wheels.yml

name: Build wheels

on: [push, pull_request, workflow_dispatch]

jobs:
  build:
    name: Build mrob project 
    runs-on: ubuntu-latest
    env:
      PYTHONPATH: ./lib
    strategy:
      fail-fast: false
    steps:
      - uses: actions/checkout@v2
        with:
          submodules: recursive

      - name: Install required packages from distro
        run: |
            sudo apt-get update
            sudo apt-get install -y --no-install-recommends git build-essential g++ cmake python3-distutils python3-dev python3-numpy python3-pip
            python3 -m pip install pytest

      - name: Configure and build native mrob library with Python bindings
        run: |
            mkdir -p build
            cmake -S $PWD -B $PWD/build \
             -DCMAKE_RUNTIME_OUTPUT_DIRECTORY=$PWD/bin \
             -DCMAKE_LIBRARY_OUTPUT_DIRECTORY=$PWD/lib \
            && cmake --build build -j $(nproc)  

      - name: C++ unit tests
        run: make test -C build

      - name: Python unit tests
        run: python3 -m pytest mrobpy


  build_wheel_linux:
    name: Build wheel on GNU/Linux
    runs-on: ubuntu-latest
    container: quay.io/pypa/manylinux2010_x86_64
    needs: build
    strategy:
      fail-fast: false
    steps:
      - name: Install additional utils
        run: yum install -y git openssh-clients

      - uses: actions/checkout@v1
        with:
          submodules: recursive

      - name: Install fresh CMake into ManyLinux container
        run: |
            env pybin=$(LANG=C ls -d1r /opt/python/cp3*/bin | head -n 1) bash -c '$pybin/python -m pip install cmake && mkdir -p /usr/local/bin && ln -svf $pybin/cmake /usr/local/bin/cmake'
            cmake --version

      - name: Build Python wheel
        run: scripts/build-wheel-linux.sh

      - uses: actions/upload-artifact@v1
        with:
          name: artifact
          path: ./wheelhouse


  build_wheel_macOS:
    name: Build wheel on macOS
    runs-on: macos-10.15
    needs: build
    strategy:
      fail-fast: false
    steps:
      - uses: actions/checkout@v2
        with:
          submodules: recursive

      - name: Git fetch
        run: git fetch --prune --unshallow --recurse-submodules=no

      - name: Install packages
        run: brew install coreutils

      - name: Build wheel
        run: ./scripts/build-wheel-macOS.sh

      - uses: actions/upload-artifact@v2
        with:
          path: ./dist


  build_wheel_windows:
    name: Build wheel on Windows ${{ matrix.arch }}
    needs: build
    runs-on: windows-2019
    strategy:
      fail-fast: false
      matrix:
        arch: [x64, x86]
    steps:
      - uses: actions/checkout@v2
        with:
          submodules: recursive
      - name: Git fetch
        run: git fetch --prune --unshallow --recurse-submodules=no

      - name: Setup Python 3.6
        uses: actions/setup-python@v2
        with:
          python-version: 3.6
          architecture: ${{ matrix.arch }}

      - name: Setup Python 3.7
        uses: actions/setup-python@v2
        with:
          python-version: 3.7
          architecture: ${{ matrix.arch }}

      - name: Setup Python 3.8
        uses: actions/setup-python@v2
        with:
          python-version: 3.8
          architecture: ${{ matrix.arch }}

      - name: Setup Python 3.9
        uses: actions/setup-python@v2
        with:
          python-version: 3.9
          architecture: ${{ matrix.arch }}

      - name: Setup Python 3.10
        uses: actions/setup-python@v2
        with:
          python-version: '3.10'
          architecture: ${{ matrix.arch }}

      - name: Build wheel
        run: .\scripts\build-wheels-windows.cmd ${{ matrix.arch }}

      - uses: actions/upload-artifact@v2
        with:
          path: .\dist


  test_wheel:
    name: Test Python ${{ matrix.python }} wheel on ${{ matrix.os }}
    runs-on: ${{ matrix.os }}
    needs: [build_wheel_linux, build_wheel_macOS, build_wheel_windows]
    if: ${{ always() && contains(needs.*.result, 'success') }}
    strategy:
      fail-fast: false
      matrix:
        os: [macos-latest, ubuntu-latest, windows-latest, windows-2019]
        python: ['3.6', '3.7', '3.8', '3.9', '3.10']
    steps:
      - name: Checkout
        uses: actions/checkout@v2

      - name: Setup Python ${{ matrix.python }}
        if: ${{ matrix.os != 'windows-2019' }}
        uses: actions/setup-python@v2
        with:
          python-version: ${{ matrix.python }}

      - name: Setup Python ${{ matrix.python }}
        if: ${{ matrix.os == 'windows-2019' }}
        uses: actions/setup-python@v2
        with:
          python-version: ${{ matrix.python }}
          architecture: x86

      - name: Download artifacts
        uses: actions/download-artifact@v2

      - name: Install mrob & numpy on Linux
        if: ${{ matrix.os == 'ubuntu-latest' }}
        run: |
          python -m pip install ./artifact/mrob-*-manylinux*.whl numpy pytest

      - name: Install mrob & numpy on macOS
        if: ${{ matrix.os == 'macos-latest' }}
        run: |
          python -m pip install ./artifact/mrob-*-macosx_10_9_x86_64.whl numpy pytest

      - name: Install mrob & numpy on Windows 64bit
        if: ${{ matrix.os == 'windows-latest' }}
        run: |
          python -m pip install .\artifact\$(dir artifact -Name | findstr mrob-.*-win_amd64.whl) numpy pytest

      - name: Install mrob & numpy on Windows 32bit
        if: ${{ matrix.os == 'windows-2019' }}
        run: |
          python -m pip install .\artifact\$(dir artifact -Name | findstr mrob-.*-win32.whl) numpy

      - name: Python unit tests
        if: ${{ matrix.os != 'windows-2019' }}
        run: |
          python -m pytest mrobpy

      - name: Python unit tests
        if: ${{ matrix.os == 'windows-2019' }}
        run: |
          $files = Get-ChildItem -Path python_examples -Include *.py
          foreach ($f in $files){
            python $f.FullName || EXIT /B !ERRORLEVEL!
          }


  publish_pypi:
    name: Publish macOS wheel to PyPI
    needs: test_wheel
    if: github.event_name == 'push' && startsWith(github.ref, 'refs/tags')
    runs-on: ubuntu-latest
    steps:
      - name: Download artifacts
        uses: actions/download-artifact@v2

      - name: Publish to PyPI
        uses: pypa/gh-action-pypi-publish@release/v1
        with:
          user: __token__
          password: ${{ secrets.PYPI_API_TOKEN }}
          packages_dir: artifact/


  publish-github-release:
    name: Publish macOS wheel to GitHub Releases
    needs: test_wheel
    if: github.event_name == 'push' && startsWith(github.ref, 'refs/tags')
    runs-on: ubuntu-latest
    steps:
      - name: Download artifacts
        uses: actions/download-artifact@v2

      - uses: softprops/action-gh-release@v1
        with:
          files: artifact/*.whl
        env:
          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}