Cargo: Navigator-rs version 0.3.2 #247

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	name: Test all targets

	on: [push, pull_request]

	permissions:
	contents: write

	jobs:
	quick-tests:
	runs-on: ubuntu-latest
	steps:
	- name: Checkout Repo
	uses: actions/checkout@v3
	- name: Rust setup
	uses: actions-rs/[email protected]
	with:
	toolchain: nightly
	override: true
	components: rustfmt, clippy
	- name: Rust \| Cache
	uses: Swatinem/rust-cache@v2
	with:
	prefix-key: "rust-cache"
	shared-key: "quick-tests"
	- name: Check Rust formatting
	run: cargo fmt -- --check
	- name: Check Rust code with Clippy
	run: cargo clippy -- -Dwarnings -A clippy::not_unsafe_ptr_arg_deref
	- name: Run internal tests
	run: cargo test --verbose -- --nocapture
	- name: Build Rust project
	run: cargo build
	- name: Build Python module
	run: \|
	pip install --user maturin
	pip install . --user
	- name: Check Python integration
	run: python examples/python/main.py
	- name: Check C++ integration
	run: \|
	cd examples/cpp
	cmake -B build -DCMAKE_BUILD_TYPE=Debug
	cmake --build build --config Debug --parallel
	./build/simple
	- name: Run clang-format style check for C++ example.
	uses: jidicula/[email protected]
	with:
	clang-format-version: '16'
	check-path: 'examples/cpp/'
	exclude-regex: 'examples/cpp/build'

	version-manager:
	needs: [quick-tests]
	runs-on: ubuntu-latest
	outputs:
	head_hash: ${{ steps.head-hash.outputs.head_hash }}
	steps:
	- name: Checkout Repo
	uses: actions/checkout@v3
	- name: Rust setup
	uses: actions-rs/[email protected]
	with:
	toolchain: nightly
	override: true
	- name: Modify version if release-tag
	if: startsWith(github.ref, 'refs/tags/')
	run: \|
	cargo install cargo-bump --force \
	&& cargo bump ${{ github.ref_name }}
	- name: Automatic commit for version upgrade
	if: startsWith(github.ref, 'refs/tags/')
	uses: stefanzweifel/git-auto-commit-action@v4
	with:
	branch: master
	commit_message: "Cargo: Update the navigator-lib version to ${{ github.ref_name }}"
	- name: Store the head actual hash
	id: head-hash
	run: echo "head_hash=$(git rev-parse HEAD)" >> $GITHUB_OUTPUT

	build-cpp:
	needs: version-manager
	runs-on: ubuntu-latest
	strategy:
	fail-fast: false
	matrix:
	include:
	- TARGET: armv7-unknown-linux-gnueabihf
	- TARGET: aarch64-unknown-linux-gnu
	- TARGET: armv7-unknown-linux-musleabihf
	- TARGET: aarch64-unknown-linux-musl
	steps:
	- name: Building ${{ matrix.TARGET }}
	run: echo "${{ matrix.TARGET }}"
	- uses: actions/checkout@v3
	with:
	ref: ${{ needs.version-manager.outputs.head_hash }}
	- name: Rust Setup
	uses: actions-rs/[email protected]
	with:
	toolchain: nightly
	target: ${{ matrix.TARGET }}
	override: true
	- name: Rust Cache
	uses: Swatinem/rust-cache@v2
	with:
	prefix-key: "rust-cache"
	shared-key: "build-cpp-${{ matrix.TARGET }}"
	- name: Rust Cross Build Cpp
	uses: actions-rs/cargo@v1
	with:
	use-cross: true
	command: build
	args: --verbose --release --target=${{ matrix.TARGET }} -Z unstable-options --out-dir output/
	- name: Move to it's target
	run: \|
	mkdir dist
	mkdir "dist/${{ matrix.TARGET }}"
	mv output/* "dist/${{ matrix.TARGET }}"
	mv target/release/bindings.h dist/
	- name: Upload bin
	uses: actions/upload-artifact@v3
	with:
	name: cpp
	path: dist

	build-python:
	needs: version-manager
	runs-on: ubuntu-latest
	strategy:
	fail-fast: false
	matrix:
	target: [aarch64, armv7]
	libc: [auto, musllinux_1_1]
	steps:
	- uses: actions/checkout@v3
	with:
	ref: ${{ needs.version-manager.outputs.head_hash }}
	- uses: actions/setup-python@v4
	with:
	python-version: "3.9"
	- name: Build wheels
	uses: PyO3/maturin-action@v1
	with:
	target: ${{ matrix.target }}
	args: --release --out dist
	manylinux: ${{ matrix.libc }}
	- uses: uraimo/run-on-arch-action@master
	if: matrix.libc == 'auto'
	name: Install built wheel manylinux
	with:
	arch: ${{ matrix.target }}
	distro: bullseye
	githubToken: ${{ github.token }}
	install: \|
	apt-get update
	apt-get install -y --no-install-recommends python3 python3-pip
	pip3 install -U pip
	run: \|
	pip3 install bluerobotics_navigator --no-index --find-links dist/ --force-reinstall
	- uses: uraimo/run-on-arch-action@master
	if: matrix.libc == 'musllinux_1_1'
	name: Install built wheel musl
	with:
	arch: ${{ matrix.target}}
	distro: alpine_latest
	githubToken: ${{ github.token }}
	install: \|
	apk add py3-pip
	run: \|
	python3 -m venv ./venv
	. ./venv/bin/activate
	pip3 install -U pip
	pip3 install bluerobotics_navigator --no-index --find-links dist/ --force-reinstall
	- name: Upload wheels
	uses: actions/upload-artifact@v3
	with:
	name: python
	path: dist

	raspberry-test-python:
	needs: build-python
	if: ${{ github.repository_owner == 'bluerobotics' }}
	runs-on: raspbian-armv7-kernel-5.10.33
	steps:
	- uses: actions/checkout@v3
	with:
	ref: ${{ needs.version-manager.outputs.head_hash }}
	- name: Download wheels
	uses: actions/download-artifact@v3
	with:
	name: python
	path: dist
	- name: Install built wheel
	run: \|
	sudo apt-get update
	sudo apt-get install -y --no-install-recommends python3 python3-pip
	pip3 install -U pip
	pip3 install bluerobotics_navigator --no-index --find-links dist/ --force-reinstall
	- name: Check Python main example
	run: \|
	export CI=false
	python examples/python/main.py

	python-release-pypi:
	needs: [raspberry-test-python]
	runs-on: ubuntu-latest
	if: "startsWith(github.ref, 'refs/tags/')"
	permissions:
	id-token: write
	steps:
	- uses: actions/download-artifact@v3
	with:
	name: python
	- name: Publish package distributions to PyPI
	uses: pypa/gh-action-pypi-publish@release/v1
	with:
	packages-dir: .

	release-assets:
	needs: ["build-cpp","raspberry-test-python"]
	runs-on: ubuntu-latest
	if: "startsWith(github.ref, 'refs/tags/')"
	steps:
	- name: Download cpp artifacts
	uses: actions/download-artifact@v2
	with:
	name: cpp
	path: cpp
	- name: Download python artifacts
	uses: actions/download-artifact@v2
	with:
	name: python
	path: python
	- name: Compress artifacts
	run: \|
	sudo apt update
	sudo apt install -y zip
	cd cpp
	zip -rT ../cpp.zip *
	cd ../python
	zip -rT ../python.zip *
	- name: Upload assets to release
	uses: svenstaro/upload-release-action@v2
	with:
	repo_token: ${{ secrets.GITHUB_TOKEN }}
	file: ./*.zip
	tag: ${{ github.ref }}
	file_glob: true

	deploy-doc:
	needs: version-manager
	runs-on: ubuntu-latest
	steps:
	- uses: actions/checkout@v3
	- uses: actions-rs/[email protected]
	with:
	toolchain: nightly
	override: true
	- name: Build docs
	run: pip install hatch && hatch run dev:build-doc
	# Move it to its own folder
	- name: Move python documentation
	run: mkdir -p pages/python && mv docs/_build/* pages/python/
	- name: Deploy
	uses: peaceiris/actions-gh-pages@v3
	if: ${{ github.ref == 'refs/heads/master' }}
	with:
	github_token: ${{ secrets.GITHUB_TOKEN }}
	publish_dir: ./pages

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Cargo: Navigator-rs version 0.3.2 #247

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Cargo: Navigator-rs version 0.3.2 #247

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