Python CI/CD #758
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| name: Python CI/CD | |
| on: | |
| workflow_dispatch: | |
| push: | |
| pull_request: | |
| release: | |
| types: | |
| - published | |
| schedule: | |
| # * is a special character in YAML so you have to quote this string | |
| # Execute a "nightly" build at 2 AM UTC | |
| - cron: "0 2 * * *" | |
| jobs: | |
| package: | |
| name: Package the project | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| fetch-depth: 0 | |
| - name: Set up Python | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: "3.*" | |
| - name: Install Python tools | |
| run: pip install build twine | |
| - name: Create distributions | |
| run: python -m build -o dist/ | |
| - name: Inspect dist folder | |
| run: ls -lah dist/ | |
| - name: Check wheel's abi and platform tags | |
| run: test $(find dist/ -name *-none-any.whl | wc -l) -gt 0 | |
| - name: Run twine check | |
| run: twine check dist/* | |
| - name: Check PEP440 compliance | |
| run: | | |
| pip install packaging setuptools_scm | |
| python -c "import packaging.version as v; v.Version(\"$(python -m setuptools_scm)\")" | |
| - name: Upload artifacts | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| path: dist/* | |
| name: dist | |
| test: | |
| name: 'Python${{ matrix.python }}@${{ matrix.type }}@${{ matrix.os }}' | |
| needs: package | |
| runs-on: ${{ matrix.os }} | |
| defaults: | |
| run: | |
| shell: bash -el {0} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: | |
| # This runner can be updated to ubuntu > jammy as soon as we bump | |
| # the minimum libsdformat to v14. | |
| - ubuntu-22.04 | |
| - macos-latest | |
| - windows-latest | |
| type: | |
| - apt | |
| - conda | |
| python: | |
| - "3.10" | |
| - "3.11" | |
| - "3.12" | |
| exclude: | |
| - os: macos-latest | |
| type: apt | |
| - os: windows-latest | |
| type: apt | |
| steps: | |
| - name: Set up Python | |
| if: matrix.type == 'apt' | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: ${{ matrix.python }} | |
| - uses: conda-incubator/setup-miniconda@v3 | |
| if: matrix.type == 'conda' | |
| with: | |
| python-version: ${{ matrix.python }} | |
| miniforge-version: latest | |
| channels: conda-forge | |
| channel-priority: true | |
| - name: Install system dependencies | |
| if: matrix.type == 'apt' | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install lsb-release wget gnupg | |
| wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg | |
| echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null | |
| sudo apt-get update | |
| sudo apt-get install --no-install-recommends libsdformat13 gz-tools2 | |
| - name: Install conda dependencies | |
| if: matrix.type == 'conda' | |
| # Note: pytest-icdiff creates problems on macOS. | |
| run: | | |
| conda install -y \ | |
| coloredlogs \ | |
| mashumaro \ | |
| numpy \ | |
| packaging \ | |
| resolve-robotics-uri-py \ | |
| scipy \ | |
| trimesh \ | |
| xmltodict \ | |
| black \ | |
| isort \ | |
| pptree \ | |
| idyntree \ | |
| pytest \ | |
| robot_descriptions \ | |
| libgz-tools2 \ | |
| libsdformat13 | |
| - name: Download Python packages | |
| uses: actions/download-artifact@v4 | |
| with: | |
| path: dist | |
| name: dist | |
| - name: Install wheel (apt) | |
| if: matrix.type == 'apt' | |
| run: pip install "$(find dist/ -type f -name '*.whl')[all]" | |
| - name: Install wheel (conda) | |
| if: matrix.type == 'conda' | |
| run: pip install --no-deps "$(find dist/ -type f -name '*.whl')[all]" | |
| - name: Pip check | |
| run: pip check | |
| - name: Import the package | |
| run: python -c "import rod" | |
| env: | |
| ROD_LOGGING_LEVEL: DEBUG | |
| - uses: actions/checkout@v4 | |
| - name: Run tests | |
| run: pytest | |
| env: | |
| ROD_LOGGING_LEVEL: DEBUG | |
| publish: | |
| name: Publish to PyPI | |
| needs: test | |
| runs-on: ubuntu-latest | |
| permissions: | |
| id-token: write | |
| steps: | |
| - name: Download Python packages | |
| uses: actions/download-artifact@v4 | |
| with: | |
| path: dist | |
| name: dist | |
| - name: Inspect dist folder | |
| run: ls -lah dist/ | |
| - name: Publish to PyPI | |
| if: | | |
| github.repository == 'ami-iit/rod' && | |
| ((github.event_name == 'push' && github.ref == 'refs/heads/main') || | |
| (github.event_name == 'release' && github.event.action == 'published')) | |
| uses: pypa/gh-action-pypi-publish@release/v1 | |
| with: | |
| skip_existing: true |