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| # If anything in the ik_python or rust folders change on push, run the workflow in the ik_python folder | |
| on: | |
| push: | |
| branches: | |
| - main | |
| - master | |
| paths: | |
| - 'ik_python/**' | |
| - 'rust/**' | |
| pull_request: | |
| branches: | |
| - main | |
| - master | |
| paths: | |
| - 'ik_python/**' | |
| - 'rust/**' | |
| workflow_dispatch: | |
| defaults: | |
| run: | |
| working-directory: ik_python | |
| jobs: | |
| linux: | |
| runs-on: ${{ matrix.platform.runner }} | |
| strategy: | |
| matrix: | |
| platform: | |
| - runner: ubuntu-latest | |
| target: x86_64 | |
| - runner: ubuntu-latest | |
| target: x86 | |
| - runner: ubuntu-latest | |
| target: aarch64 | |
| - runner: ubuntu-latest | |
| target: armv7 | |
| - runner: ubuntu-latest | |
| target: s390x | |
| - runner: ubuntu-latest | |
| target: ppc64le | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - uses: actions/setup-python@v5 | |
| with: | |
| python-version: '3.10' | |
| - name: Build wheels | |
| uses: PyO3/maturin-action@v1 | |
| with: | |
| target: ${{ matrix.platform.target }} | |
| args: --release --out dist --find-interpreter | |
| sccache: 'true' | |
| manylinux: auto | |
| working-directory: ik_python | |
| - name: Upload wheels | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: wheels-linux-${{ matrix.platform.target }} | |
| path: ik_python/dist | |
| windows: | |
| runs-on: ${{ matrix.platform.runner }} | |
| strategy: | |
| matrix: | |
| platform: | |
| - runner: windows-latest | |
| target: x64 | |
| - runner: windows-latest | |
| target: x86 | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - uses: actions/setup-python@v5 | |
| with: | |
| python-version: '3.10' | |
| architecture: ${{ matrix.platform.target }} | |
| - name: Build wheels | |
| uses: PyO3/maturin-action@v1 | |
| with: | |
| target: ${{ matrix.platform.target }} | |
| args: --release --out dist --find-interpreter | |
| sccache: 'true' | |
| working-directory: ik_python | |
| - name: Upload wheels | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: wheels-windows-${{ matrix.platform.target }} | |
| path: ik_python/dist | |
| macos: | |
| runs-on: ${{ matrix.platform.runner }} | |
| strategy: | |
| matrix: | |
| platform: | |
| - runner: macos-latest | |
| target: x86_64 | |
| - runner: macos-14 | |
| target: aarch64 | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - uses: actions/setup-python@v5 | |
| with: | |
| python-version: '3.10' | |
| - name: Build wheels | |
| uses: PyO3/maturin-action@v1 | |
| with: | |
| target: ${{ matrix.platform.target }} | |
| args: --release --out dist --find-interpreter | |
| sccache: 'true' | |
| working-directory: ik_python | |
| - name: Upload wheels | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: wheels-macos-${{ matrix.platform.target }} | |
| path: ik_python/dist | |
| sdist: | |
| runs-on: ubuntu-latest | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - name: Build sdist | |
| uses: PyO3/maturin-action@v1 | |
| with: | |
| command: sdist | |
| args: --out dist | |
| working-directory: ik_python | |
| - name: Upload sdist | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: wheels-sdist | |
| path: ik_python/dist | |
| test: | |
| runs-on: ubuntu-latest | |
| needs: [linux, windows, macos, sdist] | |
| steps: | |
| - uses: actions/download-artifact@v4 | |
| - name: Download wheels | |
| uses: PyO3/maturin-action@v1 | |
| - name: Test wheels | |
| run: | | |
| python -m pip install --upgrade pip | |
| python -m pip install ik_python/dist/*.whl | |
| python -m pip install numpy | |
| python ik_python/test/test.py | |
| continue-on-error: false | |
| checkifcontinueworks: | |
| runs-on: ubuntu-latest | |
| needs: [test] | |
| steps: | |
| - name: Check if continue-on-error works | |
| run: echo "This step should not run if the previous step fails" | |
| release: | |
| name: Release | |
| runs-on: ubuntu-latest | |
| if: startsWith(github.ref, 'refs/tags/') | |
| needs: [test] | |
| steps: | |
| - uses: actions/download-artifact@v4 | |
| - name: Publish to PyPI | |
| uses: PyO3/maturin-action@v1 | |
| env: | |
| MATURIN_PYPI_TOKEN: ${{ secrets.PYPI_API_TOKEN }} | |
| with: | |
| command: upload | |
| args: --non-interactive --skip-existing wheels-*/* |