Add Python stub generation infrastructure #1000
Workflow file for this run
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| name: Linux CI | |
| on: [pull_request] | |
| # Cancels any in-progress workflow runs for the same PR when a new push is made, | |
| # allowing the runner to become available more quickly for the latest changes. | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }} | |
| cancel-in-progress: true | |
| jobs: | |
| build: | |
| name: ${{ matrix.name }} ${{ matrix.build_type }} (${{ matrix.build_type == 'Release' && 'native+py' || 'no-native C++-only' }}) | |
| runs-on: ${{ matrix.os }} | |
| env: | |
| CMAKE_BUILD_TYPE: ${{ matrix.build_type }} | |
| PYTHON_VERSION: ${{ matrix.python_version }} | |
| GTSAM_INSTALL_DIR: ${{ github.workspace }}/gtsam_install | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| name: [ubuntu-24.04-gcc-14, ubuntu-24.04-clang-16] | |
| build_type: [Debug, Release] | |
| python_version: [3] | |
| include: | |
| - name: ubuntu-24.04-gcc-14 | |
| os: ubuntu-24.04 | |
| compiler: gcc | |
| version: "14" | |
| - name: ubuntu-24.04-clang-16 | |
| os: ubuntu-24.04 | |
| compiler: clang | |
| version: "16" | |
| steps: | |
| - name: Checkout GTDynamics Repository | |
| uses: actions/checkout@v4 | |
| - name: Install System Dependencies | |
| run: | | |
| set -e | |
| NTHREADS="$(nproc)" | |
| echo "NTHREADS=${NTHREADS}" >> $GITHUB_ENV | |
| sudo apt-get -y update | |
| if [ "${{ 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++" >> $GITHUB_ENV | |
| fi | |
| sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' | |
| sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys D2486D2DD83DB69272AFE98867170598AF249743 | |
| sudo apt-get -y update | |
| sudo apt-get -y install libtbb-dev libboost-all-dev libsdformat15-dev | |
| # GTDynamics C++ tests use CppUnitLite (not provided by default on the runner). | |
| git clone https://github.com/borglab/CppUnitLite.git /tmp/CppUnitLite | |
| cd /tmp/CppUnitLite | |
| mkdir build && cd build | |
| # CppUnitLite's CMakeLists uses an old minimum CMake version; newer CMake | |
| # requires explicitly opting into older policy compatibility. | |
| # Force a modern C++ standard for newer Boost headers (Homebrew Boost requires C++11+). | |
| cmake -DCMAKE_POLICY_VERSION_MINIMUM=3.5 -DCMAKE_CXX_STANDARD=17 -DCMAKE_CXX_STANDARD_REQUIRED=ON .. | |
| sudo make -j${NTHREADS} install | |
| cd ${{ github.workspace }} | |
| sudo rm -rf /tmp/CppUnitLite | |
| - name: Python Dependencies (Release only) | |
| if: matrix.build_type == 'Release' | |
| shell: bash | |
| run: | | |
| set -e | |
| python${{ env.PYTHON_VERSION }} -m venv venv | |
| source venv/bin/activate | |
| echo "VENV_PYTHON_EXECUTABLE=${{ github.workspace }}/venv/bin/python" >> $GITHUB_ENV | |
| echo "${{ github.workspace }}/venv/bin" >> $GITHUB_PATH | |
| python -m pip install --upgrade pip | |
| python -m pip install -U "setuptools<70" wheel numpy pyparsing pyyaml "pybind11-stubgen>=2.5.1" | |
| - name: Build & Install GTSAM | |
| shell: bash | |
| run: | | |
| set -e | |
| git clone https://github.com/borglab/gtsam.git /tmp/gtsam_source | |
| cd /tmp/gtsam_source | |
| mkdir build && cd $_ | |
| if [ "${{ matrix.build_type }}" = "Release" ]; then | |
| if [ "${{ matrix.compiler }}" = "gcc" ]; then | |
| MARCH_NATIVE=OFF | |
| else | |
| MARCH_NATIVE=ON | |
| fi | |
| BUILD_PYTHON=ON | |
| PYTHON_ARGS="-D PYTHON_EXECUTABLE=${{ env.VENV_PYTHON_EXECUTABLE }}" | |
| else | |
| MARCH_NATIVE=OFF | |
| BUILD_PYTHON=OFF | |
| PYTHON_ARGS="" | |
| fi | |
| cmake -D GTSAM_BUILD_EXAMPLES_ALWAYS=OFF \ | |
| -D GTSAM_BUILD_WITH_MARCH_NATIVE=${MARCH_NATIVE} \ | |
| -D GTSAM_BUILD_PYTHON=${BUILD_PYTHON} \ | |
| -D GTSAM_WITH_TBB=OFF \ | |
| -D CMAKE_CXX_FLAGS="-faligned-new" \ | |
| -D CMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| ${PYTHON_ARGS} \ | |
| -D CMAKE_INSTALL_PREFIX=${{ env.GTSAM_INSTALL_DIR }} \ | |
| .. | |
| sudo make -j${NTHREADS} install | |
| if [ "${{ matrix.build_type }}" = "Release" ]; then | |
| make -j${NTHREADS} python-install | |
| fi | |
| sudo ldconfig | |
| cd ${{ github.workspace }} | |
| sudo rm -rf /tmp/gtsam_source | |
| - name: Create build directory | |
| run: mkdir build | |
| - name: Configure GTDynamics | |
| run: | | |
| set -e | |
| if [ "${{ matrix.build_type }}" = "Release" ]; then | |
| BUILD_PYTHON=ON | |
| PYTHON_ARGS="-DPYTHON_EXECUTABLE=${{ env.VENV_PYTHON_EXECUTABLE }}" | |
| else | |
| BUILD_PYTHON=OFF | |
| PYTHON_ARGS="" | |
| fi | |
| cmake -DGTDYNAMICS_BUILD_PYTHON=${BUILD_PYTHON} \ | |
| ${PYTHON_ARGS} \ | |
| -DGTSAM_DIR="${{ env.GTSAM_INSTALL_DIR }}/lib/cmake/GTSAM" \ | |
| -DCMAKE_PREFIX_PATH="${{ env.GTSAM_INSTALL_DIR }}" \ | |
| -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
| .. | |
| working-directory: ./build | |
| - name: Build | |
| run: make -j${NTHREADS} | |
| working-directory: ./build | |
| - name: Test C++ | |
| run: | | |
| set -e | |
| if [ "${{ matrix.compiler }}" = "gcc" ]; then | |
| export LD_LIBRARY_PATH="${{ env.GTSAM_INSTALL_DIR }}/lib${LD_LIBRARY_PATH:+:$LD_LIBRARY_PATH}" | |
| if [ -d "${{ env.GTSAM_INSTALL_DIR }}/lib64" ]; then | |
| export LD_LIBRARY_PATH="${{ env.GTSAM_INSTALL_DIR }}/lib64:$LD_LIBRARY_PATH" | |
| fi | |
| fi | |
| make -j${NTHREADS} check | |
| working-directory: ./build | |
| - name: Install Python Wrappers (Release only) | |
| shell: bash | |
| if: matrix.build_type == 'Release' | |
| run: | | |
| set -e | |
| make -j${NTHREADS} python-install | |
| working-directory: ./build | |
| - name: Test Python (Release only) | |
| if: matrix.build_type == 'Release' | |
| shell: bash | |
| run: | | |
| set -e | |
| source ${{ github.workspace }}/venv/bin/activate | |
| export LD_LIBRARY_PATH="${{ env.GTSAM_INSTALL_DIR }}/lib${LD_LIBRARY_PATH:+:$LD_LIBRARY_PATH}" | |
| make -j${NTHREADS} python-test | |
| working-directory: ./build |