cristhian
c1a7d70ba6
dora-image-view takes std/media/v1/Image, and dora's compatibility graph has no edge from std/core/v1/UInt8 to it, so wiring the two failed `dora validate` whatever the node actually sent. Its flat-buffer fallback would not have decoded these frames either: it reads width/height metadata, and this node only published shape. image and depth now go out as the Image struct, camera_info and point_cloud as Float32 arrays and camera_state as a string, all built against the Arrow C data interface in src/arrow so the node still links no Arrow C++. Shape, dtype and encoding metadata are dropped where the payload describes itself; intrinsics, frame_id and both timestamps are unchanged. tests/run.sh covers the packing without a camera or the SDK, round-tripping each array through pyarrow and rebuilding it under the sanitizers. Breaking: image_bgr is renamed to image and every payload changes shape. dataflow_plot.yml is replaced by dataflow_view.yml, which wires the viewer from a tag and repeats its contract in input_types so validate checks both sides of the wiring.
51 lines
1.6 KiB
YAML
51 lines
1.6 KiB
YAML
# Two gates, neither of which needs a camera, the ZED SDK or CUDA: the dataflows
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# are checked against the typed contract in dora-node.yml without running the
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# node, and the payload packing is compiled and tested on its own.
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name: validate
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on: [push, pull_request]
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env:
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DORA_VERSION: v1.0.1
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DORA_TARGET: x86_64-unknown-linux-gnu
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jobs:
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validate:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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- name: Install the dora CLI
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run: |
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curl -fsSL -o dora-cli.tar.gz \
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"https://github.com/dora-rs/dora/releases/download/${DORA_VERSION}/dora-cli-${DORA_TARGET}.tar.gz"
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tar xzf dora-cli.tar.gz
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mkdir -p "$HOME/.local/bin"
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install -m 755 "dora-cli-${DORA_TARGET}/dora" "$HOME/.local/bin/dora"
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echo "$HOME/.local/bin" >> "$GITHUB_PATH"
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rm -rf dora-cli.tar.gz "dora-cli-${DORA_TARGET}"
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- run: dora --version
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# strict_types: true in each dataflow turns a type warning into a
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# non-zero exit, so a mismatched annotation fails here rather than at
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# runtime. The viewer file is checked too: it wires the same outputs, and
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# a rename that breaks only the consumer should still fail the build.
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- name: Validate the dataflows
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run: |
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dora validate dataflow.yml
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dora validate dataflow_view.yml
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test:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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- name: Install uv
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run: |
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curl -LsSf https://astral.sh/uv/install.sh | sh
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echo "$HOME/.local/bin" >> "$GITHUB_PATH"
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- name: Test the payload packing
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run: tests/run.sh
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