OPC-UA Plugin Integration #92

Workflow file for this run

.github/workflows/opcua-plugin.yml at 82fb2ee

	name: OPC-UA Plugin Integration

	permissions:
	contents: read

	# Runs the OpenPLC-based Docker integration suite for ros2_medkit_opcua.
	# Triggers only when the plugin itself, the gateway plugin/provider API, or
	# ros2_medkit_msgs change. A nightly cron provides a safety net against silent
	# breaks that slip past the path filter.

	on:
	pull_request:
	branches: [main]
	paths:
	- 'src/ros2_medkit_plugins/ros2_medkit_opcua/**'
	- 'src/ros2_medkit_gateway/include/ros2_medkit_gateway/plugins/**'
	- 'src/ros2_medkit_gateway/include/ros2_medkit_gateway/providers/**'
	- 'src/ros2_medkit_gateway/include/ros2_medkit_gateway/http/error_codes.hpp'
	- 'src/ros2_medkit_msgs/**'
	- '.github/workflows/opcua-plugin.yml'
	push:
	branches: [main]
	paths:
	- 'src/ros2_medkit_plugins/ros2_medkit_opcua/**'
	- 'src/ros2_medkit_gateway/include/ros2_medkit_gateway/plugins/**'
	- 'src/ros2_medkit_gateway/include/ros2_medkit_gateway/providers/**'
	- 'src/ros2_medkit_gateway/include/ros2_medkit_gateway/http/error_codes.hpp'
	- 'src/ros2_medkit_msgs/**'
	- '.github/workflows/opcua-plugin.yml'
	schedule:
	# Daily at 04:00 UTC - safety net against breaks that slip past the path filter.
	- cron: '0 4 * * *'

	jobs:
	unit-tests:
	name: Unit tests (${{ matrix.ros_distro }})
	runs-on: ubuntu-latest
	strategy:
	fail-fast: false
	matrix:
	include:
	- ros_distro: humble
	os_image: ubuntu:jammy
	- ros_distro: jazzy
	os_image: ubuntu:noble
	- ros_distro: rolling
	os_image: ubuntu:noble
	continue-on-error: ${{ matrix.ros_distro == 'rolling' }}
	container:
	image: ${{ matrix.os_image }}
	timeout-minutes: 60
	defaults:
	run:
	shell: bash
	steps:
	- name: Install Git
	run: \|
	apt-get update
	apt-get install -y git

	- name: Checkout repository
	uses: actions/checkout@v4

	- name: Set up ROS 2 ${{ matrix.ros_distro }}
	uses: ros-tooling/setup-ros@v0.7
	with:
	required-ros-distributions: ${{ matrix.ros_distro }}

	- name: Install ccache
	run: apt-get install -y ccache

	- name: Cache ccache
	uses: actions/cache@v4
	with:
	path: /root/.cache/ccache
	key: ccache-opcua-${{ matrix.ros_distro }}-${{ github.sha }}
	restore-keys: \|
	ccache-opcua-${{ matrix.ros_distro }}-

	- name: Install dependencies
	run: \|
	apt-get update
	apt-get install -y ros-${{ matrix.ros_distro }}-test-msgs libyaml-cpp-dev libssl-dev
	source /opt/ros/${{ matrix.ros_distro }}/setup.bash
	rosdep update
	# Only skip nav2_msgs because vda5050_agent declares it as a dep but
	# the apt package is not available on all distros. We do NOT skip
	# ament_cmake_clang_format or test_msgs here: upstream medkit
	# packages (ros2_medkit_serialization, gateway) require them at
	# configure time via find_package.
	rosdep install --from-paths src --ignore-src -y \
	--skip-keys='nav2_msgs'

	- name: Build ros2_medkit_opcua (and upstream deps)
	env:
	CCACHE_DIR: /root/.cache/ccache
	CCACHE_MAXSIZE: 500M
	CCACHE_SLOPPINESS: pch_defines,time_macros
	run: \|
	source /opt/ros/${{ matrix.ros_distro }}/setup.bash
	# --packages-up-to naturally excludes unrelated packages
	# (vda5050_agent, discovery plugins, etc.) because they are not in
	# the dependency chain of ros2_medkit_opcua.
	colcon build --symlink-install \
	--packages-up-to ros2_medkit_opcua \
	--cmake-args -DCMAKE_BUILD_TYPE=Release \
	--event-handlers console_direct+
	ccache -s

	- name: Run unit tests
	timeout-minutes: 15
	run: \|
	source /opt/ros/${{ matrix.ros_distro }}/setup.bash
	colcon test --return-code-on-test-failure \
	--packages-select ros2_medkit_opcua \
	--ctest-args -LE linter \
	--event-handlers console_direct+

	- name: Show test results
	if: always()
	run: colcon test-result --verbose

	integration:
	name: Integration (OpenPLC)
	runs-on: ubuntu-latest
	timeout-minutes: 30
	steps:
	- name: Checkout repository
	uses: actions/checkout@v4

	- name: Build OpenPLC container
	run: \|
	docker build \
	-t openplc-tank \
	src/ros2_medkit_plugins/ros2_medkit_opcua/docker/openplc/

	- name: Build gateway + OPC-UA plugin image
	run: \|
	docker build \
	-f src/ros2_medkit_plugins/ros2_medkit_opcua/docker/Dockerfile.gateway \
	-t gateway-opcua .

	- name: Start OpenPLC
	timeout-minutes: 3
	run: \|
	docker network create plc-demo
	docker run -d --name openplc --network plc-demo openplc-tank
	for i in $(seq 1 60); do
	if docker logs openplc 2>&1 \| grep -q "PLC State: RUNNING"; then
	echo "OpenPLC running after $((i * 2))s"
	break
	fi
	if [ "$i" -eq 60 ]; then
	echo "FAIL: OpenPLC did not start"
	docker logs openplc 2>&1 \| tail -20
	exit 1
	fi
	sleep 2
	done

	- name: Start gateway
	run: \|
	docker run -d --name gateway --network plc-demo -p 8080:8080 \
	-e ROS_DOMAIN_ID=60 \
	-e OPCUA_ENDPOINT_URL="opc.tcp://openplc:4840/openplc/opcua" \
	-e OPCUA_NODE_MAP_PATH="/config/tank_nodes.yaml" \
	gateway-opcua \
	bash -c "
	mkdir -p /var/lib/ros2_medkit/rosbags /config
	echo 'manifest_version: \"1.0\"' > /config/manifest.yaml
	source /opt/ros/jazzy/setup.bash && source /root/ws/install/setup.bash
	PLUGIN_PATH=\$(find /root/ws/install -name 'libros2_medkit_opcua_plugin.so' \| head -1)
	ros2 run ros2_medkit_gateway gateway_node \
	--ros-args --params-file /config/gateway_params.yaml \
	-p plugins.opcua.path:=\$PLUGIN_PATH \
	-p discovery.mode:=hybrid \
	-p discovery.manifest_path:=/config/manifest.yaml \
	-p discovery.manifest_strict_validation:=false"

	- name: Wait for PLC entities and live data
	timeout-minutes: 3
	run: \|
	echo "Waiting for entity discovery..."
	for i in $(seq 1 60); do
	if curl -sf http://localhost:8080/api/v1/apps 2>/dev/null \| \
	jq -e '.items \| map(.id) \| contains(["tank_process"])' >/dev/null 2>&1; then
	echo "Entities discovered after $((i * 2))s"
	break
	fi
	if [ "$i" -eq 60 ]; then
	echo "Timeout waiting for entities"
	docker logs gateway 2>&1 \| tail -20
	exit 1
	fi
	sleep 2
	done
	echo "Waiting for PLC data to flow..."
	for i in $(seq 1 30); do
	if curl -sf http://localhost:8080/api/v1/components/openplc_runtime/x-plc-status 2>/dev/null \| \
	jq -e '.connected == true and .poll_count > 0' >/dev/null 2>&1; then
	echo "PLC data flowing after extra $((i * 2))s"
	exit 0
	fi
	sleep 2
	done
	echo "WARNING: PLC not connected yet, running tests anyway"
	curl -sf http://localhost:8080/api/v1/components/openplc_runtime/x-plc-status 2>/dev/null \| jq . \|\| true
	docker logs gateway 2>&1 \| tail -10

	- name: Run integration tests
	run: bash src/ros2_medkit_plugins/ros2_medkit_opcua/docker/scripts/run_integration_tests.sh

	- name: Dump gateway logs on failure
	if: failure()
	run: \|
	echo "=== OpenPLC logs ==="
	docker logs openplc 2>&1 \| tail -60 \|\| true
	echo "=== Gateway logs ==="
	docker logs gateway 2>&1 \| tail -60 \|\| true

	- name: Cleanup
	if: always()
	run: \|
	docker rm -f gateway openplc 2>/dev/null \|\| true
	docker network rm plc-demo 2>/dev/null \|\| true

	integration-alarms:
	name: Integration (AlarmConditionType)
	# Issue #386: tests the native OPC-UA AlarmCondition subscription bridge
	# against the test_alarm_server fixture (open62541 with FULL ns0 + alarms
	# ON). Independent of the OpenPLC threshold-mode integration above; runs
	# in parallel.
	runs-on: ubuntu-latest
	timeout-minutes: 30
	steps:
	- name: Checkout repository
	uses: actions/checkout@v4

	- name: Install jq + asyncua (smoke test prerequisite)
	run: \|
	sudo apt-get update
	sudo apt-get install -y jq python3-pip
	pip3 install --break-system-packages asyncua

	- name: Run alarm integration suite
	run: bash src/ros2_medkit_plugins/ros2_medkit_opcua/docker/scripts/run_alarm_tests.sh

	- name: Dump container logs on failure
	if: failure()
	run: \|
	for c in alarm-test-server alarm-test-gateway; do
	echo "=== ${c} logs ==="
	docker logs "${c}" 2>&1 \| tail -80 \|\| true
	done

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OPC-UA Plugin Integration #92

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OPC-UA Plugin Integration #92

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