Migrate CI/CD from AppVeyor to GitHub Actions (#85)

- GitHub Actions workflow created to replace AppVeyor.
- Key test-related dependencies upgraded.
- Support for python 3.11 added.
- Certain time-sensitive tests updated with relaxed timeouts.
- Explicit specification of the minor version number of DSDL types removed.

---------

Co-authored-by: Pavel Kirienko <[email protected]>

.github/workflows/test-and-release.yml

@@ -0,0 +1,102 @@
+name: 'Test and Release Yakut'
+on: push
+
+# Ensures that only one workflow is running at a time
+concurrency:
+  group: ${{ github.workflow_sha }}
+  cancel-in-progress: true
+
+jobs:
+  yakut-test:
+    name: Test Yakut
+    strategy:
+      fail-fast: false
+      matrix:
+        # The Windows NPcap runner is an ordinary Windows machine with the NPcap driver installed manually.
+        # We chose to do it this way because NPcap driver installation requires a reboot, which is difficult to
+        # automate. The NPcap driver is required for the Cyphal/UDP transport tests to work.
+        os: [ubuntu-22.04, windows-2019-npcap]
+        python: ['3.8', '3.9', '3.10', '3.11']
+        exclude:  # We don't test Windows with old Python versions because it takes too much effort.
+          - os: windows-2019-npcap
+            python: 3.8
+          - os: windows-2019-npcap
+            python: 3.9
+    runs-on: ${{ matrix.os }}
+    steps:
+      - name: Check out
+        uses: actions/checkout@v3
+
+      - name: Install Python3
+        uses: actions/setup-python@v4
+        with:
+          python-version: ${{ matrix.python }}
+
+      - name: Log Python version
+        run: python --version
+
+      - name: Install dependencies
+        # language=bash
+        run: |
+          if [ "$RUNNER_OS" == "Linux" ]; then
+            sudo apt-get --ignore-missing update || true
+            sudo apt-get install -y linux-*-extra-$(uname -r) ncat
+            sudo apt-get install -y libsdl2-2.0-0   # For PySDL2. On Windows/macOS the binaries are pulled from PyPI.
+            sudo apt-get install -y libasound2-dev  # For RtMidi.
+          fi
+          git submodule update --init --recursive
+          python -m pip install --upgrade pip setuptools nox
+        shell: bash
+
+      - name: Run build and test
+        # language=bash
+        run: |
+          nox --non-interactive --session test --python ${{ matrix.python }}
+          nox --non-interactive --session lint
+        shell: bash
+        env:
+          FORCE_COLOR: 1
+
+      - name: Upload diagnostics
+        uses: actions/upload-artifact@v3
+        if: (success() || failure())
+        with:
+          # The matrix is shown for convenience but this is fragile because the values may not be string-convertible.
+          # Shall it break one day, feel free to remove the matrix from here.
+          # The job status is per matrix item, which is super convenient.
+          name: ${{github.job}}-#${{strategy.job-index}}-${{job.status}}-${{join(matrix.*, ',')}}
+          path: "**/*.log"
+          retention-days: 7
+
+  yakut-release:
+    name: Release Yakut
+    runs-on: ubuntu-latest
+    if: contains(github.event.head_commit.message, '#release') || contains(github.ref, '/main')
+    needs: yakut-test
+    steps:
+      - name: Check out
+        uses: actions/checkout@v3
+
+      - name: Create distribution wheel
+        # language=bash
+        run: |
+          git submodule update --init --recursive
+          python -m pip install --upgrade pip setuptools wheel twine
+          python setup.py sdist bdist_wheel
+
+      - name: Get release version
+        run: echo "yakut_version=$(cat yakut/VERSION)" >> $GITHUB_ENV
+
+      - name: Upload distribution
+        run: |
+          python -m twine upload dist/*
+        env:
+          TWINE_USERNAME: __token__
+          TWINE_PASSWORD: ${{ secrets.PYPI_API_TOKEN_YAKUT }}
+
+      - name: Push version tag
+        uses: mathieudutour/[email protected]
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          custom_tag: ${{ env.yakut_version }}
+          tag_prefix: ''

CONTRIBUTING.md

@@ -5,7 +5,7 @@ This document is intended for developers only.
 ## Testing
 
 Install dependencies into your current Python environment: `pip install .`
-Aside from that, you will need to install other dependencies listed in `.appveyor.yml`
+Aside from that, you will need to install other dependencies listed in the CI/CD workflow files
 (e.g., [Ncat](https://nmap.org/ncat/); for Debian-based distros try `apt install ncat`).
 
 Write unit tests as functions without arguments prefixed with ``_unittest_``;
@@ -37,6 +37,14 @@ If you want to start from scratch, use `clean`:
 nox -s clean
 ```
 
+Positional arguments given to Nox are passed over to PyTest as-is,
+which can be used to run tests selectively or bail at the first failure:
+
+```bash
+nox -s test -- -x yakut/param/formatter.py -k test_format_param
+#              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ PyTest options
+```
+
 #### Running tests/linters selectively from a virtual environment created by Nox
 
 Running the full test suite using Nox takes too much time for interactive testing during development.

noxfile.py

@@ -15,7 +15,7 @@
 assert DEPS_DIR.is_dir(), "Invalid configuration"
 
 
-PYTHONS = ["3.8", "3.9", "3.10"]
+PYTHONS = ["3.8", "3.9", "3.10", "3.11"]
 
 
 @nox.session(python=False)
@@ -50,9 +50,9 @@ def test(session):
 
     # Now we can install dependencies for the full integration test suite.
     session.install(
-        "pytest         ~= 7.1",
-        "pytest-asyncio == 0.18",
-        "coverage       ~= 6.3",
+        "pytest         ~= 7.4",
+        "pytest-asyncio ~= 0.21.0",
+        "coverage       ~= 7.4",
     )
 
     # The test suite generates a lot of temporary files, so we change the working directory.
@@ -64,20 +64,26 @@ def test(session):
     if not (tmp_dir / fn).exists():
         (tmp_dir / fn).symlink_to(ROOT_DIR / fn)
 
-    # The directories to test may be overridden if needed when invoking Nox.
-    src_dirs = [(ROOT_DIR / t) for t in (session.posargs or ["yakut", "tests"])]
+    if sys.platform.startswith("linux"):
+        # Enable packet capture for the Python executable. This is necessary for commands that rely on low-level
+        # network packet capture, such as the Monitor when used with Cyphal/UDP.
+        # We do it here because the sudo may ask the user for the password; doing that from the suite is inconvenient.
+        session.run("sudo", "setcap", "cap_net_raw+eip", str(Path(session.bin, "python").resolve()), external=True)
+
+    src_dirs = [(ROOT_DIR / t) for t in ["yakut", "tests"]]
 
     # Run PyTest and make a code coverage report.
-    env = {
-        "PYTHONPATH": str(DEPS_DIR),
-        "PATH": os.pathsep.join([session.env["PATH"], str(DEPS_DIR)]),
-    }
+    # Positional arguments passed to Nox after "--" are forwarded to PyTest as-is.
     session.run(
         "pytest",
         *map(str, src_dirs),
         # Log format cannot be specified in setup.cfg https://github.com/pytest-dev/pytest/issues/3062
         r"--log-file-format=%(asctime)s %(levelname)-3.3s %(name)s: %(message)s",
-        env=env,
+        *session.posargs,
+        env={
+            "PYTHONPATH": str(DEPS_DIR),
+            "PATH": os.pathsep.join([session.env["PATH"], str(DEPS_DIR)]),
+        },
     )
 
     # The coverage threshold is intentionally set low for interactive runs because when running locally
@@ -98,14 +104,14 @@ def test(session):
     #   1. It requires access to the code generated by the test suite.
     #   2. It has to be run separately per Python version we support.
     # If the interpreter is not CPython, this may need to be conditionally disabled.
-    session.install("mypy == 0.991")
+    session.install("mypy ~= 1.8")
     session.run("mypy", "--strict", *map(str, src_dirs))
 
 
 @nox.session(reuse_venv=True)
 def lint(session):
-    session.install("pylint == 2.13.*")
+    session.install("pylint ~= 3.0.3")
     session.run("pylint", "yakut", "tests")
 
-    session.install("black == 22.*")
+    session.install("black ~= 23.12")
     session.run("black", "--check", ".")

setup.cfg

@@ -93,13 +93,16 @@ testpaths        = yakut tests
 python_files     = *.py
 python_classes   = _UnitTest
 python_functions = _unittest_
-log_level        = DEBUG
+log_level        = INFO
 log_cli_level    = WARNING
 log_cli          = true
 log_file         = pytest.log
+log_file_level   = DEBUG
 # Unraisable exceptions are filtered because PyTest yields false-positives coming from PyCyphal.
 addopts          = --doctest-modules -v -p no:unraisableexception
 asyncio_mode     = auto
+filterwarnings =
+    ignore:.*SDL2.*:UserWarning
 
 # ---------------------------------------- MYPY ----------------------------------------
 [mypy]
@@ -187,7 +190,9 @@ disable=
     eval-used,
     unspecified-encoding,
     not-callable,
-    unbalanced-tuple-unpacking
+    unbalanced-tuple-unpacking,
+    no-name-in-module,
+    isinstance-second-argument-not-valid-type,
 
 [pylint.REPORTS]
 output-format=colorized

tests/cmd/accommodate.py

@@ -15,7 +15,7 @@ def _unittest_accommodate_swarm(transport_factory: TransportFactory, compiled_ds
     # We spawn a lot of processes here, which might strain the test system a little, so beware. I've tested it
     # with 120 processes and it made my workstation (24 GB RAM ~4 GHz Core i7) struggle to the point of being
     # unable to maintain sufficiently real-time operation for the test to pass. Hm.
-    used_node_ids = list(range(10))
+    used_node_ids = list(range(5))
     pubs = [
         Subprocess.cli(
             f"--transport={transport_factory(idx).expression}",