[dqrobotics_modules.cpp and CMakeLists.txt] Added missing DQ_Coppelia… #198
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name: Python Package | |
on: [push,workflow_dispatch] | |
jobs: | |
build: | |
permissions: | |
# IMPORTANT: this permission is mandatory for trusted publishing | |
id-token: write | |
runs-on: ${{ matrix.os }} | |
continue-on-error: ${{ matrix.experimental }} | |
strategy: | |
fail-fast: false | |
matrix: | |
python-version: [3.9, '3.10', '3.11', '3.12', '3.13'] | |
# os: ['ubuntu-20.04', 'macos-latest', 'windows-latest', 'linux-arm64'] | |
os: ['ubuntu-20.04', 'macos-latest'] | |
experimental: [false] | |
# exclude: | |
# excludes python-version 3.7 on macOS-arm64 (Not available via brew) | |
# - os: macos-arm64 | |
# python-version: 3.7 | |
steps: | |
- uses: actions/checkout@v2 | |
- name: Customize git | |
run: | | |
git submodule update --init --recursive | |
git fetch --prune --unshallow | |
- name: Set up Python ${{ matrix.python-version }} (Github Hosted VMs) | |
if: matrix.os != 'linux-arm64' | |
uses: actions/setup-python@v2 | |
with: | |
python-version: ${{ matrix.python-version }} | |
- name: Set up Python ${{ matrix.python-version }} (Self Hosted Vms) | |
if: matrix.os == 'linux-arm64' | |
run: | | |
python${{ matrix.python-version }} -m venv venv${{ matrix.python-version }} | |
echo "${{github.workspace}}/venv${{matrix.python-version}}/bin/" >> $GITHUB_PATH | |
sed -i'' -e 's/-j2/-j8/g' setup.py | |
- name: Install compilation dependencies [Ubuntu/C++] | |
if: matrix.os == 'ubuntu-20.04' | |
run: | | |
sudo apt install libeigen3-dev libzmq3-dev libboost-all-dev | |
- name: Install compilation dependencies [MacOS/C++] | |
if: matrix.os == 'macos-latest' | |
run: | | |
brew install eigen cppzmq boost | |
- name: Install compilation dependencies [Windows/C++] | |
if: matrix.os == 'windows-latest' | |
run: | | |
pwd | |
echo "Setting up vcpkg..." | |
cd C:\vcpkg | |
.\bootstrap-vcpkg.bat | |
vcpkg integrate install | |
echo "Installing dependencies..." | |
.\vcpkg install eigen3:x64-windows cppzmq boost | |
echo "Adding symlink to vcpkg..." | |
cmd /c mklink /d c:\Tools\vcpkg c:\vcpkg | |
cd ~ | |
- name: Install compilation dependencies [Python] | |
run: | | |
python -m pip install --upgrade pip | |
pip install setuptools wheel setuptools-git | |
- name: Compile | |
run: | | |
python setup.py bdist_wheel | |
- name: Remove build folder for (not Windows) | |
if: matrix.os != 'windows-latest' | |
run: | | |
rm -rf build | |
- name: Remove build folder (Windows only) | |
if: matrix.os == 'windows-latest' | |
run: | | |
rm -r -fo build | |
- name: Rename wheel (MacOS only) | |
if: matrix.os == 'macos-latest' | |
run: | | |
brew install rename | |
cd dist | |
sw_vers | |
rename 's/11_0/10_14/' * | |
rename 's/12_0/10_15/' * | |
rename 's/universal2/arm64/' * | |
cd .. | |
- name: Install (not Windows) | |
if: matrix.os != 'windows-latest' | |
run: | | |
python tests/print_platform_info.py | |
python -m pip install dist/*.whl | |
- name: Install (Windows) | |
if: matrix.os == 'windows-latest' | |
run: | | |
python tests/print_platform_info.py | |
python -m pip install @(join-path "dist" (get-childitem -path dist -name *.whl)) | |
- name: Remove old quadprog folder (self-hosted) | |
if: matrix.os == 'linux-arm64' | |
run: | | |
cd tests | |
python -m pip uninstall quadprog -y | |
rm -rf quadprog | |
cd .. | |
- name: Install Test Pre-requisites (quadprog always manual) | |
run: | | |
cd tests | |
python -m pip install scipy | |
git clone https://github.com/quadprog/quadprog.git | |
cd quadprog | |
pip install -r requirements_develop.txt && python -m cython quadprog/quadprog.pyx | |
cd .. | |
python -m pip install ./quadprog | |
cd .. | |
- name: Test | |
run: | | |
cd tests | |
python DQ_test.py | |
python DQ_Kinematics_test.py | |
python DQ_SerialManipulatorMDH_test.py | |
python cpp_issues.py | |
python python_issues.py | |
python DQ_Kinematics_pose_jacobian_derivative_tests.py | |
python DQ_Kinematics_static_jacobian_derivative_tests.py | |
cd .. | |
- name: Rename wheel (Ubuntu Only) | |
if: matrix.os == 'ubuntu-20.04' | |
run: | | |
sudo apt install rename | |
cd dist | |
rename 's/linux/manylinux1/' * | |
cd .. | |
- name: Rename wheel (Self Hosted [linux-arm64] Only) | |
if: matrix.os == 'linux-arm64' | |
run: | | |
cd dist | |
rename 's/linux/manylinux2014/' * | |
cd .. | |
- name: Publish to PyPi | |
env: | |
TWINE_USERNAME: '__token__' | |
TWINE_PASSWORD: ${{ secrets.PYPI_TOKEN }} | |
if: github.ref == 'refs/heads/master' | |
run: | | |
python -m pip install twine | |
twine upload dist/* |