restructure sygnal_dbc to use dbc gen cpp

.github/workflows/build.yml

@@ -8,34 +8,47 @@ on:
       - main
 
 jobs:
+  dbc-package-structure:
+    # Every directory containing a .dbc must be a ROS package (have package.xml + CMakeLists.txt calling dbc_package())
+    name: DBC package structure
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Check every DBC directory is a ROS package
+        run: |
+          status=0
+          while IFS= read -r dir; do
+            if [ ! -f "$dir/package.xml" ] || [ ! -f "$dir/CMakeLists.txt" ]; then
+              echo "::error file=$dir::'$dir' contains .dbc file(s) but is not a ROS package (missing package.xml and/or CMakeLists.txt); colcon will silently skip it."
+              status=1
+            fi
+          done < <(git ls-files '*.dbc' | xargs -r -n1 dirname | sort -u)
+          if [ "$status" -eq 0 ]; then
+            echo "OK: every directory with a .dbc is a ROS package."
+          fi
+          exit "$status"
+
   build_and_test:
     runs-on: ubuntu-latest
     strategy:
       fail-fast: false
       matrix:
-        include:
-          - ros: humble
-            ubuntu: jammy
-          - ros: jazzy
-            ubuntu: noble
-          - ros: kilted
-            ubuntu: noble
-          - ros: lyrical
-            ubuntu: resolute
-          - ros: rolling
-            ubuntu: resolute
+        ros: [humble, jazzy, lyrical, rolling]
     name: ROS 2 ${{ matrix.ros }}
     container:
-      image: ghcr.io/ros-tooling/setup-ros-docker/setup-ros-docker-ubuntu-${{ matrix.ubuntu }}:latest
+      image: polymathrobotics/ros:${{ matrix.ros }}-builder-ubuntu
     env:
-      ROS_DISTRO: ${{ matrix.ros }}
       PIP_BREAK_SYSTEM_PACKAGES: 1
     steps:
       - uses: actions/checkout@v4
       - uses: ros-tooling/action-ros-ci@v0.4
         with:
           target-ros2-distro: ${{ matrix.ros }}
+          # dbc_gen_cpp's own test suite, pulled in with its checkout; not ours to build.
+          colcon-extra-args: --packages-skip test_dbc_gen_cpp
           vcs-repo-file-url: repos.yaml
+          coverage-result: false
+          import-token: ${{ secrets.GITHUB_TOKEN }}
       - uses: actions/upload-artifact@v4
         with:
           name: colcon-logs-${{ matrix.ros }}

.github/workflows/pre-commit.yml

@@ -1,7 +1,7 @@
 ---
 name: pre-commit
 
-on:  # yamllint disable-line
+on:
   pull_request:
   push:
     branches: [main]

.github/workflows/validate-dbc.yml

@@ -0,0 +1,63 @@
+---
+name: DBC File Check
+
+on:
+  push:
+    branches: [main]
+    paths:
+      - '**.dbc'
+      - .github/workflows/validate-dbc.yml
+  pull_request:
+    paths:
+      - '**.dbc'
+      - .github/workflows/validate-dbc.yml
+
+jobs:
+  discover:
+    runs-on: ubuntu-latest
+    outputs:
+      dirs: ${{ steps.dirs.outputs.dirs }}
+    steps:
+      - name: Checkout Repository
+        uses: actions/checkout@v4
+
+      - name: Detect changed DBC files
+        id: filter
+        uses: dorny/paths-filter@v4
+        with:
+          list-files: shell
+          filters: |
+            dbc:
+              - '**.dbc'
+
+      - name: Reduce changed files to their directories
+        id: dirs
+        env:
+          DBC_CHANGED: ${{ steps.filter.outputs.dbc }}
+          DBC_FILES: ${{ steps.filter.outputs.dbc_files }}
+        run: |
+          if [ "$DBC_CHANGED" = 'true' ]; then
+            dirs="$(for f in $DBC_FILES; do dirname "$f"; done | sort -u | jq -R . | jq -sc .)"
+          else
+            dirs='[]'
+          fi
+          echo "dirs=$dirs" >> "$GITHUB_OUTPUT"
+          echo "Directories to validate: $dirs"
+
+  validate-dbc:
+    needs: discover
+    if: needs.discover.outputs.dirs != '[]'
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        dir: ${{ fromJson(needs.discover.outputs.dirs) }}
+    name: validate-dbc (${{ matrix.dir }})
+    steps:
+      - name: Checkout Repository
+        uses: actions/checkout@v4
+
+      - name: Validate DBC files
+        uses: polymathrobotics/validate_dbc@v0.1
+        with:
+          path: ${{ matrix.dir }}

repos.yaml

@@ -1,6 +1,10 @@
 ---
 repositories:
+  dbc_gen_cpp:
+    type: git
+    url: git@github.com:polymathrobotics/dbc_gen_cpp.git
+    version: main
   socketcan_adapter:
     type: git
-    url: https://github.com/polymathrobotics/socketcan_adapter.git
+    url: git@github.com:polymathrobotics/socketcan_adapter.git
     version: main