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.github/workflows/ci.yml

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+# This workflow will install Python dependencies, run tests and lint with a variety of Python versions
+# For more information see: https://docs.github.com/en/actions/automating-builds-and-tests/building-and-testing-python
+
+name: Python package
+
+on:
+  push:
+    branches: ["main", "dev"]
+  pull_request:
+    branches: ["main", "dev"]
+
+jobs:
+  # Step 1: Code formatting and pre-commit validation (fast failure)
+  code-format:
+    name: Code formatting and pre-commit validation
+    runs-on: ubuntu-latest
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.10" # Use minimum version for consistency
+
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install -e .[dev]
+
+      - name: Run pre-commit hooks
+        uses: pre-commit/action@v3.0.1
+        with:
+          extra_args: --all-files
+
+  # Step 2: Basic build and test with minimum Python version (3.10)
+  basic-build:
+    name: Basic build (Python 3.10, Ubuntu)
+    runs-on: ubuntu-latest
+    needs: [code-format] # Only run after code formatting passes
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Set up Python 3.10
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.10"
+
+      - name: Cache pip dependencies
+        uses: actions/cache@v4
+        with:
+          path: ~/.cache/pip
+          key: ubuntu-pip-3.10-${{ hashFiles('**/pyproject.toml') }}
+          restore-keys: |
+            ubuntu-pip-3.10-
+
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          python -m pip install flake8 pytest
+          pip install -e .[dev]
+
+      - name: Test with pytest
+        run: |
+          pytest
+
+  # Step 3: ROS2 integration test
+  test-with-ros2:
+    name: ROS2 integration test
+    runs-on: ubuntu-latest
+    needs: [basic-build] # Only run after basic build passes
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Setup Miniconda
+        uses: conda-incubator/setup-miniconda@v3
+        with:
+          miniconda-version: "latest"
+          channels: conda-forge,robostack-staging,defaults
+          channel-priority: strict
+          activate-environment: ros2-test-env
+          python-version: "3.11.11"
+          auto-activate-base: false
+          auto-update-conda: false
+          show-channel-urls: true
+
+      - name: Install ROS2 and dependencies
+        shell: bash -l {0}
+        run: |
+          # Install ROS2 core packages
+          conda install -y \
+            ros-humble-ros-core \
+            ros-humble-std-msgs \
+            ros-humble-geometry-msgs
+
+      - name: Install package and run tests
+        shell: bash -l {0}
+        run: |
+          # Install our package with basic dependencies (not ros2 extra to avoid conflicts)
+          pip install -e .[dev]
+
+          # Run all tests with verbose output (ROS2 tests will be automatically included)
+          python -c "import rclpy, rosidl_runtime_py; print('All ROS2 dependencies available')"
+          pytest -v
+
+  # Step 4: Security scan
+  security:
+    name: Security scan
+    runs-on: ubuntu-latest
+    needs: [basic-build] # Run in parallel with ROS2 test after basic build
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.10" # Use minimum version for consistency
+
+      - name: Install security tools
+        run: |
+          python -m pip install --upgrade pip
+          pip install bandit "safety>=3.0.0" "typer<0.12.0" "marshmallow<4.0.0"
+
+      - name: Run bandit security scan
+        run: bandit -r msgcenterpy/ -f json -o bandit-report.json
+
+      - name: Run safety security scan
+        run: safety check --output json > safety-report.json
+
+      - name: Upload security reports
+        uses: actions/upload-artifact@v4
+        with:
+          name: security-reports
+          path: |
+            bandit-report.json
+            safety-report.json
+        if: always()
+
+  # Step 5: Package build check
+  package-build:
+    name: Package build check
+    runs-on: ubuntu-latest
+    needs: [basic-build] # Run in parallel with other checks
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.10" # Use minimum version for consistency
+
+      - name: Install build dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install build twine
+
+      - name: Build package
+        run: python -m build
+
+      - name: Check package
+        run: twine check dist/*
+
+      - name: Upload build artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: dist
+          path: dist/
+
+  # Step 6: Full matrix build (only after all basic checks pass)
+  full-matrix-build:
+    name: Test Python ${{ matrix.python-version }} on ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    needs: [test-with-ros2, security, package-build] # Wait for all prerequisite checks
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest, windows-latest, macos-latest]
+        python-version: ["3.10", "3.11", "3.12", "3.13"]
+        exclude:
+          # Skip the combination we already tested in basic-build
+          - os: ubuntu-latest
+            python-version: "3.10"
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Set up Python ${{ matrix.python-version }}
+        uses: actions/setup-python@v5
+        with:
+          python-version: ${{ matrix.python-version }}
+
+      - name: Cache pip dependencies
+        uses: actions/cache@v4
+        with:
+          path: ~/.cache/pip
+          key: ${{ runner.os }}-pip-${{ matrix.python-version }}-${{ hashFiles('**/pyproject.toml') }}
+          restore-keys: |
+            ${{ runner.os }}-pip-${{ matrix.python-version }}-
+            ${{ runner.os }}-pip-
+
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          python -m pip install flake8 pytest
+          pip install -e .[dev]
+
+      - name: Lint with flake8
+        run: |
+          # stop the build if there are Python syntax errors or undefined names
+          flake8 . --count --select=E9,F63,F7,F82 --show-source --statistics
+          # exit-zero treats all errors as warnings. The GitHub editor is 127 chars wide
+          flake8 . --count --exit-zero --max-line-length=200 --extend-ignore=E203,W503,F401,E402,E721,F841 --statistics
+
+      - name: Type checking with mypy
+        run: |
+          mypy msgcenterpy --disable-error-code=unused-ignore
+
+      - name: Test with pytest
+        run: |
+          pytest