
+        run: command -v tmux >/dev/null || { sudo apt-get update && sudo apt-get install -y tmux; }
 
       - name: Set up local environment
         run: just setup
@@ -364,7 +390,7 @@ jobs:
       - build-lint
       - merge-lightweight
       - package
-      - preflight-success
+      - quick-gate
       - image
       - e2e
     if: always() && (github.event_name != 'pull_request' || github.event.pull_request.draft == false)
@@ -392,8 +418,8 @@ jobs:
             echo "package failed or was skipped: ${{ needs.package.result }}"
             exit 1
           fi
-          if [[ "${{ needs.preflight-success.result }}" != "success" ]]; then
-            echo "preflight-success failed or was skipped: ${{ needs.preflight-success.result }}"
+          if [[ "${{ needs.quick-gate.result }}" != "success" ]]; then
+            echo "quick-gate failed or was skipped: ${{ needs.quick-gate.result }}"
             exit 1
           fi
           if [[ "${{ needs.image.result }}" != "success" ]]; then

{rosotacom_dev-2.5.dev26 → rosotacom_dev-2.5.dev29}/.github/workflows/release.yml

@@ -35,9 +35,7 @@ jobs:
           cache: pip
 
       - name: Install just
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y just
+        uses: ./.github/actions/setup-just
 
       - name: Set up local environment
         run: just setup
@@ -67,9 +65,7 @@ jobs:
           cache: pip
 
       - name: Install just
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y just
+        uses: ./.github/actions/setup-just
 
       - name: Set up local environment
         run: just setup
@@ -114,7 +110,7 @@ jobs:
           retention-days: 30
 
   e2e:
-    # The same five slices the merge gate runs, in parallel, instead of one
+    # The same diagnostic slices the merge gate runs, in parallel, instead of one
     # sequential `just test-e2e-smoke` over the whole suite. That target is
     # identical to nightly-e2e.yml's smoke-e2e job, so the release used to be
     # the third sequential run of the same tests against the same tree; it
@@ -125,7 +121,24 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        slice: [heartbeat, chatter, occupancy-grid, sized-payload, remote-assist, remote-assist-streams, runtime-tools, media, concurrency, benchmark-ab, benchmark-replay, benchmark-capacity, benchmark-capacity-cases]
+        slice:
+          - heartbeat
+          - chatter
+          - occupancy-grid-dds
+          - occupancy-grid-zenoh
+          - sized-payload-fastdds
+          - sized-payload-zenoh
+          - remote-assist
+          - remote-assist-costmap
+          - remote-assist-camera
+          - runtime-tools
+          - media
+          - concurrency-parallel
+          - concurrency-conflict
+          - benchmark-ab
+          - benchmark-replay
+          - benchmark-capacity
+          - benchmark-capacity-cases
 
     steps:
       - name: Check out repository
@@ -139,10 +152,15 @@ jobs:
           python-version: "3.12"
           cache: pip
 
-      - name: Install just and tmux
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y just tmux
+      - name: Install just
+        uses: ./.github/actions/setup-just
+
+      - name: Ensure tmux
+        # Preinstalled on the GitHub-hosted image, so this is a probe
+        # rather than an install — but the dependency is named, so a
+        # runner image that drops it fails here instead of inside a
+        # session.
+        run: command -v tmux >/dev/null || { sudo apt-get update && sudo apt-get install -y tmux; }
 
       - name: Set up local environment
         run: just setup

{rosotacom_dev-2.5.dev26 → rosotacom_dev-2.5.dev29}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: rosotacom-dev
-Version: 2.5.dev26
+Version: 2.5.dev29
 Summary: Host CLI for ROS OTA communication sessions.
 Author: develNor
 License-Expression: BSD-3-Clause