python_package.yml

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']
        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-filesystem-dev, libboost-system-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
        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/*