linux.yml

name: Linux 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-linux:
    name: >-
      (${{ matrix.PYTHON_VERSION }}) (${{ matrix.BUILD_TYPE }})
      Build the dependencies. Build the project and run the unit tests.
    runs-on: ubuntu-24.04

    strategy:
      matrix:
        PYTHON_VERSION: ['3.10', '3.11', '3.12']
        BUILD_TYPE: ['Release']
        include:
          - PYTHON_VERSION: '3.12'
            BUILD_TYPE: 'Debug'

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

    env:
      CXX_FLAGS: "-march=x86-64-v3 -mtune=generic"

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

    steps:
    - name: Configure Python
      uses: actions/setup-python@v5
      with:
        python-version: ${{ matrix.PYTHON_VERSION }}
    - name: Free Disk Space
      uses: jlumbroso/free-disk-space@v1.3.1
      with:
        tool-cache: false
        android: true
        dotnet: true
        haskell: true
        large-packages: false
        swap-storage: false
    - name: Checkout jiminy
      uses: actions/checkout@v4

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

    - name: Define environment variables
      run: |
        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

        echo "/home/runner/.local/bin" >> $GITHUB_PATH
    - name: Setup minimal build environment
      run: |
        sudo apt update
        sudo apt install -y gdb gnupg curl wget build-essential cmake doxygen graphviz texlive-latex-base

        "${PYTHON_EXECUTABLE}" -m pip install setuptools wheel "pip>=20.3"

        git config --global advice.detachedHead false
    - name: Install pre-compiled binaries for additional gym-jiminy dependencies
      if: matrix.PYTHON_VERSION != '3.13'
      run: |
        "${PYTHON_EXECUTABLE}" -m pip install "torch" -f https://download.pytorch.org/whl/torch
        "${PYTHON_EXECUTABLE}" -m pip install "gymnasium>=0.28,<1.0" "stable_baselines3>=2.0,<2.4"
    - name: Install latest numpy version at build-time for run-time binary compatibility
      run: |
        "${PYTHON_EXECUTABLE}" -m pip install --upgrade "numpy>=1.24" numba torch
    - name: Build jiminy dependencies
      run: |
        BUILD_TYPE="${{ matrix.BUILD_TYPE }}" ./build_tools/build_install_deps_unix.sh

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

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

        mkdir "${RootDir}/build"
        cd "${RootDir}/build"
        cmake "${RootDir}" -Wdev \
              -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" \
              -DBOOST_ROOT="$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=${{ (matrix.PYTHON_VERSION == '3.13' && 'OFF') || 'ON' }} \
              -DCMAKE_CXX_FLAGS="${CXX_FLAGS}" -DCMAKE_BUILD_TYPE="${{ matrix.BUILD_TYPE }}"
        make install -j4

        echo "LD_LIBRARY_PATH=$InstallDir/lib:$InstallDir/lib64:/usr/local/lib" >> $GITHUB_ENV

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

    - name: Build extension module
      run: |
        "$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="${CXX_FLAGS}" -DCMAKE_BUILD_TYPE="${BUILD_TYPE}"
        make install

        "$InstallDir/bin/pip_double_pendulum"

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

    - name: Run unit tests for jiminy
      run: |
        ctest --output-on-failure --test-dir "${RootDir}/build/core/unit"

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

    - name: Run unit tests for gym jiminy base module
      run: |
        if [[ "${{ matrix.BUILD_TYPE }}" == 'Debug' ]] ; then
          export JIMINY_BUILD_DEBUG=
        fi
        "${PYTHON_EXECUTABLE}" -m unittest discover -s "${RootDir}/python/gym_jiminy/unit_py" -v

    - name: Run examples for gym jiminy add-on modules
      if: matrix.BUILD_TYPE != 'Debug'
      run: |
        cd "${RootDir}/python/gym_jiminy/examples/rllib"
        "${PYTHON_EXECUTABLE}" acrobot_ppo.py

    - name: Python static type checker
      if: matrix.BUILD_TYPE != 'Debug' && matrix.PYTHON_VERSION == '3.10'
      run: |
        # 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 torch

        # Re-install jiminy with stubs
        cd "${RootDir}/build"
        make install

        # mypy is not able to follow `.pth` when checking directories or files.
        # This bug may be fixed in the future. The only workaround is to set `MYPYPATH` manually.
        # Anyway, the stubs generated for eigenpy, hppfcl and pinocchio they are incomplete and
        # even partially wrong, so it is better to ignore them for now.
        # See: https://github.com/python/mypy/issues/14848.
        cd "${RootDir}/python/jiminy_py/src"
        mypy --config-file="${RootDir}/.mypy.ini" -p jiminy_py
        for name in "common" "envs" "toolbox" "rllib"; do
          cd "${RootDir}/python/gym_jiminy/$name"
          mypy --config-file="${RootDir}/.mypy.ini" -p gym_jiminy
        done