Sync cross-distribution Vinca package coverage

.github/workflows/testpr.yml

@@ -2,9 +2,12 @@ on:
   pull_request:
   workflow_dispatch:
 
+permissions:
+  actions: read
+  contents: read
+
 env:
   ROS_VERSION: 2
-  PYTHONIOENCODING: utf-8
   # Change to 'true' to enable the cache upload as artifacts
   SAVE_CACHE_AS_ARTIFACT: 'true'
   # Change to 'true' to ignore cache and force a full rebuild, but please restore to 'false' before merging
@@ -45,6 +48,12 @@ jobs:
         pixi-version: v0.75.0
         frozen: true
 
+    - name: Check sorting
+      if: matrix.platform == 'linux-64'
+      shell: bash -l {0}
+      run: |
+        pixi run sort --check
+
     - name: Long paths workarounds for win-64
       shell: bash -l {0}
       if: matrix.platform == 'win-64'
@@ -65,23 +74,43 @@ jobs:
     # For some reason, the Strawberry perl's pkg-config is found
     # instead of the conda's one, so let's delete the /c/Strawberry directory
     # Furthermore, we also need to remove an older SDK that is used and can result in compilation problems
-    - name: Debug pkg-config problem
+    # And we also remove the vcpkg installed in the image, to avoid that projects pick it
+    - name: Remove problematic files of GitHub Actions images
       if: contains(matrix.os, 'windows')
       shell: bash -l {0}
       run: |
         rm -rf /c/Strawberry
         rm -rf "/c/Program Files (x86)/Windows Kits/10/Include/10.0.17763.0/"
 
+    - name: Disable git auto-maintenance in source caches
+      shell: bash -l {0}
+      run: |
+        git config --global maintenance.auto false
+
     - name: Generate recipes
       shell: bash -l {0}
       run: |
-        mkdir -p recipes
-        pixi run -v vinca --platform ${{ matrix.platform }} -m -n
+        set -e
+        for attempt in 1 2 3; do
+          rm -rf recipes
+          mkdir -p recipes
+          if pixi run -v vinca --platform ${{ matrix.platform }} -m -n; then
+            break
+          fi
+          if [[ "${attempt}" == "3" ]]; then
+            echo "Recipe generation failed after ${attempt} attempts" >&2
+            exit 1
+          fi
+          echo "Recipe generation attempt ${attempt} failed; retrying..." >&2
+          sleep 15
+        done
 
     - name: Check patches
       shell: bash -l {0}
       run: |
-        pixi run check-patches
+        # Recipes were already generated for the matrix platform. Do not use
+        # the Pixi task here because it would overwrite them.
+        pixi run python check_patches_clean_apply.py
 
     - name: Restore build cache
       id: cache-restore
@@ -94,6 +123,40 @@ jobs:
         restore-keys: |
           ${{ runner.os }}-${{ matrix.platform }}-pr-${{ github.event.pull_request.number }}-
 
+    - name: Restore latest partial-build artifact
+      if: ${{ steps.cache-restore.outputs.cache-hit != 'true' && env.IGNORE_CACHE_AND_DO_FULL_REBUILD != 'true' }}
+      shell: bash -l {0}
+      env:
+        GH_TOKEN: ${{ github.token }}
+      run: |
+        # A hosted job canceled at the hard six-hour limit cannot reliably save
+        # its actions/cache entry, but always() still uploads its partial output
+        # as an artifact. Recover the newest such checkpoint on the next run.
+        prefix="cache-${{ matrix.platform }}-"
+        artifact_id=""
+        # Query artifacts per workflow run rather than the repository-wide
+        # first page, which can omit this branch's checkpoint in a busy repo.
+        for run_id in $(gh api -X GET \
+          "repos/${GITHUB_REPOSITORY}/actions/workflows/testpr.yml/runs" \
+          -f branch="${GITHUB_HEAD_REF}" -f event="pull_request" -f per_page=20 \
+          --jq '.workflow_runs[].id'); do
+          [[ "${run_id}" == "${GITHUB_RUN_ID}" ]] && continue
+          artifact_id=$(gh api -X GET \
+            "repos/${GITHUB_REPOSITORY}/actions/runs/${run_id}/artifacts" \
+            -f name="${prefix}${run_id}" \
+            --jq '.artifacts | map(select(.expired == false)) | first | .id // empty')
+          [[ -n "${artifact_id}" ]] && break
+        done
+        if [[ -n "${artifact_id}" ]]; then
+          echo "Restoring partial-build artifact ${artifact_id}"
+          gh api "repos/${GITHUB_REPOSITORY}/actions/artifacts/${artifact_id}/zip" > partial-cache.zip
+          mkdir -p ${{ matrix.folder_cache }}
+          pixi run python -m zipfile -e partial-cache.zip ${{ matrix.folder_cache }}
+          rm partial-cache.zip
+        else
+          echo "No partial-build artifact found for ${{ matrix.platform }}"
+        fi
+
     - name: Optional force full rebuild
       if: ${{ env.IGNORE_CACHE_AND_DO_FULL_REBUILD == 'true' }}
       shell: bash -l {0}
@@ -103,7 +166,17 @@ jobs:
     - name: Delete specific outdated cache entries
       shell: bash -l {0}
       run: |
-        # rm -rf ${{ matrix.folder_cache }}/ros-lyrical-pcl-conversions* 2>/dev/null || true
+        # nav2-util was cached before its exported angles dependency was
+        # propagated; force replacement without discarding the full rebuild.
+        rm -rf ${{ matrix.folder_cache }}/ros-lyrical-nav2-util-* 2>/dev/null || true
+        rm -rf ${{ matrix.folder_cache }}/ros-lyrical-nav2-route-* 2>/dev/null || true
+        rm -rf ${{ matrix.folder_cache }}/ros-lyrical-nav2-ros-common-* 2>/dev/null || true
+        # Build 23 caches contain a mixture of pre- and post-mutex-migration
+        # packages with identical filenames. Remove them now that this rebuild
+        # uses build 24, otherwise strict local-channel priority can select an
+        # incompatible package requiring the old mutex.
+        rm -rf ${{ matrix.folder_cache }}/*_23.conda 2>/dev/null || true
+        rm -rf ${{ matrix.folder_cache }}/ros2-distro-mutex-*-lyrical_23.conda 2>/dev/null || true
         mkdir -p ${{ matrix.folder_cache }}
         pixi run rattler-index fs ${{ matrix.folder_cache }}/.. --force
 
@@ -113,8 +186,37 @@ jobs:
         ls ${{ matrix.folder_cache }} || true
 
     - name: Build recipes
+      id: build-recipes
       shell: bash -l {0}
       run: |
+        set -e
+        # rattler-build orders build and host dependencies, but runtime-only
+        # dependencies do not create build-graph edges. A mutex migration makes
+        # old runtime packages unusable, so run tolerant passes to populate the
+        # new mutex generation before the final strict validation. Four passes
+        # also let the build recover when an earlier failed run saved little or
+        # no usable cache.
+        pass_count=4
+        # Hosted macOS and Windows jobs have a hard six-hour limit. Restore the
+        # latest build-24 artifact layer, then use one tolerant pass on macOS.
+        # A tolerant Windows scan alone exceeds six hours, so validate its
+        # mature checkpoint directly and save any additional strict progress.
+        if [[ "${{ matrix.platform }}" == osx-* ]]; then
+          pass_count=1
+        elif [[ "${{ matrix.platform }}" == "win-64" ]]; then
+          pass_count=0
+        fi
+
+        for pass in $(seq 1 "${pass_count}"); do
+          echo "Dependency-tolerant build pass ${pass}/${pass_count}"
+          rm -rf ${{ matrix.folder_cache }}/../src_cache/git
+          pixi run rattler-build build --recipe-dir recipes --target-platform ${{ matrix.platform }} -m ./conda_build_config.yaml -c https://prefix.dev/conda-forge -c https://prefix.dev/robostack-lyrical --continue-on-failure --skip-existing || true
+          # Each rattler-build invocation resolves against channel repodata read
+          # at startup. Publish this pass's new artifacts before the next pass.
+          pixi run rattler-index fs ${{ matrix.folder_cache }}/.. --force
+        done
+
+        rm -rf ${{ matrix.folder_cache }}/../src_cache/git
         pixi run rattler-build build --recipe-dir recipes --target-platform ${{ matrix.platform }} -m ./conda_build_config.yaml -c https://prefix.dev/conda-forge -c https://prefix.dev/robostack-lyrical --skip-existing
 
     - name: See packages that will be saved in cache
@@ -125,7 +227,9 @@ jobs:
 
     - name: Save build cache
       uses: actions/cache/save@v5
-      if: always()
+      # Preserve useful partial builds, but do not let a recipe-generation or
+      # patch-check failure replace the restore prefix with an empty cache.
+      if: ${{ always() && (steps.build-recipes.outcome == 'success' || steps.build-recipes.outcome == 'failure') }}
       with:
         path: |
           ${{ matrix.folder_cache }}
@@ -134,7 +238,18 @@ jobs:
     - name: Generate GitHub Actions workflows to catch post-PR problems
       shell: bash -l {0}
       run: |
-        pixi run vinca-gha --platform ${{ matrix.platform }} --trigger-branch dummy_build_branch_as_it_is_unused -d ./recipes
+        set -e
+        for attempt in 1 2 3; do
+          if pixi run vinca-gha --platform ${{ matrix.platform }} --trigger-branch dummy_build_branch_as_it_is_unused -d ./recipes; then
+            break
+          fi
+          if [[ "${attempt}" == "3" ]]; then
+            echo "Workflow generation failed after ${attempt} attempts" >&2
+            exit 1
+          fi
+          echo "Workflow generation attempt ${attempt} failed; retrying..." >&2
+          sleep 15
+        done
 
     - name: Upload build cache as artifact
       if: ${{ always() && env.SAVE_CACHE_AS_ARTIFACT == 'true' }}

.scripts/build_unix.sh

@@ -18,9 +18,6 @@ export PYTHONUNBUFFERED=1
 export FEEDSTOCK_ROOT=`pwd`
 export "CONDA_BLD_PATH=$HOME/conda-bld/"
 
-curl -fsSL https://pixi.sh/install.sh | bash
-export PATH="$HOME/.pixi/bin:$PATH"
-
 if [[ "$target" == *"osx"* ]]; then
     echo "osx"
     export PATH=$(echo $PATH | tr ":" "\n" | grep -v 'homebrew' | xargs | tr ' ' ':')

AGENTS.md

@@ -1,6 +1,6 @@
 # AGENTS.md
 
-Working notes for future coding agents in a RoboStack repo. Replace $DISTRO with e.g. noetic/humble/kilted/lyrical/rolling and so forth; you can check the working directory.
+Working notes for future coding agents in a RoboStack repo. Replace $DISTRO with e.g. noetic/humble/kilted and so forth; you can check the working directory.
 
 ## Session defaults for this repo
 
@@ -169,6 +169,14 @@ Rules:
 - Run parallel lanes only for packages that do not depend on each other.
 - If unsure, serialize the builds.
 
+## Cross-distribution sync
+
+- Work from the clean checked-out heads of rolling, lyrical, kilted, jazzy, and humble; create `codex/cross-distro-sync` in each repo and never merge their independent histories.
+- Classify every candidate before editing: portable shared tooling/CI/metadata, conditional package fix requiring a compatible source and refreshed patch, or excluded distro-owned state.
+- Keep rosdistro snapshots, mutex/build numbers, ABI/compiler/Python pins, channels/upload targets, package selection, generated recipes, and temporary rebuild controls distro-owned.
+- Port patches only for an existing compatible package, using `patch/ros-$DISTRO-<pkg>.patch` and matching recipe wiring; do not copy a patch solely because its filename exists elsewhere.
+- Validate changed patch metadata with `pixi run check-patches` and each changed package with `pixi run build-one ros-$DISTRO-<pkg>`; inspect final diffs for protected state.
+
 ## Inspect a built conda package
 
 ```bash

build_gap_report.py

@@ -8,12 +8,24 @@
 from __future__ import annotations
 
 import argparse
+import re
 from pathlib import Path
 from typing import Iterable, Set
 
 CONDA_SUFFIX = ".conda"
 TARBZ2_SUFFIX = ".tar.bz2"
 
+# Matches known conda platform directory names (osx-arm64, linux-64, win-64, …)
+_PLATFORM_RE = re.compile(r'^(osx|linux|win|emscripten)-')
+
+# Strips distro prefix so ros-jazzy-rclcpp, ros2-rclcpp, ros-kilted-rclcpp all
+# normalise to "rclcpp" for cross-naming-style comparison.
+# Handles two forms: ros-<word>-<base>  and  ros<digits>-<base>
+_DISTRO_PREFIX_RE = re.compile(r'^(?:ros-[a-z]+-|ros\d+-)')
+
+# Artifact/recipe names ending with -check-patches are patch-test helpers, not real packages.
+_CHECK_PATCHES_SUFFIX = "-check-patches"
+
 
 def parse_args() -> argparse.Namespace:
     parser = argparse.ArgumentParser(
@@ -44,10 +56,27 @@ def parse_args() -> argparse.Namespace:
     return parser.parse_args()
 
 
+def normalize_name(name: str) -> str:
+    """Strip ros-<distro>- / ros2- prefix for cross-naming-style comparison."""
+    return _DISTRO_PREFIX_RE.sub("", name)
+
+
+def is_check_patches(name: str) -> bool:
+    return name.endswith(_CHECK_PATCHES_SUFFIX)
+
+
 def is_conda_artifact(filename: str) -> bool:
     return filename.endswith(CONDA_SUFFIX) or filename.endswith(TARBZ2_SUFFIX)
 
 
+# check_patches_clean_apply.py builds throwaway "<pkg>-check-patches[-<platform>]"
+# packages into this same output/<platform> folder to verify patches apply (the
+# platform suffix was added later; older leftover artifacts may lack it). They
+# never have a matching recipes/ directory and would otherwise show up as false
+# "built but no recipe" gaps.
+_CHECK_PATCHES_RE = re.compile(r'-check-patches(?:-(?:linux|osx|win|emscripten|any))?$')
+
+
 def package_name_from_artifact(filename: str) -> str | None:
     stem = filename
     if stem.endswith(CONDA_SUFFIX):
@@ -60,7 +89,10 @@ def package_name_from_artifact(filename: str) -> str | None:
     parts = stem.rsplit("-", 2)
     if len(parts) != 3:
         return None
-    return parts[0]
+    name = parts[0]
+    if _CHECK_PATCHES_RE.search(name):
+        return None
+    return name
 
 
 def discover_platform_dirs(output_root: Path) -> list[str]:
@@ -71,6 +103,8 @@ def discover_platform_dirs(output_root: Path) -> list[str]:
     for child in sorted(output_root.iterdir()):
         if not child.is_dir():
             continue
+        if not _PLATFORM_RE.match(child.name):
+            continue
         try:
             has_artifact = any(
                 entry.is_file() and is_conda_artifact(entry.name)
@@ -94,16 +128,20 @@ def built_packages_for_platform(output_root: Path, platform: str) -> Set[str]:
         if not artifact.is_file() or not is_conda_artifact(artifact.name):
             continue
         package_name = package_name_from_artifact(artifact.name)
-        if package_name:
-            packages.add(package_name)
+        if package_name and not is_check_patches(package_name):
+            packages.add(normalize_name(package_name))
 
     return packages
 
 
 def recipe_directories(recipes_dir: Path) -> Set[str]:
     if not recipes_dir.exists():
         return set()
-    return {entry.name for entry in recipes_dir.iterdir() if entry.is_dir()}
+    return {
+        entry.name
+        for entry in recipes_dir.iterdir()
+        if entry.is_dir() and not is_check_patches(entry.name)
+    }
 
 
 def print_list(title: str, values: Iterable[str]) -> None:
@@ -135,19 +173,29 @@ def main() -> int:
     for idx, platform in enumerate(selected_platforms):
         built = built_packages_for_platform(output_root, platform)
 
+        # Normalize recipe names for comparison so ros-jazzy-X and ros2-X match.
+        # Sort so ros-<distro>- names come first; ros2- names overwrite them,
+        # giving the newer naming convention priority in display output.
+        norm_to_recipe: dict[str, str] = {
+            normalize_name(r): r for r in sorted(recipes)
+        }
+        norm_recipes = set(norm_to_recipe)
+
         print(f"Platform: {platform}")
-        print_list(
-            "Built package artifacts without matching recipe directory",
-            built - recipes,
-        )
+        extra_norm = built - norm_recipes
+        extra_display = sorted(extra_norm)
+        print(f"Built package artifacts without matching recipe directory: {len(extra_display)}")
+        for name in extra_display:
+            print(f"  - {name}")
         print()
-        missing = recipes - built
+        missing_norm = norm_recipes - built
+        missing_display = sorted(norm_to_recipe[n] for n in missing_norm)
         print(
-            f"Recipe directories without built artifact on this platform: "
-            f"{len(missing)} out of {len(recipes)}"
+            f"Recipe directories without built artifact on {platform} platform: "
+            f"{len(missing_display)} out of {len(recipes)}"
         )
-        if missing:
-            for recipe in sorted(missing):
+        if missing_display:
+            for recipe in missing_display:
                 print(f"  - {recipe}")
 
         if idx != len(selected_platforms) - 1: