Adding action support for windows (gazebo-tooling#28)

* Added action test for setup-conda
---------

Signed-off-by: Saurabh Kamat <kamatsaurabh01@gmail.com>

Author: sauk2

.github/workflows/test.yml

@@ -148,3 +148,22 @@ jobs:
           required-gazebo-distributions: 'harmonic'
       - name: 'Test Gazebo installation'
         run: 'gz sim --versions'
+
+  test_gazebo_install_windows:
+    name: 'Check installation of Gazebo on Windows'
+    runs-on: windows-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-node@v4.0.2
+        with:
+          node-version: '20.x'
+      - uses: conda-incubator/setup-miniconda@v3
+      - name: 'Check Gazebo installation on Windows runner'
+        uses: ./
+        with:
+          required-gazebo-distributions: 'harmonic'
+      - name: 'Test Gazebo installation'
+        shell: pwsh
+        run: |
+          conda activate
+          gz sim --versions

README.md

@@ -10,8 +10,10 @@ This action sets up a Gazebo release inside a Linux environment.
         1. [Setting up worker and installing a compatible Gazebo and Ubuntu combination](#Setting-up-worker-and-installing-a-compatible-Gazebo-and-Ubuntu-combination)
         1. [Iterating on all Gazebo and Ubuntu combinations](#Iterating-on-all-gazebo-ubuntu-combinations)
         1. [Using pre-release and/or nightly Gazebo binaries](#Using-pre-release-and/or-nightly-Gazebo-binaries)
-    2. [MacOS](#MacOS)
+    2. [macOS](#macOS)
         1. [Setting up worker to install Gazebo on macOS](#Setting-up-worker-to-install-Gazebo-on-macOS)
+    3. [Windows](#Windows)
+        1. [Setting up worker to install Gazebo on Windows](#Setting-up-worker-to-install-Gazebo-on-Windows)
 1. [License](#License)
 
 ## Overview
@@ -25,6 +27,7 @@ It is recommended to use the `setup-gazebo` action inside a Docker container due
 `setup-gazebo` action works for all non-EOL Gazebo [releases] on the following platforms:
   - Ubuntu
   - macOS
+  - Windows
 
 ## Tasks performed by the action
 
@@ -36,6 +39,8 @@ The `setup-gazebo` action performs the following tasks:
   - Registers the Open Robotics APT repository
 - On macOS:
   - Tapping into the [osrf/homebrew-simulation](https://github.com/osrf/homebrew-simulation) using Homebrew
+- On Windows:
+  - Installing Gazebo using Conda from conda-forge
 ## Usage
 
 See [action.yml](action.yml)
@@ -155,7 +160,7 @@ This workflow shows how to use binaries from [pre-release] or [nightly] Gazebo r
             run: 'gz sim --versions'
 ```
 
-### MacOS
+### macOS
 
 #### Setting up worker to install Gazebo on macOS
 
@@ -177,6 +182,32 @@ This workflow shows how to install Gazebo on a macOS worker. The action needs an
         run: 'gz sim --versions'
 ```
 
+### Windows
+
+This workflow shows how to install Gazebo on a Windows worker. The action requires a Conda package management system such as miniconda as all Gazebo packages are available on conda-forge. The action is run by specifying the distribution of choice in `required-gazebo-distributions` field.
+
+#### Setting up worker to install Gazebo on Windows
+
+```yaml
+  test_gazebo:
+    runs-on: windows-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-node@v4.0.2
+        with:
+          node-version: '20.x'
+      - uses: conda-incubator/setup-miniconda@v3
+      - name: 'Check Gazebo installation on Windows runner'
+        uses: gazebo-tooling/setup-gazebo@<full_commit_hash>
+        with:
+          required-gazebo-distributions: 'harmonic'
+      - name: 'Test Gazebo installation'
+        shell: pwsh
+        run: |
+          conda activate
+          gz sim --versions
+```
+
 ## License
 
 The scripts and documentation in this project are released under the [Apache 2](LICENSE) license.

__test__/main.test.ts

@@ -3,6 +3,7 @@ import * as exec from "@actions/exec";
 
 import * as linux from "../src/setup-gazebo-linux";
 import * as macOs from "../src/setup-gazebo-macos";
+import * as windows from "../src/setup-gazebo-windows";
 import * as utils from "../src/utils";
 
 describe("workflow test without input", () => {
@@ -21,6 +22,10 @@ describe("workflow test without input", () => {
 	it("run macOS workflow without input", async () => {
 		await expect(macOs.runMacOs()).rejects.toThrow();
 	});
+
+	it("run Windows workflow without input", async () => {
+		await expect(windows.runWindows()).rejects.toThrow();
+	});
 });
 
 describe("workflow test with a invalid distro input", () => {
@@ -40,6 +45,10 @@ describe("workflow test with a invalid distro input", () => {
 	it("run macOS workflow with invalid distro input", async () => {
 		await expect(macOs.runMacOs()).rejects.toThrow();
 	});
+
+	it("run Windows workflow with invalid distro input", async () => {
+		await expect(windows.runWindows()).rejects.toThrow();
+	});
 });
 
 describe("workflow test with a valid distro input", () => {
@@ -59,6 +68,10 @@ describe("workflow test with a valid distro input", () => {
 	it("run macOS workflow with valid distro input", async () => {
 		await expect(macOs.runMacOs()).resolves.not.toThrow();
 	});
+
+	it("run Windows workflow with valid distro input", async () => {
+		await expect(windows.runWindows()).resolves.not.toThrow();
+	});
 });
 
 describe("validate distribution test", () => {

dist/index.js

@@ -26289,6 +26289,61 @@ function linkPackage(packageName) {
 }
 
 
+/***/ }),
+
+/***/ 7725:
+/***/ (function(__unused_webpack_module, exports, __nccwpck_require__) {
+
+"use strict";
+
+var __createBinding = (this && this.__createBinding) || (Object.create ? (function(o, m, k, k2) {
+    if (k2 === undefined) k2 = k;
+    var desc = Object.getOwnPropertyDescriptor(m, k);
+    if (!desc || ("get" in desc ? !m.__esModule : desc.writable || desc.configurable)) {
+      desc = { enumerable: true, get: function() { return m[k]; } };
+    }
+    Object.defineProperty(o, k2, desc);
+}) : (function(o, m, k, k2) {
+    if (k2 === undefined) k2 = k;
+    o[k2] = m[k];
+}));
+var __setModuleDefault = (this && this.__setModuleDefault) || (Object.create ? (function(o, v) {
+    Object.defineProperty(o, "default", { enumerable: true, value: v });
+}) : function(o, v) {
+    o["default"] = v;
+});
+var __importStar = (this && this.__importStar) || function (mod) {
+    if (mod && mod.__esModule) return mod;
+    var result = {};
+    if (mod != null) for (var k in mod) if (k !== "default" && Object.prototype.hasOwnProperty.call(mod, k)) __createBinding(result, mod, k);
+    __setModuleDefault(result, mod);
+    return result;
+};
+var __awaiter = (this && this.__awaiter) || function (thisArg, _arguments, P, generator) {
+    function adopt(value) { return value instanceof P ? value : new P(function (resolve) { resolve(value); }); }
+    return new (P || (P = Promise))(function (resolve, reject) {
+        function fulfilled(value) { try { step(generator.next(value)); } catch (e) { reject(e); } }
+        function rejected(value) { try { step(generator["throw"](value)); } catch (e) { reject(e); } }
+        function step(result) { result.done ? resolve(result.value) : adopt(result.value).then(fulfilled, rejected); }
+        step((generator = generator.apply(thisArg, _arguments || [])).next());
+    });
+};
+Object.defineProperty(exports, "__esModule", ({ value: true }));
+exports.runConda = runConda;
+const utils = __importStar(__nccwpck_require__(1314));
+/**
+ * Run conda install on a list of specified packages.
+ *
+ * @param   packages list of conda-forge packages to be installed
+ * @returns Promise<number> exit code
+ */
+function runConda(packages) {
+    return __awaiter(this, void 0, void 0, function* () {
+        return utils.exec("conda", ["install", "--channel", "conda-forge"].concat(packages));
+    });
+}
+
+
 /***/ }),
 
 /***/ 5467:
@@ -26525,6 +26580,95 @@ function runMacOs() {
 }
 
 
+/***/ }),
+
+/***/ 8502:
+/***/ (function(__unused_webpack_module, exports, __nccwpck_require__) {
+
+"use strict";
+
+var __createBinding = (this && this.__createBinding) || (Object.create ? (function(o, m, k, k2) {
+    if (k2 === undefined) k2 = k;
+    var desc = Object.getOwnPropertyDescriptor(m, k);
+    if (!desc || ("get" in desc ? !m.__esModule : desc.writable || desc.configurable)) {
+      desc = { enumerable: true, get: function() { return m[k]; } };
+    }
+    Object.defineProperty(o, k2, desc);
+}) : (function(o, m, k, k2) {
+    if (k2 === undefined) k2 = k;
+    o[k2] = m[k];
+}));
+var __setModuleDefault = (this && this.__setModuleDefault) || (Object.create ? (function(o, v) {
+    Object.defineProperty(o, "default", { enumerable: true, value: v });
+}) : function(o, v) {
+    o["default"] = v;
+});
+var __importStar = (this && this.__importStar) || function (mod) {
+    if (mod && mod.__esModule) return mod;
+    var result = {};
+    if (mod != null) for (var k in mod) if (k !== "default" && Object.prototype.hasOwnProperty.call(mod, k)) __createBinding(result, mod, k);
+    __setModuleDefault(result, mod);
+    return result;
+};
+var __awaiter = (this && this.__awaiter) || function (thisArg, _arguments, P, generator) {
+    function adopt(value) { return value instanceof P ? value : new P(function (resolve) { resolve(value); }); }
+    return new (P || (P = Promise))(function (resolve, reject) {
+        function fulfilled(value) { try { step(generator.next(value)); } catch (e) { reject(e); } }
+        function rejected(value) { try { step(generator["throw"](value)); } catch (e) { reject(e); } }
+        function step(result) { result.done ? resolve(result.value) : adopt(result.value).then(fulfilled, rejected); }
+        step((generator = generator.apply(thisArg, _arguments || [])).next());
+    });
+};
+Object.defineProperty(exports, "__esModule", ({ value: true }));
+exports.runWindows = runWindows;
+const utils = __importStar(__nccwpck_require__(1314));
+const conda = __importStar(__nccwpck_require__(7725));
+// List of mapped Gazebo distro to gz-sim versions
+const validLibVersions = [
+    {
+        distro: "garden",
+        libVersion: 7,
+    },
+    {
+        distro: "harmonic",
+        libVersion: 8,
+    },
+];
+/**
+ * Get gz-sim library version corresponding to a gz-$collection
+ * since conda does not currently support the gz-$collection metapackages.
+ * See https://github.com/conda-forge/gz-sim-feedstock/issues/61
+ *
+ * @param gazeboDistro name of Gazebo distribution
+ * @returns gz-sim version
+ */
+function getLibVersion(gazeboDistro) {
+    return __awaiter(this, void 0, void 0, function* () {
+        let version;
+        validLibVersions.forEach((obj) => {
+            if (obj.distro == gazeboDistro) {
+                version = obj.libVersion;
+            }
+        });
+        if (version === undefined) {
+            throw new Error(`No conda packages available for gz-${gazeboDistro}`);
+        }
+        return version;
+    });
+}
+/**
+ * Install Gazebo on a Windows worker
+ */
+function runWindows() {
+    return __awaiter(this, void 0, void 0, function* () {
+        for (const gazeboDistro of utils.getRequiredGazeboDistributions()) {
+            const version = yield getLibVersion(gazeboDistro);
+            yield conda.runConda([`gz-sim${version}`]);
+        }
+    });
+}
+
+
 /***/ }),
 
 /***/ 525:
@@ -26568,6 +26712,7 @@ Object.defineProperty(exports, "__esModule", ({ value: true }));
 const core = __importStar(__nccwpck_require__(2186));
 const linux = __importStar(__nccwpck_require__(5467));
 const macOs = __importStar(__nccwpck_require__(8247));
+const windows = __importStar(__nccwpck_require__(8502));
 function run() {
     return __awaiter(this, void 0, void 0, function* () {
         try {
@@ -26578,6 +26723,9 @@ function run() {
             else if (platform === "linux") {
                 linux.runLinux();
             }
+            else if (platform === "win32") {
+                windows.runWindows();
+            }
             else {
                 throw new Error(`Unsupported platform ${platform}`);
             }

src/package_manager/conda.ts

@@ -0,0 +1,14 @@
+import * as utils from "../utils";
+
+/**
+ * Run conda install on a list of specified packages.
+ *
+ * @param   packages list of conda-forge packages to be installed
+ * @returns Promise<number> exit code
+ */
+export async function runConda(packages: string[]): Promise<number> {
+	return utils.exec(
+		"conda",
+		["install", "--channel", "conda-forge"].concat(packages),
+	);
+}

src/setup-gazebo-windows.ts

@@ -0,0 +1,45 @@
+import * as utils from "./utils";
+import * as conda from "./package_manager/conda";
+
+// List of mapped Gazebo distro to gz-sim versions
+const validLibVersions: { distro: string; libVersion: number }[] = [
+	{
+		distro: "garden",
+		libVersion: 7,
+	},
+	{
+		distro: "harmonic",
+		libVersion: 8,
+	},
+];
+
+/**
+ * Get gz-sim library version corresponding to a gz-$collection
+ * since conda does not currently support the gz-$collection metapackages.
+ * See https://github.com/conda-forge/gz-sim-feedstock/issues/61
+ *
+ * @param gazeboDistro name of Gazebo distribution
+ * @returns gz-sim version
+ */
+async function getLibVersion(gazeboDistro: string): Promise<number> {
+	let version: number | undefined;
+	validLibVersions.forEach((obj) => {
+		if (obj.distro == gazeboDistro) {
+			version = obj.libVersion;
+		}
+	});
+	if (version === undefined) {
+		throw new Error(`No conda packages available for gz-${gazeboDistro}`);
+	}
+	return version;
+}
+
+/**
+ * Install Gazebo on a Windows worker
+ */
+export async function runWindows(): Promise<void> {
+	for (const gazeboDistro of utils.getRequiredGazeboDistributions()) {
+		const version = await getLibVersion(gazeboDistro);
+		await conda.runConda([`gz-sim${version}`]);
+	}
+}

src/setup-gazebo.ts

@@ -1,6 +1,7 @@
 import * as core from "@actions/core";
 import * as linux from "./setup-gazebo-linux";
 import * as macOs from "./setup-gazebo-macos";
+import * as windows from "./setup-gazebo-windows";
 
 async function run() {
 	try {
@@ -9,6 +10,8 @@ async function run() {
 			macOs.runMacOs();
 		} else if (platform === "linux") {
 			linux.runLinux();
+		} else if (platform === "win32") {
+			windows.runWindows();
 		} else {
 			throw new Error(`Unsupported platform ${platform}`);
 		}