Add GHA CI to subdirs and sync with main CI (#333)

drake_ament_cmake_installed/.github/workflows/ci.yml

@@ -0,0 +1,34 @@
+# SPDX-License-Identifier: MIT-0
+
+---
+name: ci
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+    branches:
+      - main
+  schedule:
+    - cron: '0 12 * * *'
+concurrency:
+  # Cancel previous CI runs when additional commits are added to a pull request.
+  # This will not cancel CI runs associated with `schedule` or `push`.
+  group: ${{ github.head_ref || github.run_id }}
+  cancel-in-progress: true
+jobs:
+  ros_humble_ament_cmake_installed:
+      name: ros 2 humble
+      runs-on: ubuntu-latest
+      container: ubuntu:jammy
+      steps:
+        - name: checkout
+          uses: actions/checkout@v4
+        - name: setup
+          working-directory: drake_ament_cmake_installed
+          run: .github/ros_humble_setup
+          shell: bash
+        - name: ament_cmake_installed build and test
+          working-directory: drake_ament_cmake_installed
+          run: .github/ci_build_test
+          shell: bash

drake_bazel_download/.github/workflows/ci.yml

@@ -0,0 +1,38 @@
+# SPDX-License-Identifier: MIT-0
+
+---
+name: ci
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+    branches:
+      - main
+  schedule:
+    - cron: '0 12 * * *'
+concurrency:
+  # Cancel previous CI runs when additional commits are added to a pull request.
+  # This will not cancel CI runs associated with `schedule` or `push`.
+  group: ${{ github.head_ref || github.run_id }}
+  cancel-in-progress: true
+jobs:
+  ubuntu_jammy_bazel_download:
+    name: ubuntu 22.04 jammy
+    runs-on: ubuntu-latest
+    container: ubuntu:jammy
+    steps:
+      - name: checkout
+        uses: actions/checkout@v4
+      - name: setup
+        working-directory: drake_bazel_download
+        run: .github/ubuntu_setup
+        shell: bash
+      - name: install_bazelisk
+        working-directory: drake_bazel_download
+        run: setup/install_bazelisk
+        shell: bash
+      - name: bazel_download build and test
+        working-directory: drake_bazel_download
+        run: .github/ci_build_test
+        shell: bash

drake_catkin_installed/.github/workflows/ci.yml

@@ -0,0 +1,34 @@
+# SPDX-License-Identifier: MIT-0
+
+---
+name: ci
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+    branches:
+      - main
+  schedule:
+    - cron: '0 12 * * *'
+concurrency:
+  # Cancel previous CI runs when additional commits are added to a pull request.
+  # This will not cancel CI runs associated with `schedule` or `push`.
+  group: ${{ github.head_ref || github.run_id }}
+  cancel-in-progress: true
+jobs:
+  ubuntu_jammy_catkin_installed:
+    name: ubuntu 22.04 jammy
+    runs-on: ubuntu-latest
+    container: ubuntu:jammy
+    steps:
+      - name: checkout
+        uses: actions/checkout@v4
+      - name: setup
+        working-directory: drake_catkin_installed
+        run: .github/ubuntu_setup
+        shell: bash
+      - name: catkin_installed build and test
+        working-directory: drake_catkin_installed
+        run: .github/ci_build_test
+        shell: bash

drake_cmake_installed/.github/workflows/ci.yml

@@ -0,0 +1,59 @@
+# SPDX-License-Identifier: MIT-0
+
+---
+name: ci
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+    branches:
+      - main
+  schedule:
+    - cron: '0 12 * * *'
+concurrency:
+  # Cancel previous CI runs when additional commits are added to a pull request.
+  # This will not cancel CI runs associated with `schedule` or `push`.
+  group: ${{ github.head_ref || github.run_id }}
+  cancel-in-progress: true
+jobs:
+  macos_sonoma_arm_cmake_installed:
+    name: macos sonoma 14 arm
+    runs-on: macos-14
+    steps:
+      - name: checkout
+        uses: actions/checkout@v4
+      # See issue https://github.com/actions/setup-python/issues/577.  There is
+      # some kind of environment conflict between the symlinks found in the
+      # GitHub Actions runner and `brew upgrade python` where `brew` detects and
+      # refuses to overwrite symlinks.  The cause for our runs is not clear,
+      # we do not use that action, but if that issue is closed this section
+      # can be removed.
+      - name: sanitize GHA / brew python environment
+        run: |
+          # Remove the symlinks that cause issues.
+          find /usr/local/bin -lname '*/Library/Frameworks/Python.framework/*' -delete
+          sudo rm -rf /Library/Frameworks/Python.framework/
+      - name: setup
+        working-directory: drake_cmake_installed
+        run: setup/install_prereqs
+        shell: zsh -efuo pipefail {0}
+      - name: cmake_installed build and test
+        working-directory: drake_cmake_installed
+        run: .github/ci_build_test
+        shell: zsh -efuo pipefail {0}
+  ubuntu_jammy_cmake_installed:
+    name: ubuntu 22.04 jammy
+    runs-on: ubuntu-latest
+    container: ubuntu:jammy
+    steps:
+      - name: checkout
+        uses: actions/checkout@v4
+      - name: setup
+        working-directory: drake_cmake_installed
+        run: .github/ubuntu_setup
+        shell: bash
+      - name: cmake_installed build and test
+        working-directory: drake_cmake_installed
+        run: .github/ci_build_test
+        shell: bash

drake_cmake_installed_apt/.github/workflows/ci.yml

@@ -0,0 +1,34 @@
+# SPDX-License-Identifier: MIT-0
+
+---
+name: ci
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+    branches:
+      - main
+  schedule:
+    - cron: '0 12 * * *'
+concurrency:
+  # Cancel previous CI runs when additional commits are added to a pull request.
+  # This will not cancel CI runs associated with `schedule` or `push`.
+  group: ${{ github.head_ref || github.run_id }}
+  cancel-in-progress: true
+jobs:
+  ubuntu_jammy_cmake_installed_apt:
+    name: ubuntu 22.04 jammy
+    runs-on: ubuntu-latest
+    container: ubuntu:jammy
+    steps:
+      - name: checkout
+        uses: actions/checkout@v4
+      - name: setup
+        working-directory: drake_cmake_installed_apt
+        run: .github/ubuntu_apt_setup
+        shell: bash
+      - name: cmake_installed_apt build and test
+        working-directory: drake_cmake_installed_apt
+        run: .github/ci_build_test
+        shell: bash

private/test/file_sync_test.py

@@ -7,6 +7,7 @@
 
 import logging
 import os
+import re
 import sys
 from pathlib import Path
 
@@ -66,6 +67,14 @@
     ),
 )
 
+GITHUB_WORKFLOWS = (
+    "ament_cmake_installed",
+    "bazel_download",
+    "catkin_installed",
+    "cmake_installed",
+    "cmake_installed_apt",
+)
+
 found_errors = False
 
 
@@ -110,11 +119,42 @@ def check(index: int, paths: tuple[str]):
         error(f"{prologue} do not all match")
 
 
+def gha_workflow_check(workflow_name: str):
+    """Enforces the subdir_ci to have the contents of root_ci up until 
+    it reaches the jobs: line plus the content in the subdir_ workflow
+    after jobs: is mentioned.
+    """
+    root_ci_path = ".github/workflows/ci.yml"
+    subdir_workflow_path = f".github/workflows/{workflow_name}.yml"
+    subdir_ci_path = f"drake_{workflow_name}/.github/workflows/ci.yml"
+    sep = "\njobs:\n"
+
+    # Read all files into memory and check sep occurs once in each file.
+    content = {}
+    for path in [root_ci_path, subdir_workflow_path, subdir_ci_path]:
+        try:
+            with open(path, "r", encoding="utf-8") as f:
+                content[path] = f.read()
+                if len(re.findall(sep, content[path])) != 1:
+                    error(f"{workflow_name}'s {path} contents are invalid")
+        except IOError:
+            error(f"Missing {workflow_name} file {path}")
+
+    # Workflow check.
+    events = content[root_ci_path].split(sep)[0]
+    ex_jobs = sep + content[subdir_workflow_path].split(sep)[1]
+
+    if events + ex_jobs != content[subdir_ci_path]:
+        error(f"{workflow_name} subdir CI does not match")
+
+
 def main():
     logging.basicConfig(format="%(levelname)s: %(message)s")
     os.chdir(Path(__file__).parent.parent.parent)
     for i, paths in enumerate(COPIES):
         check(i, paths)
+    for workflow in GITHUB_WORKFLOWS:
+        gha_workflow_check(workflow)
     sys.exit(1 if found_errors else 0)