CI check for bindings stub files

.docker/ros/Dockerfile

@@ -25,7 +25,8 @@ RUN pip3 install \
         "viser>=1.0.1"
 
 # Create a ROS 2 workspace and copy in the source code.
-RUN mkdir -p /workspace/roboplan_ws/src/roboplan
+RUN mkdir -p /workspace/roboplan_ws/src/roboplan \
+    && git config --global --add safe.directory /workspace/roboplan_ws/src/roboplan
 WORKDIR /workspace/roboplan_ws
 COPY . src/roboplan
 

.docker/ubuntu/Dockerfile

@@ -30,7 +30,8 @@ RUN PIP_PATH="$(pip3 show pin | grep "Location:" | cut -d' ' -f2)/cmeel.prefix"
     echo "export CMAKE_PREFIX_PATH=${PIP_PATH}:\${CMAKE_PREFIX_PATH}" >> /roboplan_env.sh
 
 # Create a workspace and copy in the source code.
-RUN mkdir -p /roboplan_ws
+RUN mkdir -p /roboplan_ws \
+    && git config --global --add safe.directory /roboplan_ws
 WORKDIR /roboplan_ws
 COPY . /roboplan_ws
 

.github/workflows/build_and_test.yml

@@ -134,10 +134,19 @@ jobs:
           manifest-path: pixi.toml
       - name: Build and test
         run: |
-          pixi run install_all
-          pixi run build_tests
-          pixi run test_all
+          pixi run -e ci install_all
+          pixi run -e ci build_tests
+          pixi run -e ci test_all
+      - name: Check bindings stub files
+        run: |
+          if ! git diff --exit-code --shortstat -- 'bindings/src/roboplan/roboplan_ext/*.pyi'; then
+            echo "::error::The .pyi stub files are out of sync with the source code. Make sure to rebuild the Python bindings without symlink builds using 'pixi run -e ci install_all' and commit the changes."
+            echo "Git Diff:"
+            git diff -- 'bindings/src/roboplan/roboplan_ext/*.pyi'
+            exit 1
+          fi
+          echo "✅ .pyi stub files look good!"
       # TODO: Decide on a method for automated benchmark performance testing.
       - name: Run benchmarks
         run: |
-          pixi run test_benchmarks
+          pixi run -e ci test_benchmarks

bindings/CMakeLists.txt

@@ -197,7 +197,7 @@ if(GENERATE_PYTHON_STUBS)
     DESTINATION "${PYTHON_STUB_INSTALL_DIR}"
     # Copy the stub files to the source folder for docs and versioning.
     # For now, this step has to be run manually when submitting changes.
-    # It might be good to make a CI action that generates this and finds mismatches,
+    # There is a CI action that generates this and finds mismatches,
     # prompting the user to regenerate it on their own.
     DESTINATION "${CMAKE_SOURCE_DIR}/src/roboplan"
   )

bindings/src/roboplan/roboplan_ext/core.pyi

@@ -1,3 +1,5 @@
+"""Core roboplan module"""
+
 from collections.abc import Sequence
 import enum
 import os

bindings/src/roboplan/roboplan_ext/example_models.pyi

@@ -1,3 +1,5 @@
+"""Example models"""
+
 import pathlib
 
 

bindings/src/roboplan/roboplan_ext/optimal_ik.pyi

@@ -1,3 +1,5 @@
+"""Optimal IK solver module"""
+
 from collections.abc import Sequence
 from typing import Annotated
 

bindings/src/roboplan/roboplan_ext/rrt.pyi

@@ -1,3 +1,5 @@
+"""RRT module"""
+
 from typing import Annotated
 
 import numpy

bindings/src/roboplan/roboplan_ext/simple_ik.pyi

@@ -1,3 +1,5 @@
+"""Simple IK solver module"""
+
 from collections.abc import Sequence
 from typing import overload
 

bindings/src/roboplan/roboplan_ext/toppra.pyi

@@ -1,3 +1,5 @@
+"""TOPP-RA module"""
+
 import roboplan_ext.core
 
 

pixi.toml

@@ -6,12 +6,17 @@ platforms = ["linux-64", "linux-aarch64"]
 version   = "0.2.0"
 
 [activation.env]
-CMAKE_INSTALL_MODE   = "SYMLINK"
 CMAKE_INSTALL_PREFIX = "$CONDA_PREFIX"
 LD_LIBRARY_PATH      = "$CONDA_PREFIX/lib"
 ASAN_OPTIONS         = "symbolize=1:print_stacktrace=1"
 ASAN_SYMBOLIZER_PATH = "$CONDA_PREFIX/bin/llvm-symbolizer"
 
+[feature.local.activation.env]
+CMAKE_INSTALL_MODE   = "SYMLINK"
+
+[feature.ci.activation.env]
+CMAKE_INSTALL_MODE   = "COPY"
+
 [tasks]
 configure = { cmd = [
   "cmake",
@@ -265,4 +270,6 @@ pre-commit = ">=4.1.0,<5"
 lint = "pre-commit run --all-files"
 
 [environments]
+default = { features = ["local"] }
+ci = { features = ["ci"] }
 lint = { features = ["lint"], no-default-feature = true }