Build #25
Workflow file for this run
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| name: Build | |
| on: workflow_dispatch | |
| env: | |
| COLCON_DEFAULTS_FILE: src/navground/colcon/defaults.yaml | |
| jobs: | |
| build_cpp: | |
| strategy: | |
| matrix: | |
| os: | |
| # - ubuntu-latest | |
| # - ubuntu-20.04 | |
| # - ubuntu-24.04 | |
| - windows-latest | |
| # - macos-latest | |
| name: build navground cpp packages | |
| runs-on: ${{ matrix.os }} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| path: src/navground | |
| - uses: actions/setup-python@v5 | |
| with: | |
| python-version: 3.12 | |
| cache: 'pip' | |
| - run: pip install colcon-common-extensions | |
| - uses: actions/cache/restore@v4 | |
| id: cache | |
| with: | |
| path: install | |
| key: ${{ matrix.os }}-${{ hashFiles('src/navground/colcon/deps.repos', 'src/navground/colcon/ament.repos') }} | |
| - uses: ilammy/msvc-dev-cmd@v1 | |
| - if: steps.cache.outputs.cache-hit != 'true' | |
| run: | | |
| pip install vcstool | |
| vcs import --shallow --input src/navground/colcon/deps.repos | |
| vcs import --shallow --input src/navground/colcon/ament.repos | |
| - if: ${{runner.os == 'Windows' && steps.cache.outputs.cache-hit != 'true' }} | |
| run: | | |
| set COLCON_DEFAULTS_FILE=src/navground/colcon/defaults.yaml | |
| colcon build --metas src\navground\colcon\navground.meta --packages-up-to argparse Eigen3 YAML_CPP GEOS HighFive HDF5 pybind11 ament_cmake ament_package ament_index_cpp | |
| - if: ${{runner.os != 'Windows' && steps.cache.outputs.cache-hit != 'true' }} | |
| run: colcon build --metas src/navground/colcon/navground.meta --packages-up-to argparse Eigen3 YAML_CPP GEOS HighFive HDF5 pybind11 ament_cmake ament_package ament_index_cpp | |
| - uses: actions/cache/save@v4 | |
| if: steps.cache.outputs.cache-hit != 'true' | |
| with: | |
| path: install | |
| key: ${{ matrix.os }}-${{ hashFiles('src/navground/colcon/deps.repos', 'src/navground/colcon/ament.repos') }} | |
| - if: runner.os != 'Windows' | |
| run: | | |
| source install/setup.bash | |
| colcon build --metas src/navground/colcon/navground.meta --packages-select navground_core navground_sim # navground_examples | |
| - if: runner.os == 'Windows' | |
| run: | | |
| .\install\setup.bat | |
| set COLCON_DEFAULTS_FILE=src/navground/colcon/defaults.yaml | |
| colcon build --metas src\navground\colcon\navground.meta --packages-select navground_core navground_sim # navground_examples | |
| - name: archive install | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: install-${{ matrix.os }} | |
| path: install | |
| build_py: | |
| needs: build_cpp | |
| name: build navground python packages | |
| strategy: | |
| matrix: | |
| os: | |
| # - ubuntu-latest | |
| # - ubuntu-20.04 | |
| # - ubuntu-24.04 | |
| - windows-latest | |
| # - macos-latest | |
| python-version: ["3.10", "3.11", "3.12"] | |
| runs-on: ${{ matrix.os }} | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| path: src/navground | |
| - uses: actions/download-artifact@v4 | |
| with: | |
| name: install-${{ matrix.os }} | |
| path: install | |
| - uses: actions/setup-python@v5 | |
| with: | |
| python-version: ${{ matrix.python-version }} | |
| cache: 'pip' | |
| - run: pip install colcon-common-extensions wheel libclang | |
| - run: | | |
| git clone https://github.com/jeguzzi/pybind11_mkdoc.git --branch rst src/pybind11_mkdoc | |
| cd src/pybind11_mkdoc | |
| pip install . | |
| cd - | |
| - uses: ilammy/msvc-dev-cmd@v1 | |
| - if: runner.os != 'Windows' | |
| run: | | |
| source install/setup.bash | |
| colcon build --metas src/navground/colcon/navground.meta --packages-select navground_core_py navground_sim_py # navground_examples_py | |
| - if: runner.os == 'Windows' | |
| run: | | |
| .\install\setup.bat | |
| set COLCON_DEFAULTS_FILE=src/navground/colcon/defaults.yaml | |
| colcon build --metas src\navground\colcon\navground.meta --packages-select navground_core_py navground_sim_py # navground_examples_py | |
| - name: archive install | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: install-${{ matrix.os }}-py${{matrix.python-version}} | |
| path: install | |
| - name: build wheel | |
| shell: bash | |
| run: | | |
| source install/setup.bash | |
| cd src/navground/navground_py | |
| python setup.py bdist_wheel | |
| - run: pip install repairwheel | |
| - name: repair wheel | |
| shell: bash | |
| run: | | |
| source install/setup.bash | |
| repairwheel -o dist src/navground/navground_py/dist/*.whl | |
| - name: archive wheel | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: wheel-${{ matrix.os }}-py${{matrix.python-version}} | |
| path: dist/* | |
| publish_wheel: | |
| needs: build_py | |
| name: Publish distribution 📦 to TestPyPI | |
| runs-on: ubuntu-latest | |
| environment: | |
| name: testpypi | |
| url: https://test.pypi.org/p/navground | |
| permissions: | |
| id-token: write # IMPORTANT: mandatory for trusted publishing | |
| steps: | |
| - uses: actions/download-artifact@v4 | |
| with: | |
| pattern: wheel-* | |
| path: dist | |
| merge-multiple: true | |
| - uses: pypa/gh-action-pypi-publish@release/v1 | |
| with: | |
| repository-url: https://test.pypi.org/legacy/ | |
| # - if: runner.os == 'macOS' | |
| # run: | | |
| # pip install delocate | |
| # delocate-wheel -w fixed -v src/navground/navground_py/dist/*.whl | |
| # - if: runner.os == 'Linux' | |
| # uses: awalsh128/cache-apt-pkgs-action@latest | |
| # with: | |
| # packages: patchelf | |
| # - if: runner.os == 'Linux' | |
| # run: | | |
| # pip install auditwheel | |
| # auditwheel repair -w fixed src/navground/navground_py/dist/*.whl | |
| # - if: runner.os == 'Windows' | |
| # shell: bash | |
| # run: | | |
| # pip install delvewheel | |
| # delvewheel repair -w fixed src/navground/navground_py/dist/*.whl |