From feac17d5b4bb9b015fd1064d56f6e861ca61bdb3 Mon Sep 17 00:00:00 2001
From: julianadrianheine <julianadrianheine@gmail.com>
Date: Thu, 2 Jul 2026 12:10:51 -0300
Subject: [PATCH 1/2] Add wheel generation and CI checks

---
 .github/workflows/ci.yml             | 49 ++++++++++++++++++
 requirements-dev.txt                 | 11 ++++
 wheelhouse/.gitignore                |  1 +
 wheelhouse/build_cyclonedds_wheel.sh | 77 ++++++++++++++++++++++++++++
 wheelhouse/cyclonedds.README.md      | 16 ++++++
 5 files changed, 154 insertions(+)
 create mode 100644 .github/workflows/ci.yml
 create mode 100644 requirements-dev.txt
 create mode 100644 wheelhouse/.gitignore
 create mode 100755 wheelhouse/build_cyclonedds_wheel.sh
 create mode 100644 wheelhouse/cyclonedds.README.md

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
new file mode 100644
index 00000000..63c10f13
--- /dev/null
+++ b/.github/workflows/ci.yml
@@ -0,0 +1,49 @@
+name: CI
+
+on:
+  push:
+    branches:
+      - "releases/tri/0.10.5"
+  pull_request:
+    branches:
+      - "releases/tri/0.10.5"
+
+jobs:
+  test:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - python-tag: py311
+            python-version: "3.11"
+          - python-tag: py312
+            python-version: "3.12"
+
+    name: Test (Python ${{ matrix.python-version }})
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Set up Python ${{ matrix.python-version }}
+        uses: actions/setup-python@v5
+        with:
+          python-version: ${{ matrix.python-version }}
+
+      # Build a manylinux wheel using cibuildwheel inside Docker. This handles
+      # the full from-source build of the cyclonedds C library so the runner
+      # does not need it installed system-wide. The resulting wheel bundles
+      # libddsc and can be installed like any normal Python package.
+      - name: Build wheel
+        if: steps.cache-wheel.outputs.cache-hit != 'true'
+        run: bash wheelhouse/build_cyclonedds_wheel.sh ${{ matrix.python-tag }} wheelhouse/
+
+      - name: Set up venv and install dependencies
+        run: |
+          python3 -m venv .venv
+          .venv/bin/pip install --quiet --upgrade pip
+          .venv/bin/pip install --quiet wheelhouse/cyclonedds-*.whl
+          .venv/bin/pip install --quiet -r requirements-dev.txt
+
+      - name: Run tests
+        run: .venv/bin/python local-ci.py --no-linter
diff --git a/requirements-dev.txt b/requirements-dev.txt
new file mode 100644
index 00000000..f40f3ac9
--- /dev/null
+++ b/requirements-dev.txt
@@ -0,0 +1,11 @@
+# Test dependencies for CI and local development.
+#
+# These are installed into the venv alongside the pre-built cyclonedds wheel
+# (see wheelhouse/build_cyclonedds_wheel.sh and .github/workflows/ci.yml).
+# They are kept here as a standalone file so that CI can install them without
+# triggering a source build of the package (which requires the cyclonedds C
+# library). The same packages are listed under extras_require["dev"] in
+# setup.py, but that path is only usable when building from source.
+pytest>=6.2
+pytest-cov
+pytest-mock
diff --git a/wheelhouse/.gitignore b/wheelhouse/.gitignore
new file mode 100644
index 00000000..704d3075
--- /dev/null
+++ b/wheelhouse/.gitignore
@@ -0,0 +1 @@
+*.whl
diff --git a/wheelhouse/build_cyclonedds_wheel.sh b/wheelhouse/build_cyclonedds_wheel.sh
new file mode 100755
index 00000000..ac8b4054
--- /dev/null
+++ b/wheelhouse/build_cyclonedds_wheel.sh
@@ -0,0 +1,77 @@
+#!/usr/bin/env bash
+# Build a cyclonedds==0.10.5 manylinux wheel for a given Python version and
+# copy it into this directory.
+#
+# Usage:
+#   ./build_cyclonedds_wheel.sh <python-tag> [output-dir]
+#
+# Arguments:
+#   python-tag  : py311 or py312
+#   output-dir  : destination for the wheel (default: this directory)
+#
+# Examples:
+#   ./build_cyclonedds_wheel.sh py311
+#   ./build_cyclonedds_wheel.sh py312 /tmp/out
+
+set -euo pipefail
+
+# Re-exec under the docker group if this session predates the docker install
+# (usermod -aG docker takes effect on next login; sg avoids that requirement).
+if ! id -Gn | grep -qw docker; then
+    exec sg docker -c "bash '$0' $*"
+fi
+
+# Pinned cibuildwheel version and manylinux image digest for bit-for-bit
+# reproducible builds. Update both together when intentionally upgrading.
+CIBUILDWHEEL_VERSION="3.4.1"
+MANYLINUX_IMAGE="quay.io/pypa/manylinux_2_28_x86_64@sha256:853663dc8253b62be437bb52a5caecffd020792af4442f55d927d22e0ea795ae"
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+REPO_ROOT="$(cd "${SCRIPT_DIR}/.." && pwd)"
+
+if [[ $# -lt 1 || $# -gt 2 ]]; then
+    echo "Usage: $0 <python-tag> [output-dir]  (e.g. py311 or py312)" >&2
+    exit 1
+fi
+
+PYTHON_TAG="$1"
+OUTPUT_DIR="${2:-$SCRIPT_DIR}"
+# Convert "py311" -> "cp311"
+CP_TAG="cp${PYTHON_TAG#py}"
+BUILD_ID="${CP_TAG}-manylinux_x86_64"
+
+# Fix the umask so git creates files with deterministic permissions (0644/0755)
+# regardless of the caller's umask. Without this, Bazel's test runner uses a
+# different umask than a regular shell, causing pip to record different Unix
+# permission bits in the wheel ZIP and producing a different archive SHA.
+umask 0022
+
+cd "${REPO_ROOT}"
+
+# Freeze build timestamps to the source commit time for deterministic output.
+SOURCE_DATE_EPOCH="$(git show -s --format=%ct HEAD)"
+export SOURCE_DATE_EPOCH
+
+WORK_DIR="$(mktemp -d)"
+trap 'rm -rf "$WORK_DIR"' EXIT
+
+echo "==> Setting up venv and installing cibuildwheel ${CIBUILDWHEEL_VERSION} ..."
+python3 -m venv "${WORK_DIR}/.venv"
+"${WORK_DIR}/.venv/bin/pip3" install --quiet "cibuildwheel==${CIBUILDWHEEL_VERSION}"
+
+echo "==> Building wheel for ${PYTHON_TAG} (${BUILD_ID}) ..."
+# These variables pin the build environment (container image, dependency
+# versions, timestamps) to produce a bit-for-bit reproducible wheel SHA.
+# Changing or removing any of them will change the output wheel and require
+# rebuilding and recommitting the wheels in this directory.
+CIBW_MANYLINUX_X86_64_IMAGE="${MANYLINUX_IMAGE}" \
+CIBW_ENVIRONMENT_PASS="SOURCE_DATE_EPOCH" \
+CIBW_TEST_COMMAND="" \
+CIBW_DEPENDENCY_VERSIONS="pinned" \
+"${WORK_DIR}/.venv/bin/cibuildwheel" --output-dir "${WORK_DIR}/wheelhouse" --only "${BUILD_ID}"
+
+WHEEL="$(ls "${WORK_DIR}/wheelhouse"/*.whl)"
+WHEEL_BASENAME="$(basename "$WHEEL")"
+
+echo "==> Copying ${WHEEL_BASENAME} -> ${OUTPUT_DIR}/"
+cp "$WHEEL" "${OUTPUT_DIR}/"
+echo "==> Done: ${OUTPUT_DIR}/${WHEEL_BASENAME}"
diff --git a/wheelhouse/cyclonedds.README.md b/wheelhouse/cyclonedds.README.md
new file mode 100644
index 00000000..9e429d1b
--- /dev/null
+++ b/wheelhouse/cyclonedds.README.md
@@ -0,0 +1,16 @@
+To rebuild and commit the wheels, run the build script for each Python version
+and commit the results:
+
+```bash
+bash wheelhouse/build_cyclonedds_wheel.sh py311 wheelhouse/
+bash wheelhouse/build_cyclonedds_wheel.sh py312 wheelhouse/
+git add wheelhouse/*.whl
+git commit -m "Rebuild cyclonedds wheels"
+```
+
+Notes:
+1. The pinned version (0.10.5) matches the cyclonedds version shipped with
+   ROS 2 Jazzy: https://index.ros.org/p/cyclonedds/#jazzy
+2. This package is a Python binding of the underlying C `cyclonedds` binary.
+   `cibuildwheel` bundles the necessary shared libraries into the wheel so
+   consumers do not need to install cyclonedds separately.

From b4d64b5012d3a27ccbd0425315b6ec720531880f Mon Sep 17 00:00:00 2001
From: julianadrianheine <julianadrianheine@gmail.com>
Date: Thu, 2 Jul 2026 15:33:03 -0300
Subject: [PATCH 2/2] Remove unnecesary docker config in the script

---
 wheelhouse/build_cyclonedds_wheel.sh | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/wheelhouse/build_cyclonedds_wheel.sh b/wheelhouse/build_cyclonedds_wheel.sh
index ac8b4054..2642682a 100755
--- a/wheelhouse/build_cyclonedds_wheel.sh
+++ b/wheelhouse/build_cyclonedds_wheel.sh
@@ -15,12 +15,6 @@
 
 set -euo pipefail
 
-# Re-exec under the docker group if this session predates the docker install
-# (usermod -aG docker takes effect on next login; sg avoids that requirement).
-if ! id -Gn | grep -qw docker; then
-    exec sg docker -c "bash '$0' $*"
-fi
-
 # Pinned cibuildwheel version and manylinux image digest for bit-for-bit
 # reproducible builds. Update both together when intentionally upgrading.
 CIBUILDWHEEL_VERSION="3.4.1"