From 7b39030508449a37de4cd07580a709ac39a54ba0 Mon Sep 17 00:00:00 2001 From: David Vadovszki Date: Wed, 5 Aug 2026 15:31:13 -0600 Subject: [PATCH] ci: unbreak the three red jobs (VS 2026, rolling base pin, renamed test binary) Three jobs were red. Two are external drift; the third had been masked by fail-fast and is our own fork-rename fallout. cmake Windows and Pixi (conda) both broke on the same runner-image change -- windows-latest is now windows-2025-vs2026, with Visual Studio 2026 (MSVC 19.51, tools 14.51) as the only Visual Studio installed -- but they broke on different things, so they get different fixes. Both stay on windows-latest. cmake Windows is not a generator problem. Conan already selects the "Visual Studio 18 2026" generator and gtest configures and builds clean under it. The break is libsodium, the one package in the graph built by msbuild rather than cmake: its hand-written .vcxproj gets PlatformToolset v145 from compiler.version=195 while conanvcvars lands on VCToolsVersion 14.44.35207, and msbuild rejects the pair (MSB8052). Passing -o "zeromq/*:encryption=tweetnacl" uses the copy of tweetnacl bundled in libzmq and drops the libsodium dependency entirely. CURVE support is unchanged, and nothing here touches it -- the ZMQ_CURVE_* references in src/loggers/zmq.hpp are cppzmq's own ifdef'd option wrappers. Pixi is a generator problem. cmake picks its default generator from a hardcoded list, and the conda-forge cmake 3.31.5 in the lock predates VS 2026 entirely, so it asked for "Visual Studio 17 2022" and found nothing. That generator exists only in cmake >= 4.2, hence the dependency floor and the win-64 build task that names it explicitly. Relocking to cmake 4.4.2 moves pixi.lock to format v7, which the pinned pixi v0.40.3 cannot read, so setup-pixi and pixi move up with it. ros2-rolling is unrelated: ROS 2 Rolling migrated to Ubuntu 26.04 (resolute), and packages.ros.org publishes no ros-rolling-* debs for resolute yet, so ros-rolling-ros-environment isn't there to install. Pin OS_CODE_NAME to noble until it is. Pixi (conda) on ubuntu was never actually passing -- fail-fast cancelled it mid-build once windows died, hiding its own failure. The rename in #26 changed PROJECT_NAME to behaviortree_cpp_picknik, so tests build behaviortree_cpp_picknik_test while pixi.toml and cmake_windows.yml still ran behaviortree_cpp_test. Fixed, and fail-fast disabled so one job's failure stops hiding its sibling's. cmake_ubuntu.yml needed nothing -- it runs ctest, not the binary by name. Verified locally where possible: industrial_ci in Docker with ROS_DISTRO= rolling ROS_REPO=main OS_CODE_NAME=noble builds and passes 207 tests, and pixi run build && pixi run test under cmake 4.4.2 builds clean and passes 207 tests, so the CMake 4 policy bump costs nothing (the one pre-4 declaration left is lexy's cmake_minimum_required(VERSION 3.8), which warns rather than errors). The windows halves are CI-testable only; all six jobs are green. --- .github/workflows/cmake_windows.yml | 11 +- .github/workflows/pixi.yaml | 8 +- .github/workflows/ros2-rolling.yaml | 4 +- pixi.lock | 2481 +++++++++++---------------- pixi.toml | 10 +- 5 files changed, 1039 insertions(+), 1475 deletions(-) diff --git a/.github/workflows/cmake_windows.yml b/.github/workflows/cmake_windows.yml index 34f4f97ce..b4b0a763e 100644 --- a/.github/workflows/cmake_windows.yml +++ b/.github/workflows/cmake_windows.yml @@ -39,7 +39,14 @@ jobs: - name: Install conan dependencies working-directory: ${{github.workspace}}/build - run: conan install ${{github.workspace}}/conanfile.txt -s build_type=${{env.BUILD_TYPE}} --build=missing + # encryption=tweetnacl swaps zeromq's default libsodium dependency for the + # copy bundled in libzmq. CURVE support is unchanged; what goes away is the + # only conan package in this graph built by msbuild instead of cmake. + # libsodium's hand-written .vcxproj gets PlatformToolset v145 from + # compiler.version=195 while vcvars lands on VCToolsVersion 14.44, and + # msbuild rejects the pair (MSB8052). Every cmake-built dependency is fine + # with the Visual Studio 18 2026 generator. + run: conan install ${{github.workspace}}/conanfile.txt -s build_type=${{env.BUILD_TYPE}} -o "zeromq/*:encryption=tweetnacl" --build=missing - name: Configure CMake shell: bash @@ -53,4 +60,4 @@ jobs: - name: run test (Windows) working-directory: ${{github.workspace}}/build - run: $env:PATH+=";${{env.BUILD_TYPE}}"; tests/${{env.BUILD_TYPE}}/behaviortree_cpp_test.exe + run: $env:PATH+=";${{env.BUILD_TYPE}}"; tests/${{env.BUILD_TYPE}}/behaviortree_cpp_picknik_test.exe diff --git a/.github/workflows/pixi.yaml b/.github/workflows/pixi.yaml index ddd1cbfb8..a5b265a6c 100644 --- a/.github/workflows/pixi.yaml +++ b/.github/workflows/pixi.yaml @@ -10,6 +10,9 @@ on: jobs: pixi_conda_build: strategy: + # Without this, a failing windows job cancels the ubuntu one mid-build and + # hides whatever it would have reported. + fail-fast: false matrix: os: - windows-latest @@ -18,9 +21,10 @@ jobs: steps: # Pixi is the tool used to create/manage conda environment - uses: actions/checkout@v3 - - uses: prefix-dev/setup-pixi@v0.8.1 + # pixi.lock is format v7, which v0.40.3 cannot read. + - uses: prefix-dev/setup-pixi@v0.10.1 with: - pixi-version: v0.40.3 + pixi-version: v0.76.1 - name: Build run: pixi run build - name: Run tests diff --git a/.github/workflows/ros2-rolling.yaml b/.github/workflows/ros2-rolling.yaml index 446c49879..5d08cead7 100644 --- a/.github/workflows/ros2-rolling.yaml +++ b/.github/workflows/ros2-rolling.yaml @@ -12,7 +12,9 @@ jobs: strategy: matrix: env: - - {ROS_DISTRO: rolling, ROS_REPO: main} + # rolling now targets Ubuntu 26.04 (resolute), for which packages.ros.org + # publishes no rolling debs yet. Pin to noble (24.04) until it does. + - {ROS_DISTRO: rolling, ROS_REPO: main, OS_CODE_NAME: noble} runs-on: ubuntu-latest steps: - uses: actions/checkout@v3 diff --git a/pixi.lock b/pixi.lock index df4979941..47653f767 100644 --- a/pixi.lock +++ b/pixi.lock @@ -1,4 +1,15 @@ -version: 5 +version: 7 +platforms: +- name: linux-64 + virtual-packages: + - __unix=0=0 + - __linux=4.18 + - __glibc=2.28 + - __archspec=0=x86_64 +- name: win-64 + virtual-packages: + - __win=10.0 + - __archspec=0=x86_64 environments: default: channels: @@ -11,15 +22,12 @@ environments: - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.43-h4bf12b8_2.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_linux-64-2.43-h4852527_2.conda - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-h4bc722e_7.conda - - conda: https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.34.4-hb9d3cd8_0.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.34.8-hb03c661_0.conda - 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CMake's default +# generator choice is a hardcoded list, so it has to be told about VS 18 +# explicitly -- and the generator itself only exists in cmake >= 4.2. +build = "mkdir -p build && cd build && cmake ../ -G \"Visual Studio 18 2026\" -DCMAKE_BUILD_TYPE=Release && cmake --build . --parallel --config Release" +test = "PATH=\"$PATH;build/Release\" build/tests/Release/behaviortree_cpp_picknik_test.exe" [target.linux-64.tasks] -test = "./build/tests/behaviortree_cpp_test" +test = "./build/tests/behaviortree_cpp_picknik_test" [tasks] build = "mkdir -p build && cd build && cmake ../ -DCMAKE_BUILD_TYPE=Release && cmake --build . --parallel --config Release" [dependencies] -cmake = ">=3.16.3" +cmake = ">=4.2" # first version with the "Visual Studio 18 2026" generator gmock = "1.14.*" sqlite = "3.40.*" zeromq = "4.3.*"