feat: enable continuous deployment

.github/workflows/cd.yaml

@@ -8,117 +8,67 @@ on:
       - '*'
   workflow_dispatch:
 
-permissions:
-  contents: write
-
 jobs:
-  build:
+  build_wheels:
+    name: Build wheel for ${{ matrix.python }}-${{ matrix.machine.platform }} on ${{ matrix.machine.os }}
     strategy:
+      fail-fast: false
       matrix:
-        # this should be kept in sync with ci.yaml
-        python-version: ["3.8", "3.9", "3.10", "3.11"]
-        include:
-          - python-version: "3.8"
-            boost-version: "1.75.0"
-            platform-version: manylinux_2_27_x86_64
-            image-version: conanio/gcc7:latest
-          - python-version: "3.9"
-            boost-version: "1.75.0"
-            platform-version: manylinux_2_27_x86_64
-            image-version: conanio/gcc7:latest
-          - python-version: "3.10"
-            boost-version: "1.81.0"
-            platform-version: manylinux_2_31_x86_64
-            image-version: conanio/gcc10:latest
-          - python-version: "3.11"
-            boost-version: "1.81.0"
-            platform-version: manylinux_2_31_x86_64
-            image-version: conanio/gcc10:latest
-    runs-on: ubuntu-latest
+        machine:
+          - { os: 'windows-latest', platform: 'win_amd64' }
+          - { os: 'ubuntu-latest', platform: 'manylinux_x86_64' }
+          - { os: 'macos-latest', platform: 'macosx_x86_64' }
+        python: [ "cp39", "cp310", "cp311", "cp312" ]
+    runs-on: ${{ matrix.machine.os }}
     steps:
-      - name: Setup docker buildx
-        id: buildx
-        uses: docker/setup-buildx-action@v2
-
-      - name: Create build container
-        uses: docker/build-push-action@v3
-        with:
-          builder: ${{ steps.buildx.outputs.name }}
-          file: .github/conan_dockerfile/Dockerfile
-          tags: lanelet2_conan_with_pip_wheel
-          load: true
-          target: lanelet2_conan_with_pip_wheel
-          build-args: |
-            FROM=${{ matrix.image-version }}
-            PY_VERSION=${{ matrix.python-version }}
-            PLATFORM=${{ matrix.platform-version }}
-            CONAN_ARGS=--require-override=boost/${{ matrix.boost-version }}
+      - name: Checkout Code
+        uses: actions/checkout@v4
 
-      - name: Create output directory
-        run: mkdir -p ${{ github.workspace }}/output
+      - name: Build wheels
+        uses: pypa/cibuildwheel@v2.16.2
+        env:
+          CIBW_BUILD: ${{ matrix.python }}-${{ matrix.machine.platform }}
 
-      - name: Package lanelet2 in build container
-        uses: addnab/docker-run-action@v3
-        with:
-          image: lanelet2_conan_with_pip_wheel
-          shell: bash
-          options: -v ${{ github.workspace }}/dist:/dist
-          run: |
-            set -e
-            # set env variables
-            export HOME=/home/conan
-            
-            # copy wheel to dist directory
-            sudo cp -r $HOME/dist/* /dist
-
-      - name: Store wheel
+      - name: Upload artifacts
         uses: actions/upload-artifact@v3
         with:
-          name: dist
-          path: dist/
+          path: ./wheelhouse/*.whl
 
-  test:
-    needs: build
-    strategy:
-      matrix:
-        # test only on currently supported version
-        python-version: ["3.8", "3.9", "3.10", "3.11"]
-        os: ["ubuntu-22.04", "ubuntu-20.04"]
-    runs-on: ${{ matrix.os }}
+  build_sdist:
+    name: Build source distribution
+    runs-on: ubuntu-latest
     steps:
-      - name: Restore wheel
-        uses: actions/download-artifact@v3
-        with:
-          name: dist
-          path: dist/
-      - name: Setup Python
-        uses: actions/setup-python@v4
+      - name: Checkout Code
+        uses: actions/checkout@v4
+
+      - name: Build sdist
+        run: pipx run build --sdist
+
+      - uses: actions/upload-artifact@v3
         with:
-          python-version: ${{ matrix.python-version }}
-      - name: Install wheel
-        # use dist/ directory as package source instead of pypi.org
-        run: pip install lanelet2 --no-index --find-links dist/
-      - name: Test wheel
-        run: python -c "import lanelet2; assert lanelet2.core.Point2d(0, 0, 0) is not None"
+          path: dist/*.tar.gz
 
   publish:
+    name: Publish
     if: contains(github.ref, 'refs/tags/')
     runs-on: ubuntu-latest
-    needs: [build, test]
+    needs: [ build_wheels, build_sdist ]
+    environment: pypi
+    permissions:
+      id-token: write
+      contents: write
+
     steps:
-      - name: Restore wheel
+      - name: Restore artifacts
         uses: actions/download-artifact@v3
         with:
-          name: dist
-          path: dist/
+          name: artifact
+          path: dist
 
       - name: Release
         uses: softprops/action-gh-release@v1
         with:
           files: dist/*
 
       - name: Publish package to PyPI
-        if: github.repository == 'fzi-forschungszentrum-informatik/Lanelet2'
-        uses: pypa/gh-action-pypi-publish@release/v1
-        with:
-          password: ${{ secrets.PYPI_API_TOKEN }}
+        uses: pypa/gh-action-pypi-publish@release/v1

.github/workflows/ci.yaml

@@ -93,8 +93,6 @@ jobs:
           conan profile detect --force
           conan install . --output-folder=build --build=missing
 
-      - uses: ilammy/msvc-dev-cmd@v1 # NOTE: this is needed to use cl.exe with the Ninja generator on Windows
-
       - name: Build with CMake on Windows
         if: runner.os == 'Windows'
         run: |

CMakeLists.txt

@@ -15,13 +15,13 @@ if (LANELET2_ENABLE_TESTING)
     enable_testing()
 endif ()
 
+add_subdirectory(lanelet2_maps)
 add_subdirectory(lanelet2_core)
 add_subdirectory(lanelet2_io)
 add_subdirectory(lanelet2_projection)
 add_subdirectory(lanelet2_traffic_rules)
 add_subdirectory(lanelet2_routing)
 add_subdirectory(lanelet2_validation)
-#add_subdirectory(lanelet2_examples)
-add_subdirectory(lanelet2_python)
-add_subdirectory(lanelet2_maps)
 add_subdirectory(lanelet2_matching)
+add_subdirectory(lanelet2_python)
+#add_subdirectory(lanelet2_examples)

README.md

@@ -1,7 +1,15 @@
 # Lanelet2
 
-[![CI](https://github.com/fzi-forschungszentrum-informatik/lanelet2/actions/workflows/ci.yaml/badge.svg)](
-https://github.com/wu-vincent/lanelet2/actions/workflows/ci.yaml)
+[![CI](https://github.com/wu-vincent/lanelet2x/actions/workflows/ci.yaml/badge.svg)](
+https://github.com/wu-vincent/lanelet2x/actions/workflows/ci.yaml)
+[![CD](https://github.com/wu-vincent/lanelet2x/actions/workflows/cd.yaml/badge.svg)](
+https://github.com/wu-vincent/lanelet2x/actions/workflows/cd.yaml)
+[![PyPI - Version](https://img.shields.io/pypi/v/lanelet2x)](
+https://pypi.org/project/lanelet2x)
+[![PyPI - Downloads](https://img.shields.io/pypi/dm/lanelet2x)](
+https://pypi.org/project/lanelet2x)
+![PyPI - Python Version](
+https://img.shields.io/pypi/pyversions/lanelet2x?logo=python&logoColor=white)
 
 ## Overview
 

conanfile.py

@@ -24,6 +24,34 @@ class Lanelet2Conan(ConanFile):
         "boost/*:shared": True,
         "boost/*:without_python": False,
     }
+    without_boost_components = [
+        "chrono",
+        "container",
+        "context",
+        "contract",
+        "coroutine",
+        "date_time",
+        "exception",
+        "fiber",
+        "graph",
+        "iostreams",
+        "json",
+        "locale",
+        "log",
+        "math",
+        "mpi",
+        "nowide",
+        "random",
+        "regex",
+        "stacktrace",
+        "test",
+        "thread",
+        "timer",
+        "type_erasure",
+        "url",
+        "wave",
+    ]
+    default_options.update((f"boost/*:without_{component}", True) for component in without_boost_components)
 
     proj_list = [
         "lanelet2_core",

lanelet2_matching/CMakeLists.txt

@@ -24,7 +24,6 @@ add_library(${PROJECT_NAME} SHARED ${PROJECT_SOURCE_FILES_SRC})
 target_include_directories(${PROJECT_NAME} PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/include")
 target_link_libraries(${PROJECT_NAME} PUBLIC lanelet2_core lanelet2_io lanelet2_projection lanelet2_traffic_rules)
 
-
 #############
 ## Install ##
 #############

lanelet2_python/CMakeLists.txt

@@ -7,19 +7,27 @@ project(lanelet2_python)
 find_package(Boost REQUIRED COMPONENTS python)
 find_package(Python REQUIRED COMPONENTS Interpreter Development.Module REQUIRED)
 
-########################
+##########################
 ## Build python modules ##
-########################
+##########################
 set(PROJECT_PYTHON_TARGETS)
 file(GLOB PROJECT_PYTHON_SOURCE_FILES_SRC "${CMAKE_CURRENT_SOURCE_DIR}/python_api/*.cpp")
 foreach (PROJECT_PYTHON_SOURCE_FILE ${PROJECT_PYTHON_SOURCE_FILES_SRC})
     get_filename_component(PYTHON_MODULE_NAME ${PROJECT_PYTHON_SOURCE_FILE} NAME_WE)
     python_add_library(${PYTHON_MODULE_NAME} MODULE ${PROJECT_PYTHON_SOURCE_FILE} WITH_SOABI)
+    list(APPEND PROJECT_PYTHON_TARGETS ${PYTHON_MODULE_NAME})
+
     target_compile_definitions(${PYTHON_MODULE_NAME} PRIVATE -DPYTHON_API_MODULE_NAME=${PYTHON_MODULE_NAME})
     target_include_directories(${PYTHON_MODULE_NAME} PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/include")
     target_include_directories(${PYTHON_MODULE_NAME} PRIVATE ${Python3_INCLUDE_DIRS})
     target_link_libraries(${PYTHON_MODULE_NAME} PUBLIC Boost::python lanelet2_core lanelet2_io lanelet2_projection lanelet2_traffic_rules lanelet2_routing lanelet2_matching)
-    list(APPEND PROJECT_PYTHON_TARGETS ${PYTHON_MODULE_NAME})
+
+    if (DEFINED SKBUILD AND NOT WIN32)
+        set_target_properties(${PYTHON_MODULE_NAME} PROPERTIES
+                BUILD_WITH_INSTALL_RPATH TRUE
+                INSTALL_RPATH_USE_LINK_PATH TRUE
+                INSTALL_RPATH "${CMAKE_SOURCE_DIR}/build/lib")
+    endif ()
 endforeach ()
 
 #############
@@ -29,15 +37,12 @@ endforeach ()
 if (DEFINED SKBUILD)
     install(TARGETS ${PROJECT_PYTHON_TARGETS} DESTINATION "lanelet2")
     if (WIN32)
-        # Bundle runtime dlls with the wheel on windows
+        # Bundle shared library dependencies on Windows
         foreach (PROJECT_PYTHON_TARGET ${PROJECT_PYTHON_TARGETS})
-            install(FILES "$<TARGET_RUNTIME_DLLS:${PROJECT_PYTHON_TARGET}>" DESTINATION "lanelet2/bin")
+            install(FILES "$<TARGET_RUNTIME_DLLS:${PROJECT_PYTHON_TARGET}>" DESTINATION "bin")
         endforeach ()
+    else ()
+        # Save shared library dependencies to RPATH on Unix
+        install(TARGETS lanelet2_core lanelet2_io lanelet2_projection lanelet2_traffic_rules lanelet2_routing lanelet2_matching DESTINATION "${CMAKE_SOURCE_DIR}/build/lib")
     endif ()
 endif ()
-
-#############
-## Testing ##
-#############
-# Add test targets for cpp and python tests
-# TODO:

lanelet2_python/src/lanelet2/__init__.py

@@ -8,7 +8,7 @@
     bin_dir = None
 
     try:
-        bin_dir = os.path.abspath(os.path.join(os.path.dirname(__file__), "bin"))
+        bin_dir = os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "bin"))
         try:
             os.add_dll_directory(bin_dir)
         except (Exception,):

pyproject.toml

@@ -30,18 +30,60 @@ classifiers = [
     "Operating System :: POSIX :: Linux",
 ]
 
+[project.optional-dependencies]
+pytest = ["pytest"]
+
 [tool.scikit-build]
 build-dir = "build/{wheel_tag}"
-cmake.args = ["--preset conan-release"]
+cmake.args = ["-G Ninja", "--preset conan-release"]
 cmake.define = { LANELET2_ENABLE_TESTING = "OFF" }
 cmake.build-type = "Release"
 wheel.packages = ["lanelet2_python/src/lanelet2"]
 wheel.license-files = ["LICENSE", "CODEOWNERS"]
+logging.level = "DEBUG"
+cmake.verbose = true
 
 [tool.scikit-build.metadata.version]
 provider = "scikit_build_core.metadata.regex"
 input = "lanelet2_python/src/lanelet2/__init__.py"
 
 [[tool.scikit-build.overrides]]
 if.platform-system = "win32"
-cmake.args = ["--preset conan-default"]
+cmake.args = ["--preset conan-default"] # override for multi-configuration generator (i.e. MSVC) on Windows
+
+[tool.cibuildwheel]
+skip = ["*-win32", "*-musllinux_x86_64", "*_i686"]
+test-requires = "pytest"
+test-command = "pytest {project}/lanelet2_python/test"
+
+[tool.cibuildwheel.windows]
+before-build = [
+    "python -m pip install --upgrade pip",
+    "pip install -r requirements.txt",
+    "conan profile detect --force",
+    "conan install . --output-folder=build --build=*"
+]
+
+[tool.cibuildwheel.linux]
+before-build = [
+    # here, we restore libpython*.a - otherwise conan will fail when adding boost::python
+    # see https://github.com/pypa/manylinux/blob/main/docker/build_scripts/finalize-python.sh
+    "pushd /opt/_internal",
+    "tar -xJf static-libs-for-embedding-only.tar.xz",
+    "popd",
+    "python -m pip install --upgrade pip",
+    "pip install -r requirements.txt",
+    "conan profile detect --force",
+    # we force the build of everything from source - prebuilt b2 does not work in manylinux
+    # also set the generator to use ninja because scikit-build-core will default to ninja
+    "conan install . --output-folder=build --build=* -c tools.cmake.cmaketoolchain:generator=Ninja"
+]
+
+[tool.cibuildwheel.macos]
+before-build = [
+    "python -m pip install --upgrade pip",
+    "pip install -r requirements.txt",
+    "conan profile detect --force",
+    # set the generator to use ninja because scikit-build-core will default to ninja
+    "conan install . --output-folder=build --build=* -c tools.cmake.cmaketoolchain:generator=Ninja"
+]