ci_cd.yml

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