[misc] Various minor improvements. #4262
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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: ['cp310', 'cp311', 'cp312'] | |
| OS: [ubuntu-24.04] | |
| include: | |
| - OS: ubuntu-24.04 | |
| CONTAINER: 'quay.io/pypa/manylinux_2_28_x86_64:latest' | |
| # Enabling AVX2 would bring about 10% speeds-up but breaks compatibility with | |
| # libraries not compiled for AVX2 as it requires 256 bits memory alignment. | |
| CXX_FLAGS_ARCH: "-march=x86-64-v3 -mno-avx -mno-avx2" | |
| #- OS: macos-15 | |
| # CONTAINER: 'quay.io/pypa/manylinux_2_28_aarch64:latest' | |
| # CXX_FLAGS_ARCH: "" | |
| runs-on: ${{ matrix.OS }} | |
| container: ${{ matrix.CONTAINER }} | |
| defaults: | |
| run: | |
| # Using bash enables automatic sourcing `.bashrc` and fail-fast behavior | |
| shell: bash -ieo pipefail {0} | |
| env: | |
| BUILD_TYPE: "Release" | |
| CXX_FLAGS: "-DEIGEN_MPL2_ONLY ${{ matrix.CXX_FLAGS_ARCH }}" | |
| ##################################################################################### | |
| steps: | |
| - name: Checkout jiminy | |
| uses: actions/checkout@v4 | |
| ##################################################################################### | |
| - name: Setup minimal build environment | |
| run: | | |
| pythonLocation=$(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" | |
| "${PYTHON_EXECUTABLE}" -m pip install twine cmake | |
| - name: Install latest numpy version at build-time for run-time binary compatibility | |
| run: | | |
| "${PYTHON_EXECUTABLE}" -m pip install --upgrade "numpy>=1.24" numba | |
| - 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 "$RootDir" -Wdev \ | |
| -DCMAKE_INSTALL_PREFIX="$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=${{ (matrix.PYTHON_VERSION == 'cp313' && 'OFF') || 'ON' }} \ | |
| -DCMAKE_CXX_FLAGS="${CXX_FLAGS}" -DCMAKE_BUILD_TYPE="$BUILD_TYPE" | |
| make -j4 | |
| # Bundle the boost python dependencies with jiminy | |
| mkdir -p "$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:$InstallDir/lib64:/usr/local/lib" | |
| # Generate stubs | |
| # FIXME: stubgen does not work with Numpy 2.X | |
| # (see https://github.com/python/mypy/issues/17396) | |
| "${PYTHON_EXECUTABLE}" -m pip install "numpy<2.0" | |
| stubgen -p jiminy_py -o $RootDir/build/pypi/jiminy_py/src | |
| "${PYTHON_EXECUTABLE}" "$RootDir/build_tools/stubgen.py" \ | |
| -o $RootDir/build/stubs --ignore-invalid=all jiminy_py | |
| \cp $RootDir/build/stubs/jiminy_py-stubs/core/__init__.pyi \ | |
| $RootDir/build/pypi/jiminy_py/src/jiminy_py/core/core.pyi | |
| "${PYTHON_EXECUTABLE}" -m pip install --upgrade "numpy>=1.24" numba | |
| # 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" "$RootDir/build/pypi/dist/jiminy_py/"*.whl | |
| - name: Upload the wheel of Jiminy for Linux | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: wheelhouse-jiminy-${{ matrix.PYTHON_VERSION }} | |
| path: build/wheelhouse | |
| - name: Upload the wheels of Gym Jiminy | |
| if: success() && matrix.PYTHON_VERSION == 'cp312' | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: wheelhouse-gym_jiminy | |
| path: build/pypi/dist/gym_jiminy | |
| ##################################################################################### | |
| test-user-linux: | |
| name: (${{ matrix.OS }}) Build a pip extension and run the unit tests. | |
| needs: build-manylinux | |
| strategy: | |
| matrix: | |
| OS: [ubuntu-24.04] #, macos-15] | |
| runs-on: ${{ matrix.OS }} | |
| defaults: | |
| run: | |
| shell: bash -ieo pipefail {0} | |
| env: | |
| BUILD_TYPE: "Release" | |
| ##################################################################################### | |
| steps: | |
| - name: Checkout jiminy | |
| uses: actions/checkout@v4 | |
| - name: Setup minimal build environment | |
| run: | | |
| PYTHON_EXECUTABLE="/usr/bin/python3" | |
| echo "PYTHON_EXECUTABLE=${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 "numpy<2.0" | |
| ##################################################################################### | |
| - name: Download the wheels previously generated | |
| uses: actions/download-artifact@v4 | |
| with: | |
| pattern: wheelhouse-* | |
| merge-multiple: true | |
| 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 for `pip>=21.1` (see https://github.com/pypa/pip/issues/2589). | |
| "${PYTHON_EXECUTABLE}" -m pip download \ | |
| --no-index --find-links="$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 | |
| "$InstallDir/bin/pip_double_pendulum" | |
| - name: Run unit tests on user environment | |
| run: | | |
| "${PYTHON_EXECUTABLE}" -m unittest discover -s "${GITHUB_WORKSPACE}/python/jiminy_py/unit_py" -v | |
| ##################################################################################### | |
| publish-pypi-manylinux: | |
| name: Publish on PyPi the wheel for Linux of jiminy_py and gym_jiminy | |
| runs-on: ubuntu-24.04 | |
| permissions: | |
| id-token: write | |
| needs: test-user-linux | |
| 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@v4 | |
| with: | |
| pattern: wheelhouse-* | |
| merge-multiple: true | |
| path: wheelhouse | |
| - name: Publish the wheels on PyPi | |
| uses: pypa/gh-action-pypi-publish@v1.10.3 | |
| with: | |
| packages-dir: wheelhouse | |
| verify-metadata: false |