Update setup and actions

Author: Saurav Agarwal

.github/workflows/cd.yml

@@ -1,8 +1,12 @@
 name: docker-deploy
 on:
+  workflow_dispatch:
   release:
     types: [published]
 
+env:
+  FORCE_COLOR: 3
+
 jobs:
   docker-deploy:
     permissions: write-all
@@ -15,26 +19,26 @@ jobs:
       - name: 'CI docker base'
         uses: ./.github/docker-base-action
         with:
-          base_tag: pytorch2.2.1-cuda12.3.1-ros2humble
+          base_tag: pytorch2.2.2-cuda12.2.2-ros2humble
           github_token: ${{ secrets.GITHUB_TOKEN }}
       - name: cleanup
         run: docker system prune -a -f
       - name: 'CI docker base'
         uses: ./.github/docker-base-action
         with:
-          base_tag: pytorch2.2.1-ros2humble
+          base_tag: pytorch2.2.2-ros2humble
           github_token: ${{ secrets.GITHUB_TOKEN }}
       - name: cleanup
         run: docker system prune -a -f
       - name: 'CI docker base'
         uses: ./.github/docker-base-action
         with:
-          base_tag: pytorch2.2.1-cuda12.3.1
+          base_tag: pytorch2.2.2-cuda12.2.2
           github_token: ${{ secrets.GITHUB_TOKEN }}
       - name: cleanup
         run: docker system prune -a -f
       - name: 'CI docker base'
         uses: ./.github/docker-base-action
         with:
-          base_tag: pytorch2.2.1
+          base_tag: pytorch2.2.2
           github_token: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/cd_wheels.yml

@@ -0,0 +1,74 @@
+name: wheels
+
+on:
+  workflow_dispatch:
+  release:
+    types:
+      - published
+
+env:
+  FORCE_COLOR: 3
+
+jobs:
+  make_sdist:
+    name: Make SDist
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: Install dependencies
+        run: sudo bash ./setup_utils/install_dependencies.sh  --boost --gmp --mpfr --eigen --cgal
+
+      - name: Build SDist
+        run: pipx run build --sdist
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: cibw-sdist
+          path: dist/*.tar.gz
+
+  build_wheels:
+    name: Wheel on ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest]
+
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - uses: pypa/[email protected]
+
+      - name: Upload wheels
+        uses: actions/upload-artifact@v4
+        with:
+          name: cibw-wheels-${{ matrix.os }}-${{ strategy.job-index }}
+          path: wheelhouse/*.whl
+
+  upload_all:
+    needs: [build_wheels, make_sdist]
+    environment:
+      name: pypi
+      url: https://pypi.org/p/coverage-control
+    permissions:
+      id-token: write
+    runs-on: ubuntu-latest
+    if: github.event_name == 'release' && github.event.action == 'published'
+
+    steps:
+      - uses: actions/download-artifact@v4
+        with:
+          pattern: cibw-*
+          path: dist
+          merge-multiple: true
+
+      - uses: pypa/gh-action-pypi-publish@release/v1
+        # with:
+          # Remember to tell (test-)pypi about this repo before publishing
+          # Remove this line to publish to PyPI
+          # repository-url: https://test.pypi.org/legacy/

.github/workflows/ghaction-doxygen-ghpages.yml

@@ -1,5 +1,6 @@
 name: doxygen-ghpages
 on:
+  workflow_dispatch:
   release:
     types: [published]
   push:
@@ -16,7 +17,7 @@ jobs:
         uses: actions/checkout@v4
       - name: Action Doxygen and GitHub Pages
         id: ghaction
-        uses: AgarwalSaurav/ghaction-doxygen-ghpages@v2.0.1
+        uses: AgarwalSaurav/ghaction-doxygen-ghpages@release/v2
         with:
           github_token: ${{ secrets.GITHUB_TOKEN }}
           doxyfile-path: doc/Doxyfile

CMakeLists.txt

@@ -10,6 +10,10 @@ set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED True)
 set(CMAKE_COLOR_DIAGNOSTICS True)
 
+if(NOT CMAKE_BUILD_TYPE)
+	set(CMAKE_BUILD_TYPE Release)
+endif()
+
 include(FetchContent)
 
 find_package(Python COMPONENTS Interpreter Development)
@@ -22,7 +26,7 @@ else()
 	FetchContent_Declare(
 		pybind11
 		GIT_REPOSITORY https://github.com/pybind/pybind11.git
-		GIT_TAG v2.11.1
+		GIT_TAG v2.12.0
 	)
 	FetchContent_MakeAvailable(pybind11)
 endif()

cppsrc/core/CMakeLists.txt

@@ -12,7 +12,7 @@ dynamic_version(PROJECT_PREFIX "CoverageControl_" GIT_ARCHIVAL_FILE "${CMAKE_CUR
 
 project(CoverageControl VERSION ${PROJECT_VERSION} LANGUAGES CXX)
 
-if (NOT CMAKE_BUILD_TYPE)
+if(NOT CMAKE_BUILD_TYPE)
 	set(CMAKE_BUILD_TYPE Release)
 endif()
 

cppsrc/core/include/CoverageControl/extern/gnuplot/gnuplot-iostream.h

@@ -103,7 +103,6 @@ THE SOFTWARE.
 
 // Patch for Windows by Damien Loison
 #ifdef _WIN32
-#    include <windows.h>
 #    define GNUPLOT_PCLOSE _pclose
 #    define GNUPLOT_POPEN  _popen
 #    define GNUPLOT_FILENO _fileno
@@ -113,14 +112,6 @@ THE SOFTWARE.
 #    define GNUPLOT_FILENO fileno
 #endif
 
-#ifdef _WIN32
-#    define GNUPLOT_ISNAN _isnan
-#else
-// cppreference.com says std::isnan is only for C++11.  However, this seems to work on Linux
-// and I am assuming that if isnan exists in math.h then std::isnan exists in cmath.
-#    define GNUPLOT_ISNAN std::isnan
-#endif
-
 // MSVC gives a warning saying that fopen and getenv are not secure.  But they are secure.
 // Unfortunately their replacement functions are not simple drop-in replacements.  The best
 // solution is to just temporarily disable this warning whenever fopen or getenv is used.
@@ -141,9 +132,9 @@ THE SOFTWARE.
 // "pgnuplot" is considered deprecated according to the Internet.  It may be faster.  It
 // doesn't seem to handle binary data though.
 //#    define GNUPLOT_DEFAULT_COMMAND "pgnuplot -persist"
-// On Windows, gnuplot echos commands to stderr.  So we forward its stderr to the bit bucket.
-// Unfortunately, this means you will miss out on legitimate error messages.
-#    define GNUPLOT_DEFAULT_COMMAND "gnuplot -persist 2> NUL"
+// The default install path for gnuplot is written here.  This way the user doesn't have to add
+// anything to their %PATH% environment variable.
+#    define GNUPLOT_DEFAULT_COMMAND "\"C:\\Program Files\\gnuplot\\bin\\gnuplot.exe\" -persist"
 #else
 #    define GNUPLOT_DEFAULT_COMMAND "gnuplot -persist"
 #endif
@@ -510,7 +501,7 @@ template<> struct TextSender< unsigned char> : public CastIntTextSender< unsigne
 template <typename T>
 struct FloatTextSender {
     static void send(std::ostream &stream, const T &v) {
-        if(GNUPLOT_ISNAN(v)) { stream << "nan"; } else { stream << v; }
+        if(std::isnan(v)) { stream << "nan"; } else { stream << v; }
     }
 };
 template<> struct TextSender<      float> : FloatTextSender<      float> { };
@@ -1642,7 +1633,10 @@ struct FileHandleWrapper {
     void fh_close() {
         if(should_use_pclose) {
             if(GNUPLOT_PCLOSE(wrapped_fh)) {
-                std::cerr << "pclose returned error: " << strerror(errno) << std::endl;
+                perror("pclose");
+                //char msg[1000];
+                //strerror_s(msg, sizeof(msg), errno);
+                //std::cerr << "pclose returned error: " << msg << std::endl;
             }
         } else {
             if(fclose(wrapped_fh)) {

pyproject.toml

@@ -62,6 +62,7 @@ skip = ["pp*", "*musllinux*"]
 test-skip = ""
 
 # archs = ["x86_64", "aarch64"]
+# archs = ["aarch64"]
 archs = ["x86_64"]
 build-frontend = "default"
 config-settings = {}
@@ -71,10 +72,11 @@ build-verbosity = 1
 
 repair-wheel-command = ""
 
-test-command=""
-before-test=""
-# test-command = "pytest -ra --showlocals --ignore={project}/python/tests/deprecated {project}/python/tests"
-# before-test = "pip install pytest torch torchvision torch_geometric"
+# test-command=""
+# before-test=""
+test-command = "pytest -ra --showlocals --ignore={project}/python/tests/deprecated {project}/python/tests/test_coverage_env_utils.py {project}/python/tests/test_coverage.py {project}/python/tests/test_env_io.py {project}/python/tests/test_map_generation.py {project}/python/tests/test_models.py {project}/python/tests/test_package.py {project}/python/tests/test_parameters.py {project}/python/tests/test_parity.py"
+
+before-test = "pip install pytest torch torchvision torch_geometric && wget https://github.com/KumarRobotics/CoverageControl/files/14644475/pytest_data.tar.gz && tar -xvf pytest_data.tar.gz -C python/tests/ && rm pytest_data.tar.gz"
 test-requires = []
 test-extras = []
 

python/coverage_control/__init__.py

@@ -6,10 +6,14 @@
 
 from __future__ import annotations
 
+import os.path as _osp
+
 from ._version import version as __version__
 from .core import *
 from .io_utils import IOUtils
 
 # from .nn import *
 
 __all__ = ["__version__", "core", "nn", "IOUtils"]
+
+cmake_prefix_path = _osp.join(_osp.dirname(_osp.dirname(__file__)), "lib", "cmake")

setup.sh

@@ -1,14 +1,6 @@
 #!/usr/bin/env bash
-ORIG_INPUT_PARAMS="$@"
-params="$(getopt -o d:hctpg -l directory:,help,clean,torch,python,global,with-cuda,with-deps,pip-path: --name "$(basename "$0")" -- "$@")"
-
-if [ $? -ne 0 ]
-then
-	print_usage
-fi
-
 print_usage() {
-	printf "bash $0 [-h|--help] [-d|--directory <workspace directory>] [-p|--python] [--with-cuda] [--with-deps] [-g|--global] [-c|--clean] [-t|--torch]\n"
+	printf "bash %s [-h|--help] [-d|--directory <workspace directory>] [-p|--python] [--with-cuda] [--with-deps] [-g|--global] [-c|--clean] [-t|--torch]\n" "$0"
 	printf "Options:\n"
 	printf "  -h, --help                             : Prints this help message\n"
 	printf "  -d, --directory <workspace directory>  : Builds and installs the package in the specified directory\n"
@@ -18,6 +10,15 @@ print_usage() {
 	printf "  -g, --global                           : Installs the package globally. Needs sudo permissions\n"
 }
 
+ORIG_INPUT_PARAMS="$@"
+
+params="$(getopt -o d:hctpg -l directory:,help,clean,torch,python,global,with-cuda,with-deps,pip-path: --name "$(basename "$0")" -- "$@")"
+
+if [ $? -ne 0 ]
+then
+	print_usage
+fi
+
 eval set -- "$params"
 echo "Params: $params"
 unset params

setup_utils/docker/base_images/build_all_images.sh

@@ -4,23 +4,29 @@ print_usage() {
 		echo "Example: ./build_all_images.sh ghcr.io/johndoe/repo_name"
 		exit 1
 }
-echo "Building image pytorch2.2.1"
-docker buildx build --no-cache -t ${1}:pytorch2.2.1 -f ubuntu22.04.Dockerfile .
-docker image tag ${1}:pytorch2.2.1 ghcr.io/${1}:pytorch2.2.1
-docker push ${1}:pytorch2.2.1
-docker push ghcr.io/${1}:pytorch2.2.1
-echo "Building image pytorch2.2.1-cuda12.3.1"
-docker buildx build --no-cache -t ${1}:pytorch2.2.1-cuda12.3.1 -f ubuntu22.04-cuda.Dockerfile .
-docker image tag ${1}:pytorch2.2.1-cuda12.3.1 ghcr.io/${1}:pytorch2.2.1-cuda12.3.1
-docker push ${1}:pytorch2.2.1-cuda12.3.1
-docker push ghcr.io/${1}:pytorch2.2.1-cuda12.3.1
-echo "Building image pytorch2.2.1-ros2humble"
-docker buildx build --no-cache -t ${1}:pytorch2.2.1-ros2humble -f ubuntu22.04-ros2.Dockerfile .
-docker image tag ${1}:pytorch2.2.1-ros2humble ghcr.io/${1}:pytorch2.2.1-ros2humble
-docker push ${1}:pytorch2.2.1-ros2humble
-docker push ghcr.io/${1}:pytorch2.2.1-ros2humble
-echo "Building image pytorch2.2.1-cuda12.3.1-ros2humble"
-docker buildx build --no-cache -t ${1}:pytorch2.2.1-cuda12.3.1-ros2humble -f ubuntu22.04-cuda-ros2.Dockerfile .
-docker image tag ${1}:pytorch2.2.1-cuda12.3.1-ros2humble ghcr.io/${1}:pytorch2.2.1-cuda12.3.1-ros2humble
-docker push ${1}:pytorch2.2.1-cuda12.3.1-ros2humble
-docker push ghcr.io/${1}:pytorch2.2.1-cuda12.3.1-ros2humble
+
+# Function build image takes 2 arguments: 1. username/repo_name 2. tag_name 3. Dockerfile
+# Example: build_image johndoe/repo_name pytorch2.2.2 ubuntu22.04.Dockerfile
+build_image() {
+    echo "Building image $2"
+    TAG_NAME=$2
+    docker buildx build --no-cache -t ${1}:${TAG_NAME} -f $3 .
+    docker push ${1}:${TAG_NAME}
+}
+
+echo "Building image pytorch2.2.2-cuda12.2"
+TAG_NAME=pytorch2.2.2-cuda12.2.2
+# build_image $1 $TAG_NAME ubuntu22.04-cuda.Dockerfile
+
+echo "Building image pytorch2.2.2-ros2humble"
+TAG_NAME=pytorch2.2.2-ros2humble
+build_image $1 $TAG_NAME ubuntu22.04-ros2.Dockerfile
+
+echo "Building image pytorch2.2.2-cuda12.2.2-ros2humble"
+TAG_NAME=pytorch2.2.2-cuda12.2.2-ros2humble
+build_image $1 $TAG_NAME ubuntu22.04-cuda-ros2.Dockerfile
+
+echo "Building image pytorch2.2.2"
+TAG_NAME=pytorch2.2.2
+build_image $1 $TAG_NAME ubuntu22.04.Dockerfile
+