0.6.8 #348
Workflow file for this run
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| # Test and publish toppra (Python) | |
| name: Python package | |
| on: [push, pull_request] | |
| jobs: | |
| python: | |
| runs-on: ubuntu-latest | |
| strategy: | |
| matrix: | |
| python-version: ["3.8", "3.9", "3.10", "3.12"] | |
| steps: | |
| - uses: actions/checkout@v5 | |
| - name: Set up Python ${{ matrix.python-version }} | |
| uses: actions/setup-python@v6 | |
| with: | |
| python-version: ${{ matrix.python-version }} | |
| - name: Install dependencies | |
| run: | | |
| python -m pip install --upgrade pip | |
| pip install tox tox-gh-actions | |
| - name: Test with tox | |
| run: tox | |
| cpp: | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| matrix: | |
| include: | |
| - python-version: "3.10" | |
| os: ubuntu-22.04 | |
| - python-version: "3.12" | |
| os: ubuntu-24.04 | |
| steps: | |
| - uses: actions/checkout@v5 | |
| - name: Set up Python | |
| uses: actions/setup-python@v6 | |
| with: | |
| python-version: ${{ matrix.python-version }} | |
| - name: Install dep | |
| run: | | |
| echo "deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -sc) robotpkg" \ | |
| | sudo tee /etc/apt/sources.list.d/robotpkg.list | |
| curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key \ | |
| | sudo apt-key add - | |
| sudo apt update | |
| PY_VER_LONG=${{ matrix.python-version }} | |
| PY_VER="${PY_VER_LONG:0:1}${PY_VER_LONG:2}" | |
| sudo apt install -y cmake \ | |
| clang-tidy \ | |
| libeigen3-dev \ | |
| robotpkg-pinocchio \ | |
| robotpkg-qpoases \ | |
| libglpk-dev \ | |
| robotpkg-py${PY_VER}-pinocchio \ | |
| robotpkg-py${PY_VER}-example-robot-data | |
| cd ~/ && git clone https://github.com/pybind/pybind11 | |
| cd pybind11 && git checkout v3.0.1 | |
| mkdir build && cd build && cmake -DPYBIND11_TEST=false .. && sudo make install | |
| - name: Build | |
| run: | | |
| export LD_LIBRARY_PATH=/opt/openrobots/lib:${LD_LIBRARY_PATH} | |
| export CMAKE_PREFIX_PATH=/opt/openrobots:$CMAKE_PREFIX_PATH | |
| mkdir -p cpp/build | |
| cd cpp/build | |
| cmake \ | |
| -DBUILD_WITH_PINOCCHIO=ON \ | |
| -DBUILD_WITH_qpOASES=ON \ | |
| -DBUILD_WITH_GLPK=ON \ | |
| -DPYTHON_BINDINGS=ON \ | |
| -DPYTHON_VERSION=${{ matrix.python-version }} \ | |
| -DBUILD_WITH_PINOCCHIO_PYTHON=true \ | |
| -DBoost_NO_BOOST_CMAKE=ON \ | |
| .. | |
| make -j4 | |
| - name: Test | |
| run: | | |
| cd cpp/build | |
| ./tests/all_tests | |
| - name: Install dependencies | |
| run: | | |
| python -m pip install --upgrade pip | |
| pip install tox tox-gh-actions | |
| - name: Test with tox | |
| run: tox | |
| build-wheels: | |
| name: Build wheels | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| matrix: | |
| os: [ubuntu-latest] | |
| if: github.event_name == 'push' && startsWith(github.ref, 'refs/tags') | |
| steps: | |
| - uses: actions/checkout@v5 | |
| - uses: actions/setup-python@v6 | |
| name: Install Python | |
| with: | |
| python-version: "3.10" | |
| - name: Build wheels | |
| uses: pypa/cibuildwheel@v2.1.1 | |
| with: | |
| package-dir: ./python | |
| - uses: actions/upload-artifact@v5 | |
| with: | |
| name: dist | |
| path: ./wheelhouse/*.whl | |
| build-sdist: | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v5 | |
| - name: Set up Python | |
| uses: actions/setup-python@v6 | |
| with: | |
| python-version: "3.10" | |
| - name: Install dependencies | |
| run: | | |
| python -m pip install --upgrade pip | |
| pip install cython numpy setuptools wheel | |
| cd python | |
| python setup.py sdist | |
| - name: Archive production artifacts | |
| uses: actions/upload-artifact@v5 | |
| with: | |
| name: dist-single-sdist | |
| path: | | |
| python/dist | |
| release: | |
| needs: ["build-sdist", "build-wheels", "python", "cpp"] | |
| runs-on: ubuntu-latest | |
| environment: PYPI_PASSWORD | |
| if: github.event_name == 'push' && startsWith(github.ref, 'refs/tags') | |
| steps: | |
| - run: echo "Deploying to pypi on branch $GITHUB_REF" | |
| - name: Download all workflow run artifacts | |
| uses: actions/download-artifact@v5 | |
| - run: ls dist | |
| - name: Publish package | |
| uses: pypa/gh-action-pypi-publish@release/v1 | |
| with: | |
| user: __token__ | |
| password: ${{ secrets.PYPI_TOKEN }} | |
| skip_existing: true |