add release flow for CAN messaging utilities

.github/workflows/ci.yml

@@ -27,53 +27,14 @@ jobs:
             echo "EOF"
           } >> "$GITHUB_OUTPUT"
 
-  build-docker-image:
-    # skip for forked PRs (can't push to ghcr)
-    if: github.event_name != 'pull_request' || github.event.pull_request.head.repo.full_name == github.repository
-
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-      - name: Check if Docker rebuild is necessary
-        id: changed
-        uses: dorny/paths-filter@v3
-        with:
-          filters: |
-            image:
-              - 'Dockerfile.arm-gnu'
-              - '.github/workflows/ci.yml'
-
-      - name: Login to ghcr
-        uses: docker/login-action@v3
-        if: steps.changed.outputs.image == 'true'
-        with:
-          registry: ghcr.io
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Set up buildx
-        uses: docker/setup-buildx-action@v3
-        if: steps.changed.outputs.image == 'true'
-
-      - name: Build and push
-        uses: docker/build-push-action@v6
-        if: steps.changed.outputs.image == 'true'
-        with:
-          context: .
-          file: ./Dockerfile.arm-gnu
-          push: true
-          tags: |
-            ghcr.io/${{ github.repository }}/arm-gnu:13.3
-            ghcr.io/${{ github.repository }}/arm-gnu:${{ github.sha }}
-          cache-from: type=gha
-          cache-to: type=gha,mode=max
-          provenance: false
+  docker-image:
+    uses: ./.github/workflows/docker.yml
 
   style:
-    needs: build-docker-image
+    needs: docker-image
     runs-on: ubuntu-latest
     container:
-      image: ghcr.io/${{ github.repository }}/arm-gnu:13.3
+      image: ghcr.io/${{ github.repository }}/arm-gnu:${{ needs.docker-image.outputs.image_tag }}
     steps:
       - uses: actions/checkout@v4
 
@@ -91,11 +52,11 @@ jobs:
 
   test-build:
     needs:
-      - build-docker-image
+      - docker-image
       - generate-test-matrix
     runs-on: ubuntu-latest
     container:
-      image: ghcr.io/${{ github.repository }}/arm-gnu:13.3
+      image: ghcr.io/${{ github.repository }}/arm-gnu:${{ needs.docker-image.outputs.image_tag }}
 
     strategy:
       fail-fast: false

.github/workflows/docker.yml

@@ -0,0 +1,60 @@
+name: docker
+
+on:
+  workflow_call:
+    outputs:
+      image_tag:
+        description: "tag of the image to use"
+        value: ${{ jobs.build-docker-image.outputs.image_tag }}
+
+permissions:
+  contents: read
+  packages: write
+
+jobs:
+  build-docker-image:
+    if: github.event_name != 'pull_request' || github.event.pull_request.head.repo.full_name == github.repository
+
+    runs-on: ubuntu-latest
+    outputs:
+      image_tag: ${{ steps.tag.outputs.tag }}
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Check if Docker rebuild is necessary
+        id: changed
+        uses: dorny/paths-filter@v3
+        with:
+          filters: |
+            image:
+              - 'Dockerfile.arm-gnu'
+              - '.github/workflows/ci.yml'
+
+      - name: Login to ghcr
+        uses: docker/login-action@v3
+        if: steps.changed.outputs.image == 'true'
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Set up buildx
+        uses: docker/setup-buildx-action@v3
+        if: steps.changed.outputs.image == 'true'
+
+      - name: Build and push
+        uses: docker/build-push-action@v6
+        if: steps.changed.outputs.image == 'true'
+        with:
+          context: .
+          file: ./Dockerfile.arm-gnu
+          push: true
+          tags: |
+            ghcr.io/${{ github.repository }}/arm-gnu:13.3
+            ghcr.io/${{ github.repository }}/arm-gnu:${{ github.sha }}
+          cache-from: type=gha
+          cache-to: type=gha,mode=max
+          provenance: false
+
+      - id: tag
+        run: echo "tag=13.3" >> "$GITHUB_OUTPUT"

.github/workflows/release.yml

@@ -0,0 +1,72 @@
+name: release CAN library
+
+on:
+  workflow_dispatch:
+    inputs:
+      version_tag:
+        description: 'the semver version tag for this release (e.g., v1.0.4)'
+        required: true
+        type: string
+
+permissions:
+  contents: write
+  packages: write
+
+jobs:
+
+  docker-image:
+    uses: ./.github/workflows/docker.yml
+
+  release-can:
+    needs: docker-image
+    runs-on: ubuntu-latest
+    container:
+      image: ghcr.io/${{ github.repository }}/arm-gnu:${{ needs.docker-image.outputs.image_tag }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 1
+
+      - name: Validate version tag format
+        run: |
+          TAG="${{ inputs.version_tag }}"
+          # regex matches strict format: 'v' followed by numbers separated by dots (e.g., v1.23.0)
+          if [[ ! "$TAG" =~ ^v[0-9]+\.[0-9]+\.[0-9]+$ ]]; then
+            echo "::error::invalid tag format '$TAG' - release tags must strictly follow semver formatting (e.g., v1.0.4)"
+            exit 1
+          fi
+
+      - name: Create python venv
+        run: |
+          cmake -S ./tools -B ./tools/build
+          cmake --build ./tools/build --target python_env_ready
+          rm -rf tools/build/
+
+      - name: Generate DBC sources
+        run: |
+          . tools/venv/bin/activate
+          # force override cmake dependencies (usually provided by STM32 cmake or scripts)
+          cmake -S ./lib/dbc -B ./lib/dbc/build \
+            -DVENV_PYTHON=$(which python) \
+            -DTOOLS_DIR=$(pwd)/tools
+          # create only the DBC source files
+          cmake --build ./lib/dbc/build --target dbc
+
+      - name: Package release assets
+        if: github.event_name == 'push' && github.ref == 'refs/heads/main'
+        run: |
+          mkdir -p release_package
+          cp lib/dbc/build/*.hpp release_package/
+          cp lib/dbc/release.CMakeLists.txt release_package/CMakeLists.txt
+          tar -czf mrover_can.tar.gz -C release_package .
+
+      - name: Create release
+        uses: softprops/action-gh-release@v2
+        with:
+          tag_name: ${{ inputs.version_tag }}
+          name: Release ${{ inputs.version_tag }}
+          files: mrover_can.tar.gz
+          draft: false
+          prerelease: false
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

lib/CMakeLists.txt

@@ -18,5 +18,4 @@ if (DEFINED MX_SRC_DIR AND DEFINED MX_INC_DIR AND DEFINED MX_STARTUP_S)
     add_subdirectory(stm32g4)
 endif ()
 add_subdirectory(stm32)
-add_subdirectory(units)
 add_subdirectory(util)

lib/dbc/CMakeLists.txt

@@ -1,5 +1,12 @@
 cmake_minimum_required(VERSION 3.22)
 
+project(dbc_generation LANGUAGES CXX)
+
+# NOTE(eric): this exists to force the target to exist for CI
+if(NOT TARGET python_env_ready)
+    add_custom_target(python_env_ready)
+endif()
+
 get_filename_component(PROJECT_ROOT "${CMAKE_CURRENT_SOURCE_DIR}/../.." ABSOLUTE)
 set(DBC_SOURCE_DIR "${PROJECT_ROOT}/dbc")
 set(DBC_GEN_DIR "${CMAKE_CURRENT_SOURCE_DIR}/build")

lib/dbc/release.CMakeLists.txt

@@ -0,0 +1,5 @@
+cmake_minimum_required(VERSION 3.22)
+project(mrover_can LANGUAGES CXX)
+
+add_library(dbc INTERFACE)
+target_include_directories(dbc INTERFACE ${CMAKE_CURRENT_SOURCE_DIR})