Introduce JRL CMake Modules v2

.github/workflows/v2-linux.yml

@@ -0,0 +1,123 @@
+name: V2 - Linux
+
+on: [push, pull_request]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  ubuntu22:
+    name: Ubuntu 22.04
+    runs-on: ubuntu-22.04
+
+    steps:
+      - uses: actions/checkout@v6
+      - uses: jwlawson/actions-setup-cmake@v2
+        with:
+          cmake-version: "3.22"
+      - uses: actions/setup-python@v6
+        with:
+          python-version: "3.10"
+      - name: Install c++ dependencies (via apt)
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y ninja-build g++ unzip libboost-python-dev libeigen3-dev
+
+      - name: Install python dependencies (via pip)
+        run: |
+          which python3
+          which pip3
+          pip3 install nanobind pytest numpy
+
+      - name: Build Catch2 (Ubuntu 22.04 has Catch2 v2, we need v3)
+        run: |
+          cd /home/runner/work/
+          wget https://github.com/catchorg/Catch2/archive/refs/tags/v3.11.0.zip -O catch2.zip
+          unzip catch2.zip
+          cmake -B catch2-build -S Catch2-3.11.0 -G Ninja -DCMAKE_BUILD_TYPE=Release
+          cmake --build catch2-build --config Release
+          sudo cmake --install catch2-build
+
+      - name: Configure project
+        run: cmake -G Ninja -S . -B build -DCMAKE_BUILD_TYPE=RelWithDebInfo -DJRL_CMAKEMODULES_BUILD_TESTS=ON
+
+      - name: Build project
+        run: cmake --build build
+
+      - name: Install project
+        run: cmake --install build --prefix ./install
+
+      - name: Run tests
+        run: ctest --test-dir build --output-on-failure
+
+  ubuntu24:
+    name: Ubuntu 24.04
+    runs-on: ubuntu-24.04
+
+    steps:
+      - uses: actions/checkout@v6
+      - uses: jwlawson/actions-setup-cmake@v2
+        with:
+          cmake-version: "3.28"
+      - uses: actions/setup-python@v6
+        with:
+          python-version: "3.12"
+      - name: Install c++ dependencies (via apt)
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y ninja-build g++ catch2 libboost-python-dev libeigen3-dev
+
+      - name: Install python dependencies (via pip)
+        run: |
+          which python3
+          which pip3
+          pip3 install nanobind pytest numpy
+
+      - name: Configure project
+        run: cmake -G Ninja -S . -B build -DCMAKE_BUILD_TYPE=RelWithDebInfo -DJRL_CMAKEMODULES_BUILD_TESTS=ON
+
+      - name: Build project
+        run: cmake --build build
+
+      - name: Install project
+        run: cmake --install build --prefix ./install
+
+      - name: Run tests
+        run: ctest --test-dir build --output-on-failure
+
+  api_doc:
+    name: "Generate API documentation"
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v6
+      - name: Generate API documentation (direct function call)
+        run: cmake -G Ninja -S . -B build -DCMAKE_BUILD_TYPE=RelWithDebInfo -DJRL_CMAKEMODULES_GENERATE_API_DOC=ON
+
+      - name: Check API is still up to date
+        run: git diff --exit-code -- v2/docs
+
+      - name: Generate API documentation (cmake script mode)
+        run: cmake -DJRL_GENERATE_API_DOC=ON -P v2/modules/jrl.cmake
+
+  archlinux:
+    name: "Archlinux"
+    runs-on: ubuntu-latest
+    container:
+      image: docker://archlinux:latest
+    steps:
+      - uses: actions/checkout@v6
+      - name: Install dependencies
+        run: pacman -Syu --noconfirm cmake ninja gcc catch2 python-pytest nanobind python-numpy boost boost-libs eigen
+
+      - name: Configure project
+        run: cmake -G Ninja -S . -B build -DCMAKE_BUILD_TYPE=RelWithDebInfo -DJRL_CMAKEMODULES_BUILD_TESTS=ON
+
+      - name: Build project
+        run: cmake --build build
+
+      - name: Install project
+        run: cmake --install build --prefix ./install
+
+      - name: Run tests
+        run: ctest --test-dir build --output-on-failure

.github/workflows/v2-macos.yml

@@ -0,0 +1,42 @@
+name: V2 - macOS
+
+on: [push, pull_request]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  macos:
+    name: ${{ matrix.name }}
+    runs-on: ${{ matrix.image }}
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - image: macos-26
+            name: macOS 26 (Apple Silicon)
+
+          - image: macos-15
+            name: macOS 15 (Apple Silicon)
+
+          - image: macos-15-intel
+            name: macOS 15 (Intel)
+
+    steps:
+      - uses: actions/checkout@v6
+      - name: Install dependencies (via brew)
+        run: |
+          brew install catch2 boost-python3 robin-map nanobind pytest numpy eigen
+
+      - name: Configure project
+        run: cmake -G Ninja -S . -B build -DCMAKE_BUILD_TYPE=RelWithDebInfo -DJRL_CMAKEMODULES_BUILD_TESTS=ON
+
+      - name: Build project
+        run: cmake --build build
+
+      - name: Install project
+        run: cmake --install build --prefix ./install
+
+      - name: Run tests
+        run: ctest --test-dir build --output-on-failure

.github/workflows/v2-pixi.yml

@@ -0,0 +1,45 @@
+name: V2 - Pixi
+
+on: [push, pull_request]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  pixi-ci:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: ubuntu-24.04
+          - os: macos-15-intel
+          - os: macos-26
+          - os: windows-2025
+
+    steps:
+      - uses: actions/checkout@v6
+
+      - name: Install Pixi
+        uses: prefix-dev/setup-pixi@v0.9.3
+        with:
+          pixi-version: latest
+
+      - name: Configure Pixi environment
+        run: pixi install
+
+      - name: Configure project
+        run: pixi run configure
+
+      - name: Build project
+        run: pixi run build
+
+      - name: Run tests (cmake latest)
+        run: pixi run -e test test
+
+      - name: Run tests (cmake 3.22)
+        run: pixi run -e cmake322 test
+
+      - name: Run tests (pixi build)
+        run: pixi run -e test-pixi-build test-packaging-pixi-build

.github/workflows/v2-prek.yml

@@ -0,0 +1,9 @@
+name: V2 - Prek
+on: [push, pull_request]
+
+jobs:
+  prek:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v6
+      - uses: j178/prek-action@v1

.github/workflows/v2-ros2.yml

@@ -0,0 +1,45 @@
+name: V2 - ROS2
+on: [push, pull_request]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  ros2:
+    name: ROS2 ${{ matrix.ROS_DISTRO }} - ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          # ROS2 Humble Hawksbill (May 2022 - May 2027)
+          - ROS_DISTRO: humble
+            os: Ubuntu 22.04 (Jammy)
+
+          # ROS2 Jazzy Jalisco (May 2024 - May 2029)
+          - ROS_DISTRO: jazzy
+            os: Ubuntu 24.04 (Noble)
+
+          # ROS2 Kilted Kayu (May 2025 - December 2026)
+          - ROS_DISTRO: kilted
+            os: Ubuntu 24.04 (Noble)
+
+          # ROS2 Rolling Ridley
+          - ROS_DISTRO: rolling
+            os: Ubuntu 24.04 (Noble)
+    env:
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v6
+      - uses: actions/cache@v4
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ matrix.ROS_DISTRO }}-${{github.run_id}}
+          restore-keys: ccache-${{ matrix.ROS_DISTRO }}-
+      - uses: ros-industrial/industrial_ci@ba2a3d0f830f8051b356711a8df2fedfc5d256cf
+        env:
+          # CMAKE_ARGS: -DJRL_CMAKEMODULES_BUILD_TESTS=ON
+          VERBOSE_OUTPUT: true
+          VERBOSE_TESTS: true
+          ROS_DISTRO: ${{ matrix.ROS_DISTRO }}

.github/workflows/v2-windows.yml

@@ -0,0 +1,78 @@
+name: V2 - Windows
+
+on: [push, pull_request]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+env:
+  VCPKG_COMMAND: C:/vcpkg/vcpkg.exe --vcpkg-root=C:/vcpkg
+  VCPKG_DEFAULT_BINARY_CACHE: ${{ github.workspace }}/vcpkg-bincache
+  VCPKG_BINARY_SOURCES: "clear;files,${{ github.workspace }}/vcpkg-bincache,readwrite"
+  CMAKE_TOOLCHAIN_FILE: C:/vcpkg/scripts/buildsystems/vcpkg.cmake
+
+jobs:
+  windows-with-vcpkg:
+    name: ${{ matrix.name }}
+    runs-on: ${{ matrix.image }}
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - image: windows-2022
+            name: Windows Server 2022
+            arch: x64
+
+          - image: windows-2025
+            name: Windows Server 2025
+            arch: x64
+
+          - image: windows-11-arm
+            name: Windows 11 ARM64
+            arch: arm64
+
+    steps:
+      - uses: actions/checkout@v6
+      - uses: ilammy/msvc-dev-cmd@v1
+        with:
+          arch: ${{ matrix.arch }}
+
+      - name: Create vcpkg binary cache directory
+        run: mkdir -p ${{ env.VCPKG_DEFAULT_BINARY_CACHE }}
+
+      - name: Restore vcpkg binary cache
+        id: cache-vcpkg-restore
+        uses: actions/cache/restore@v4
+        with:
+          path: ${{ env.VCPKG_DEFAULT_BINARY_CACHE }}
+          key: vcpkg-${{ matrix.image }}-${{ matrix.arch }}-${{ github.ref }}
+          restore-keys: vcpkg-${{ matrix.image }}-${{ matrix.arch }}-
+
+      - name: Install C++ dependencies (via vcpkg)
+        run: |
+          ${{ env.VCPKG_COMMAND }} install catch2 boost-python eigen3
+
+      - name: Save vcpkg binary cache
+        if: always()
+        uses: actions/cache/save@v4
+        with:
+          path: ${{ env.VCPKG_DEFAULT_BINARY_CACHE }}
+          key: ${{ steps.cache-vcpkg-restore.outputs.cache-primary-key }}
+
+      - name: Install Python dependencies (via pip)
+        run: |
+          C:/vcpkg/installed/${{ matrix.arch }}-windows/tools/python3/python.exe -m ensurepip --upgrade
+          C:/vcpkg/installed/${{ matrix.arch }}-windows/tools/python3/python.exe -m pip install nanobind pytest numpy
+
+      - name: Configure project
+        run: cmake -G Ninja -S . -B build --log-level=DEBUG -DCMAKE_BUILD_TYPE=RelWithDebInfo -DJRL_CMAKEMODULES_BUILD_TESTS=ON
+
+      - name: Build project
+        run: cmake --build build --verbose
+
+      - name: Install project
+        run: cmake --install build --prefix ./install
+
+      - name: Run tests
+        run: ctest --test-dir build --output-on-failure

.gitignore

@@ -2,3 +2,22 @@ hpp/idl/*.pyc
 .docs/build
 _unittests/build/
 _unittests/install/
+build*/
+install*/
+.DS_Store
+.ruff_cache/
+*.conda
+.coverage
+htmlcov/
+build*/
+install*/
+.pytest_cache/
+.cache/
+.pixi/
+__pycache__/
+Xcode*
+*.pyc
+*~
+*.egg-info
+compile_commands.json
+cmake-profiling.json

.pre-commit-config.yaml

@@ -4,12 +4,12 @@ repos:
 - repo: https://github.com/astral-sh/ruff-pre-commit
   rev: v0.15.9
   hooks:
-  - id: ruff
+  - id: ruff-check
     args:
     - --fix
   - id: ruff-format
-- repo: https://github.com/BlankSpruce/gersemi
-  rev: 0.26.1
+- repo: https://github.com/BlankSpruce/gersemi-pre-commit
+  rev: 0.27.2
   hooks:
   - id: gersemi
     exclude: |
@@ -45,4 +45,4 @@ repos:
   hooks:
   - id: check-hooks-apply
   - id: check-useless-excludes
-exclude: (\.js$|^doxygen/MathJax/)
+exclude: (\.js$|^doxygen/MathJax/|api\.md$)