python-ci.yml

name: Python CI

on: [pull_request]

jobs:
  build:
    name: ${{ matrix.name }} ${{ matrix.build_type }} Python ${{ matrix.python_version }}
    runs-on: ${{ matrix.os }}

    env:
      CTEST_OUTPUT_ON_FAILURE: ON
      CTEST_PARALLEL_LEVEL: 2
      CMAKE_BUILD_TYPE: ${{ matrix.build_type }}
      PYTHON_VERSION: ${{ matrix.python_version }}

    strategy:
      fail-fast: false
      matrix:
        # Github Actions requires a single row to be added to the build matrix.
        # See https://help.github.com/en/articles/workflow-syntax-for-github-actions.
        name: [ubuntu-22.04-gcc-9, ubuntu-22.04-clang-12, macOS-12-xcode-14.2]

        build_type: [Debug, Release]
        python_version: [3]
        include:
          - name: ubuntu-22.04-gcc-9
            os: ubuntu-22.04
            compiler: gcc
            version: "9"

          - name: ubuntu-22.04-clang-12
            os: ubuntu-22.04
            compiler: clang
            version: "12"

          - name: ubuntu-22.04-clang-12
            os: ubuntu-22.04
            compiler: clang
            version: "12"
            build_type: Debug
            python_version: "3"

          - name: macOS-12-xcode-14.2
            os: macOS-12
            compiler: xcode
            version: "14.2"

    steps:
      - name: Install Dependencies (Linux)
        if: runner.os == 'Linux'
        run: |
          sudo apt-get -y update
          if [ "${{ matrix.compiler }}" = "gcc" ]; then
            sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib
            echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV
            echo "CXX=g++-${{ matrix.version }}" >> $GITHUB_ENV

          else
            sudo apt-get install -y clang-${{ matrix.version }} g++-multilib
            echo "CC=clang" >> $GITHUB_ENV
            echo "CXX=clang++" >> $GITHUB_ENV
          fi

          # For SDFormat
          sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
          sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys D2486D2DD83DB69272AFE98867170598AF249743
          sudo apt-get -y update

          sudo apt-get -y install libtbb-dev libboost-all-dev libsdformat12-dev

      - name: Install Dependencies (macOS)
        if: runner.os == 'macOS'
        run: |
          if [ "${{ matrix.compiler }}" = "gcc" ]; then
            brew install gcc@${{ matrix.version }}
            echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV
            echo "CXX=g++-${{ matrix.version }}" >> $GITHUB_ENV
          else
            sudo xcode-select -switch /Applications/Xcode_${{ matrix.version }}.app
            echo "CC=clang" >> $GITHUB_ENV
            echo "CXX=clang++" >> $GITHUB_ENV
          fi

          brew install boost
          brew tap osrf/simulation
          brew install sdformat12

      - name: Python Dependencies
        run: |
          # Install dependencies for gtwrap
          pip3 install -U pip setuptools numpy pyparsing pyyaml "pybind11-stubgen>=2.5.1"

      - name: GTSAM (Linux)
        if: runner.os == 'Linux'
        run: |
          # Clone gtsam
          git clone https://github.com/borglab/gtsam.git $GITHUB_WORKSPACE/gtsam
          cd $GITHUB_WORKSPACE/gtsam

          # Build & Install gtsam
          mkdir build && cd $_
          cmake -D GTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DGTSAM_BUILD_PYTHON=ON ..

          sudo make -j6 install
          sudo make python-install
          sudo ldconfig

          cd $GITHUB_WORKSPACE # go back to home directory

          # Clean up after ourselves since we used `sudo`.
          sudo rm -rf $GITHUB_WORKSPACE/gtsam

      - name: GTSAM (macOS)
        if: runner.os == 'macOS'
        run: |
          # Install gtsam
          git clone https://github.com/borglab/gtsam.git /Users/runner/work/gtsam
          cd /Users/runner/work/gtsam
          mkdir build && cd $_
          cmake -D GTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DGTSAM_BUILD_PYTHON=ON -DPYTHON_EXECUTABLE=/usr/local/bin/python3 ..
          make -j$(sysctl -n hw.physicalcpu) install && make python-install

          cd $GITHUB_WORKSPACE # go back to home directory

      - name: Checkout
        uses: actions/checkout@v2

      - name: Build Directory
        run: mkdir build

      - name: Configure (Linux)
        if: runner.os == 'Linux'
        run: |
          cmake -DGTDYNAMICS_BUILD_PYTHON=ON  ..
        working-directory: ./build

      - name: Configure (macOS)
        if: runner.os == 'macOS'
        run: |
          cmake -DGTDYNAMICS_BUILD_PYTHON=ON -DPYTHON_EXECUTABLE=/usr/local/bin/python3 ..
        working-directory: ./build

      - name: Build
        run: make -j4
        working-directory: ./build

      - name: Install
        run: sudo make -j4 python-install
        working-directory: ./build

      - name: Test
        run: make -j4 python-test
        working-directory: ./build