feature(#315): Support python 3.10+

Revamp CI workflow, condense files and jobs down, using matrices where possible. Main idea: test with {earliest python+OS version, latest python+OS version}, and assume that if those work then everything in between will work too. Also fix subtle nasty bug with pipeline where a nested usage of the actions/checkout@v3 action caused inner the publish job always to run against the master branch.
jharwell · Sep 4, 2024 · a096de6 · a096de6
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diff --git a/.github/actions/publish/action.yml b/.github/actions/publish/action.yml
@@ -11,7 +11,6 @@ inputs:
 runs:
   using: 'composite'
   steps:
-    - uses: actions/checkout@v3
     - uses: ./.github/actions/sierra-setup
     - name: Build package
       shell: bash
@@ -37,7 +36,7 @@ runs:
 
       uses: pypa/gh-action-pypi-publish@release/v1
       with:
-        skip_existing: true
+        skip-existing: true
         user: __token__
         password: ${{ inputs.testpypi-token }}
         repository_url: https://test.pypi.org/legacy/

diff --git a/.github/actions/sample-project-setup/action.yml b/.github/actions/sample-project-setup/action.yml
@@ -7,9 +7,7 @@ inputs:
   rosdistro:
     description: 'The version of ROS to test with'
     default: 'noetic'
-# outputs:
-#   time: # id of output
-#     description: 'The time we greeted you'
+
 runs:
   using: 'composite'
   steps:
@@ -18,7 +16,7 @@ runs:
       working-directory: ../../
       run: |
         if [ ! -d sierra-sample-project ]; then
-        git clone https://github.com/swarm-robotics/sierra-sample-project.git
+        git clone https://github.com/jharwell/sierra-sample-project.git
         cd sierra-sample-project
         else
         cd sierra-sample-project
@@ -41,13 +39,34 @@ runs:
         # dependencies these packages requires manual intervention to fix, and I
         # don't have a mac.
         if [ "${{ runner.os }}" == "macOS" ]; then
-          brew install pkg-config cmake libpng freeimage lua qt \
-          docbook asciidoc graphviz doxygen|| true
+          brew install \
+               pkg-config \
+               cmake \
+               libpng \
+               freeimage \
+               lua \
+               qt \
+               docbook \
+               asciidoc \
+               graphviz \
+               doxygen \
+               || true
         elif [ "${{ runner.os }}" == "Linux" ]; then
           sudo apt-get update
-          sudo apt-get install cmake libfreeimage-dev libfreeimageplus-dev \
-          qt5-default freeglut3-dev libxi-dev libxmu-dev liblua5.3-dev \
-          lua5.3 doxygen graphviz libgraphviz-dev asciidoc
+          sudo apt-get install -y \
+                       cmake \
+                       libfreeimage-dev \
+                       libfreeimageplus-dev \
+                       qtbase5-dev \
+                       freeglut3-dev \
+                       libxi-dev \
+                       libxmu-dev \
+                       liblua5.3-dev \
+                       lua5.3 \
+                       doxygen \
+                       graphviz \
+                       libgraphviz-dev \
+                       asciidoc
         fi
 
     - name: Install ARGoS
@@ -86,24 +105,42 @@ runs:
       working-directory: ../..
       shell: bash
       run: |
-        sudo apt-get install ros-${{ inputs.rosdistro }}-desktop-full
-        sudo apt-get install ros-${{ inputs.rosdistro }}-turtlebot3-description
-        sudo apt-get install ros-${{ inputs.rosdistro }}-turtlebot3-msgs
-        sudo apt-get install ros-${{ inputs.rosdistro }}-turtlebot3-gazebo
-        sudo apt-get install ros-${{ inputs.rosdistro }}-turtlebot3-bringup
-        sudo apt-get install python${{ matrix.python-version }} python${{ matrix.python-version }}-dev
-        sudo apt-get install python${{ matrix.python-version }}-venv python3-apt
-        sudo apt-get install python3-pip python3-cairo intltool python3-wheel python3-rospkg python3-empy
+        sudo apt-get install -y \
+        ros-${{ inputs.rosdistro }}-desktop-full \
+        ros-${{ inputs.rosdistro }}-turtlebot3-description \
+        ros-${{ inputs.rosdistro }}-turtlebot3-msgs \
+        ros-${{ inputs.rosdistro }}-turtlebot3-gazebo \
+        ros-${{ inputs.rosdistro }}-turtlebot3-bringup \
+        python${{ matrix.python-version }} \
+        python${{ matrix.python-version }}-dev \
+        python${{ matrix.python-version }}-venv \
+        python3-apt \
+        python3-pip \
+        python3-cairo \
+        intltool \
+        python3-wheel \
+        python3-rospkg \
+        python3-empy
+
 
         # 2023/1/18: You still need install these even after installing stuff
         # with apt AND if the sysem python matches your current python. I don't
         # know why.
-        pip3 install empy
-        pip3 install rospkg wheel pyparsing pyqt5
-        pip3 install  pyqt5 pysip numpy rospkg
-        pip3 install  matplotlib pyyaml psutil
-        pip3 install  pysip defusedxml pyparsing pydev
-        pip3 install  pyopengl opencv-python
+        pip3 install empy \
+                     rospkg \
+                     wheel \
+                     pyparsing \
+                     pyqt5 \
+                     pysip \
+                     numpy \
+                     matplotlib \
+                     pyyaml \
+                     psutil \
+                     defusedxml \
+                     pyparsing \
+                     pydev \
+                     pyopengl \
+                     opencv-python
 
     - name: Install SIERRA ROSBridge dependency (ubuntu)
       if: inputs.platform == 'ros1gazebo'

diff --git a/.github/actions/sierra-setup/action.yml b/.github/actions/sierra-setup/action.yml
@@ -16,7 +16,7 @@ runs:
     # Ubuntu setup
     ############################################################################
     - name: Setup python (ubuntu)
-      uses: actions/setup-python@v4
+      uses: actions/setup-python@v5
       if: runner.os == 'Linux'
       with:
         python-version: ${{ matrix.python-version }}
@@ -26,8 +26,9 @@ runs:
       shell: bash
       run: |
         sudo apt-get update
-        sudo apt-get install parallel cm-super texlive-fonts-recommended
-        sudo apt-get install texlive-latex-extra dvipng pssh ffmpeg xvfb
+        sudo apt-get install parallel cm-super texlive-fonts-recommended -y
+        sudo apt-get install texlive-latex-extra dvipng pssh ffmpeg xvfb -y
+
         python3 -m pip install --upgrade pip
         python3 -m pip install wheel
 
@@ -36,7 +37,7 @@ runs:
     ############################################################################
 
     - name: Setup python (OSX)
-      uses: actions/setup-python@v4
+      uses: actions/setup-python@v5
       if: runner.os == 'macOS'
       with:
         python-version: ${{ matrix.python-version }}
@@ -55,8 +56,8 @@ runs:
           brew update && brew install parallel pssh ffmpeg
           brew update && brew install --cask mactex
           brew update && brew install --cask xquartz
-          python -m pip install --upgrade pip
-          python -m pip install wheel
+          python3 -m pip install --upgrade pip
+          python3 -m pip install wheel
 
     ############################################################################
     # SIERRA install

diff --git a/.github/workflows/analysis-top.yml b/.github/workflows/analysis-top.yml
@@ -0,0 +1,37 @@
+name: Analysis Top-level
+
+# Run:
+#
+# - Every month. Scheduling helps keep drift/issues with updates
+#   to runners at bay.
+# - On pushes.
+on:
+  push:
+    paths:
+      - 'sierra/**'
+
+  schedule:
+    - cron: '0 0 1 * *'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  analyze-ci-ubuntu-2004:
+    uses: ./.github/workflows/analyze-nox.yml
+    secrets: inherit
+    with:
+      os: ubuntu-20.04
+
+  analyze-ci-ubuntu-2204:
+    uses: ./.github/workflows/analyze-nox.yml
+    secrets: inherit
+    with:
+      os: ubuntu-22.04
+
+  analyze-ci-osx:
+    uses: ./.github/workflows/analyze-nox.yml
+    secrets: inherit
+    with:
+      os: macos-12
diff --git a/.github/workflows/analyze-nox.yml b/.github/workflows/analyze-nox.yml
@@ -0,0 +1,43 @@
+name: OS Static Analysis
+
+on:
+  workflow_call:
+    inputs:
+      os:
+        required: True
+        type: string
+
+jobs:
+  nox:
+    runs-on: ${{ inputs.os }}
+    strategy:
+      matrix:
+        os:
+          - ${{ inputs.os }}
+
+        # 2024/08/26: Test the earliest and latest supported version, to speed
+        # up CI.
+        python-version:
+          - 3.8
+          - 3.11
+
+        session:
+          - lint
+          - docs
+          - analyze_pytype
+          - analyze_mypy
+
+        exclude:
+          - python-version: 3.11
+            os: ubuntu-20.04
+
+          - python-version: 3.8
+            os: ubuntu-22.04
+
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ./.github/actions/sierra-setup
+
+      - name: Run nox
+        run: |
+          nox --pythons ${{ matrix.python-version }} --sessions ${{ matrix.session }}