macos.yml

name: MacOS CI (Build from source dependencies)

on:
  # Trigger the workflow on push on the master branch, or for any pull request
  push:
    branches:
      - master
  pull_request:

jobs:
  build-and-test-osx:
    name: >-
      (${{ matrix.PYTHON_VERSION }}) (${{ matrix.BUILD_TYPE }})
      Build and run the unit tests. Then generate and publish the wheels on PyPi.
    runs-on: macos-11

    strategy:
      matrix:
        PYTHON_VERSION: ['3.8', '3.9', '3.10', '3.11']
        BUILD_TYPE: ['Release']
        include:
          - PYTHON_VERSION: '3.11'
            BUILD_TYPE: 'Debug'

    defaults:
      run:
        shell: bash -ieo pipefail {0}

    env:
      TORCH_VERSION: "2.0.1"
      CMAKE_CXX_FLAGS: "-DEIGEN_MPL2_ONLY"
      MACOSX_DEPLOYMENT_TARGET: "10.15"
      OSX_ARCHITECTURES: "x86_64;arm64"
      WHEEL_ARCH: "universal2"

    #####################################################################################

    steps:
    - name: Checkout jiminy
      uses: actions/checkout@v4

    #####################################################################################

    - name: Configure Python
      uses: actions/setup-python@v4
      with:
        python-version: ${{ matrix.PYTHON_VERSION }}
        architecture: 'x64'
    - name: Setup minimal build environment
      run: |
        git config --global advice.detachedHead false

        PYTHON_EXECUTABLE="${pythonLocation}/bin/python3"

        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"
        "${PYTHON_EXECUTABLE}" -m pip install delocate twine
    - name: Build project dependencies
      run: |
        MACOSX_DEPLOYMENT_TARGET=${MACOSX_DEPLOYMENT_TARGET} OSX_ARCHITECTURES=${OSX_ARCHITECTURES} \
          BUILD_TYPE="${{ matrix.BUILD_TYPE }}" ./build_tools/build_install_deps_unix.sh
        "${PYTHON_EXECUTABLE}" -m pip install "torch==${TORCH_VERSION}" -f https://download.pytorch.org/whl/cpu
        "${PYTHON_EXECUTABLE}" -m pip install "gymnasium>=0.26,<0.29" "importlib-metadata>=3.3.0"

    #####################################################################################

    - name: Build and install Jiminy
      run: |
        unset Boost_ROOT

        # Build jiminy
        mkdir "$RootDir/build"
        cd "$RootDir/build"
        export LD_LIBRARY_PATH="$InstallDir/lib/:/usr/local/lib"
        cmake "$RootDir" -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" \
              -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF \
              -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" \
              -DCMAKE_OSX_DEPLOYMENT_TARGET="${MACOSX_DEPLOYMENT_TARGET}" \
              -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="${{ matrix.BUILD_TYPE }}"
        make -j2

        # Bundle the boost python dependencies with jiminy
        mkdir -p "$RootDir/build/pypi/jiminy_py/src/jiminy_py"
        cp -R -H "$InstallDir/lib/python${{ matrix.PYTHON_VERSION }}/site-packages/." \
                 "$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 "$RootDir/build/pypi/" -name "*.so" -print -exec strip -x {} +
        find "$InstallDir/lib" -name "*.dylib" -maxdepth 1 -print -exec strip -x {} +

    #####################################################################################

    - name: Generate and install Python Pip wheels
      run: |
        export LD_LIBRARY_PATH="$InstallDir/lib/:/usr/local/lib"
        export DYLD_LIBRARY_PATH="$LD_LIBRARY_PATH"

        # Generate stubs.
        # It does not work on MacOS because of panda3d import errors in frozen mode. Disabling for now.
        # 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
        delocate-wheel -vvv --require-archs "${WHEEL_ARCH}" \
                       -w "$RootDir/build/wheelhouse" "$RootDir/build/pypi/dist/jiminy_py/"*.whl
        "${PYTHON_EXECUTABLE}" "$RootDir/build_tools/wheel_addplat_macos.py" -vvv --rm-orig --clobber \
            -p "macosx_${MACOSX_DEPLOYMENT_TARGET//./_}_${WHEEL_ARCH}" "$RootDir/build/wheelhouse/"*.whl
        "${PYTHON_EXECUTABLE}" -m pip install --force-reinstall --no-deps "$RootDir/build/wheelhouse/"*.whl
    - name: Upload the wheel for Linux of jiminy_py
      if: matrix.BUILD_TYPE == 'Release'
      uses: actions/upload-artifact@v3
      with:
        name: wheelhouse
        path: build/wheelhouse

    #####################################################################################

    - name: Build extension module
      run: |
        export LD_LIBRARY_PATH="$InstallDir/lib/:/usr/local/lib"

        "$InstallDir/bin/jiminy_double_pendulum"

        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="$InstallDir" -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" \
              -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS}" -DCMAKE_BUILD_TYPE="${{ matrix.BUILD_TYPE }}"
        make install

        "$InstallDir/bin/pip_double_pendulum"

    #####################################################################################

    - name: Run unit tests for jiminy
      run: |
        # Do NOT set LD_LIBRARY_PATH to check the import of bundled dependencies as fallback

        cd "$RootDir/build/core/unit"
        ctest --output-on-failure

        cd "$RootDir/python/jiminy_py/unit_py"
        "${PYTHON_EXECUTABLE}" -m unittest discover -v

    - name: Run unit tests for gym_jiminy
      if: matrix.BUILD_TYPE != 'Release'
      run: |
        # Disabling `test_pipeline_control.py` on MacOS because `test_pid_standing` is failing
        # for 'panda3d-sync' backend due to meshes still loading at screenshot time.
        cd "$RootDir/python/gym_jiminy/unit_py"
        "${PYTHON_EXECUTABLE}" -m unittest test_pipeline_design.py -v

    - name: Run unit tests for gym jiminy
      if: matrix.BUILD_TYPE == 'Release'
      run: |
        export LD_LIBRARY_PATH="$InstallDir/lib/:/usr/local/lib"

        # FIXME: segfault when enabling viewer for Panda3D 1.10.12
        cd "$RootDir/python/gym_jiminy/examples/reinforcement_learning/rllib"
        JIMINY_VIEWER_DISABLE= "${PYTHON_EXECUTABLE}" acrobot_ppo.py

        "${PYTHON_EXECUTABLE}" -m pip install "stable_baselines3>=2.0"

        cd "$RootDir/python/gym_jiminy/unit_py"
        "${PYTHON_EXECUTABLE}" -m unittest discover -v

#########################################################################################

  publish-pypi-macos:
    name: (MacOS CI) Publish on PyPi the wheel for OS X of jiminy_py
    needs: build-and-test-osx
    runs-on: ubuntu-20.04
    if: github.repository == 'duburcqa/jiminy' && github.event_name == 'push' && github.ref == 'refs/heads/master'

    steps:
    - name: Download the wheel previously generated
      uses: actions/download-artifact@v3
      with:
        name: wheelhouse
        path: wheelhouse
    - name: Publish the wheel
      uses: pypa/gh-action-pypi-publish@v1.8.10
      with:
        user: __token__
        password: ${{ secrets.PYPI_DEPLOY }}
        packages-dir: wheelhouse
        verify-metadata: false