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manylinux.yml
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name: Manylinux CI (PyPi deploy)
on:
# Trigger the workflow on push on the master branch, or for any pull request
push:
branches:
- master
pull_request:
jobs:
build-manylinux:
name: (${{ matrix.PYTHON_VERSION }}) Build wheels.
strategy:
matrix:
PYTHON_VERSION: ['cp38', 'cp39', 'cp310', 'cp311']
runs-on: ubuntu-20.04
container: 'quay.io/pypa/manylinux_2_28_x86_64:latest'
defaults:
run:
# Using bash enables automatic sourcing `.bashrc` and fail-fast behavior
shell: bash -ieo pipefail {0}
env:
BUILD_TYPE: "Release"
CMAKE_CXX_FLAGS: "-DEIGEN_MPL2_ONLY"
#####################################################################################
steps:
- name: Checkout jiminy
uses: actions/checkout@v3
#####################################################################################
- name: Setup minimal build environment
run: |
pythonLocation=$(find /opt/python -maxdepth 1 -name \
"$(echo "${{ matrix.PYTHON_VERSION }}*" | sed -e 's/\.//g')" -print -quit)
echo "export PATH=\"${pythonLocation}/bin:\$PATH\"" >> $HOME/.bashrc
source $HOME/.bashrc
git config --global advice.detachedHead false
PYTHON_EXECUTABLE="${pythonLocation}/bin/python"
echo "PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" >> $GITHUB_ENV
echo "RootDir=${GITHUB_WORKSPACE}" >> $GITHUB_ENV
echo "InstallDir=${GITHUB_WORKSPACE}/install" >> $GITHUB_ENV
"${PYTHON_EXECUTABLE}" -m pip install setuptools wheel "pip>=20.3"
"${PYTHON_EXECUTABLE}" -m pip install "numpy>=1.21" "numba>=0.54.0"
"${PYTHON_EXECUTABLE}" -m pip install twine cmake
- name: Build project dependencies
run: |
./build_tools/build_install_deps_unix.sh
#####################################################################################
- name: Build and install Jiminy
run: |
unset Boost_ROOT
# Build jiminy
mkdir "$RootDir/build"
cd "$RootDir/build"
export LD_LIBRARY_PATH="$InstallDir/lib:$InstallDir/lib64:/usr/local/lib"
cmake "$RootDir" -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" \
-DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DCMAKE_VERBOSE_MAKEFILE=ON \
-DBOOST_ROOT="$InstallDir" -DBoost_INCLUDE_DIR="$InstallDir/include" \
-DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE \
-DBoost_USE_STATIC_LIBS=ON -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" \
-DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON \
-DBUILD_PYTHON_INTERFACE=ON -DINSTALL_GYM_JIMINY=ON \
-DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS}" -DCMAKE_BUILD_TYPE="$BUILD_TYPE"
make -j2
# Bundle the boost python dependencies with jiminy
mkdir -p "$RootDir/build/pypi/jiminy_py/src/jiminy_py"
PYTHON_VERSION="$(${PYTHON_EXECUTABLE} -c \
"import sysconfig; print(sysconfig.get_config_var('py_version_short'))")"
\cp -r -H "$InstallDir/lib/python${PYTHON_VERSION}/site-packages/." \
"$RootDir/build/pypi/jiminy_py/src/jiminy_py/core"
# Install jiminy along with its dependencies
make install
# Strip all symbol table and relocation information from python bindings and shared libraries
find "$RootDir/build/pypi/" -name "*.so*" -print -exec strip -s {} +
find "$InstallDir/lib"* -name "*.so*" -maxdepth 1 -print -exec strip -s {} +
#####################################################################################
- name: Generate Python Pip wheels
run: |
export LD_LIBRARY_PATH="$InstallDir/lib:$InstallDir/lib64:/usr/local/lib"
# Generate stubs
stubgen -p jiminy_py -o $RootDir/build/pypi/jiminy_py/src
"${PYTHON_EXECUTABLE}" "$RootDir/build_tools/stub_gen.py" \
-o $RootDir/build/stubs --ignore-invalid=all jiminy_py
\cp $RootDir/build/stubs/jiminy_py-stubs/core/__init__.pyi \
$RootDir/build/pypi/jiminy_py/src/jiminy_py/core/core.pyi
# Generate wheels
cd "$RootDir/build"
cmake . -DCOMPONENT=pypi -P ./cmake_install.cmake
# Bundle non-standard dependencies with the wheels for optimal portability.
# Note that `--strip` option is not used but rather done manually because the
# built-in option corrupts the shared library for some reason...
"${PYTHON_EXECUTABLE}" "$RootDir/build_tools/wheel_repair_linux.py" repair \
-w "$RootDir/build/wheelhouse" "$RootDir/build/pypi/dist/jiminy_py/"*.whl
- name: Upload the wheel of Jiminy for Linux
uses: actions/upload-artifact@v3
with:
name: wheelhouse
path: build/wheelhouse
- name: Upload the wheels of Gym Jiminy
if: success() && matrix.PYTHON_VERSION == 'cp38'
uses: actions/upload-artifact@v3
with:
name: wheelhouse
path: build/pypi/dist/gym_jiminy
#####################################################################################
test-user-linux:
name: (${{ matrix.os }}) Build a pip extension and run the unit tests.
needs: build-manylinux
runs-on: ${{ matrix.os }}
strategy:
matrix:
os: [ubuntu-22.04]
defaults:
run:
shell: bash -ieo pipefail {0}
env:
BUILD_TYPE: "Release"
#####################################################################################
steps:
- name: Checkout jiminy
uses: actions/checkout@v3
- name: Setup minimal build environment
run: |
PYTHON_EXECUTABLE="/usr/bin/python3"
echo "PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" >> $GITHUB_ENV
echo "RootDir=${GITHUB_WORKSPACE}" >> $GITHUB_ENV
echo "InstallDir=${GITHUB_WORKSPACE}/install" >> $GITHUB_ENV
echo "/home/runner/.local/bin" >> $GITHUB_PATH
- name: Installing requirements
run: |
sudo env "PATH=$PATH" "$RootDir/build_tools/easy_install_deps_ubuntu.sh"
"${PYTHON_EXECUTABLE}" -m pip install --prefer-binary pillow scipy
#####################################################################################
- name: Download the wheels previously generated
uses: actions/download-artifact@v3
with:
name: wheelhouse
path: wheelhouse
- name: Install the best wheel among the previously generated
run: |
# extract the "best" wheel for our system out of the wheelhouse, using pip's own resolution
# we cannot directly install with find-links because it does not guarantee precedence of local wheels
# see https://github.com/pypa/pip/issues/2589 (pip>=21.1)
"${PYTHON_EXECUTABLE}" -m pip download \
--no-index --find-links="$RootDir/wheelhouse" --no-deps --dest="$RootDir/dist" jiminy_py
# rely on bash to expand the full wheel name
"${PYTHON_EXECUTABLE}" -m pip install --prefer-binary $RootDir/dist/jiminy_py*
#####################################################################################
- name: Build extension module
run: |
mkdir -p "$RootDir/core/examples/external_project/build"
cd "$RootDir/core/examples/external_project/build"
cmake "$RootDir/core/examples/external_project/" -DCMAKE_INSTALL_PREFIX="$InstallDir" \
-DCMAKE_PREFIX_PATH="$InstallDir" -DCMAKE_VERBOSE_MAKEFILE=ON \
-DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" -DCMAKE_BUILD_TYPE="${BUILD_TYPE}"
make install
"$InstallDir/bin/pip_double_pendulum"
- name: Run unit tests on user environment
run: |
cd "${GITHUB_WORKSPACE}/python/jiminy_py/unit_py"
"${PYTHON_EXECUTABLE}" -m unittest discover -v
#####################################################################################
publish-pypi-manylinux:
name: Publish on PyPi the wheel for Linux of jiminy_py and gym_jiminy
needs: test-user-linux
runs-on: ubuntu-20.04
if: github.repository == 'duburcqa/jiminy' && github.event_name == 'push' && github.ref == 'refs/heads/master'
steps:
- name: Download the wheels previously generated
uses: actions/download-artifact@v3
with:
name: wheelhouse
path: wheelhouse
- name: Publish the wheels on PyPi
uses: pypa/gh-action-pypi-publish@v1.7.1
with:
user: __token__
password: ${{ secrets.PYPI_DEPLOY }}
packages-dir: wheelhouse
verify-metadata: false