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Update README with current development status #914

Update README with current development status

Update README with current development status #914

Workflow file for this run

name: CI/CD
on:
push:
branches: ["**"]
tags-ignore: ["**"]
pull_request:
workflow_dispatch:
release:
types: [published]
jobs:
# =============
build-colcon:
# =============
name: 'colcon@${{ matrix.ignition }}'
if: |
(github.event_name == 'push' && github.ref != 'refs/heads/master') ||
(github.event_name == 'pull_request' && github.event.pull_request.base.ref != 'master')
runs-on: ubuntu-latest
strategy:
fail-fast: false
matrix:
ignition:
# - dome
# - edifice
- fortress
env:
CCACHE_DIR: ${{ github.workspace }}/.ccache
steps:
- name: '🔍️ Inspect Environment'
run: |
env | grep ^GITHUB
echo ""
cat ${GITHUB_EVENT_PATH}
echo ""
env
- name: '⬇️️ Install dependencies'
run: |
sudo apt-get update
sudo apt-get install -y --no-install-recommends \
lz4 \
git \
wget \
gpg-agent \
ninja-build \
build-essential \
software-properties-common
- name: '🐍 Initialize Python'
uses: actions/setup-python@v2
with:
python-version: 3.8
- name: '🚚 Compilation cache'
uses: actions/cache@v2
with:
path: ${{ env.CCACHE_DIR }}
# We include the commit sha in the cache key, as new cache entries are
# only created if there is no existing entry for the key yet.
key: ${{ runner.os }}-ccache-${{ matrix.ignition }}-${{ github.sha }}
# Restore any ccache cache entry, if none for the key above exists
restore-keys: ${{ runner.os }}-ccache-${{ matrix.ignition }}
- name: '🚚 Enable ccache'
run: |
sudo apt-get update
sudo apt-get install -y ccache
echo "/usr/lib/ccache" >> $GITHUB_PATH
ccache --set-config=max_size=5.0G
ccache --set-config=sloppiness=file_macro,locale,time_macros
ccache -p
ccache -s
- name: '⚙️ Add osrf ppa'
run: |
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" >\
/etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update
- name: '⚙️ Prepare colcon workspace'
run: |
pip install vcstool colcon-common-extensions
sudo mkdir -p /workspace/src /workspace/install
sudo chmod -R a+rw /workspace
cd /workspace/src
wget -O - ${TAGS_YAML} | vcs import
echo $(sort -u $(find . -iname 'packages-'$(lsb_release -cs)'.apt' -o -iname 'packages.apt') | grep -v -E "^libignition|^libsdformat" | tr '\n' ' ') \
> /workspace/install/pkg.txt
xargs -a /workspace/install/pkg.txt sudo apt-get install -y --no-install-recommends
env:
TAGS_YAML: https://raw.githubusercontent.com/ignition-tooling/gazebodistro/master/collection-${{ matrix.ignition }}.yaml
- name: '🏗️ Build colcon workspace'
run: |
cd /workspace
colcon graph
colcon build \
--cmake-args \
-GNinja \
-DBUILD_TESTING:BOOL=OFF \
-DCMAKE_BUILD_TYPE=Debug \
--merge-install
- name: '📈 Ccache stats'
run: ccache --show-stats
- name: '📦️ Compress the workspace'
run: tar -I lz4 -cf /tmp/workspace_install.tar.lz4 /workspace/install
- name: '⬆️ Upload the workspace'
uses: actions/upload-artifact@v2
with:
path: /tmp/workspace_install.tar.lz4
name: workspace-${{ matrix.ignition }}
retention-days: 1
# ===============
build-and-test:
# ===============
name: 'Build and Test [${{matrix.type}}|${{matrix.ignition}}|${{matrix.python}}]'
if: always()
needs: [ build-colcon ]
runs-on: ${{ matrix.os }}
strategy:
fail-fast: false
matrix:
os:
- ubuntu-latest
type:
- User
- Developer
ignition:
# - dome
# - edifice
- fortress
python:
- 3.8
- 3.9
steps:
- name: '🔍 Inspect Environment'
run: |
env | grep ^GITHUB
echo ""
cat ${GITHUB_EVENT_PATH}
echo ""
env
- name: '⬇️ Install build dependencies'
if: contains(matrix.os, 'ubuntu')
run: |
sudo apt-get update
sudo apt-get install -y --no-install-recommends \
lz4 \
git \
wget \
cmake \
gpg-agent \
ninja-build \
build-essential \
software-properties-common
- name: '🐍 Initialize Python'
uses: actions/setup-python@v2
with:
python-version: ${{ matrix.python }}
- name: '🔀 Clone repository'
uses: actions/checkout@master
- name: '🔀 Download all refs'
run: git fetch --prune --unshallow
# ================
# Install Ignition
# ================
- name: '⚙️ Add osrf ppa'
if: contains(matrix.os, 'ubuntu')
run: |
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" >\
/etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update
- name: '[🔒️|stable] Install Ignition from ppa'
if: |
contains(matrix.os, 'ubuntu') && (
github.event_name == 'release' ||
github.ref == 'refs/heads/master' ||
(github.event_name == 'pull_request' && github.event.pull_request.base.ref == 'master')
)
run: sudo apt-get install -y --no-install-recommends ignition-${{ matrix.ignition }}
- name: '[🧪|nightly] Download pre-built colcon workspace'
uses: actions/download-artifact@v2
if: |
contains(matrix.os, 'ubuntu') && (
(github.event_name == 'push' && github.ref != 'refs/heads/master') ||
(github.event_name == 'pull_request' && github.event.pull_request.base.ref != 'master')
)
with:
path: /tmp
name: workspace-${{ matrix.ignition }}
- name: '[🧪|nightly] Setup colcon workspace'
if: |
contains(matrix.os, 'ubuntu') && (
(github.event_name == 'push' && github.ref != 'refs/heads/master') ||
(github.event_name == 'pull_request' && github.event.pull_request.base.ref != 'master')
)
run: |
sudo tar -I lz4 -xf /tmp/workspace_install.tar.lz4 -C /
xargs -a /workspace/install/pkg.txt sudo apt-get install -y --no-install-recommends
echo "source /workspace/install/setup.bash" | sudo tee -a /etc/bash.bashrc
# =============
# Build project
# =============
# This is required because ScenarIO needs to import the iDynTree targets
- name: '⬇️ Install iDynTree dependencies'
if: contains(matrix.os, 'ubuntu')
run: |
sudo apt-get update
sudo apt-get install -y --no-install-recommends \
libxml2-dev coinor-libipopt-dev libeigen3-dev libassimp-dev swig
- name: '🤖 Install iDynTree'
run: |
pip install idyntree
IDYNTREE_PYTHON_PKG=$(python3 -c 'import idyntree, pathlib; print(pathlib.Path(idyntree.__file__).parent)')
echo "CMAKE_PREFIX_PATH=$IDYNTREE_PYTHON_PKG" >> $GITHUB_ENV
# Note: In order to execute the setup.sh script, the file /etc/bash.bashrc must be sourced.
# To do that, we change the shell to a bash interactive session with 'bash -i -e'.
# Developer installation
- name: '[👷|developer] Build and Install C++ ScenarIO'
if: matrix.type == 'Developer'
shell: bash -i -e {0}
run: |
env
cmake -S . -B build/ \
-GNinja \
-DCMAKE_BUILD_TYPE=Debug \
-DIGNITION_DISTRIBUTION=$(python3 -c "print('${{ matrix.ignition }}'.capitalize())")
sudo cmake --build build/ --target install
- name: '[👷|developer] Install Python ScenarIO'
if: matrix.type == 'Developer'
run: pip install -e ./scenario
# User installation
- name: '[👤|user] Create wheel (default ignition)'
if: matrix.type == 'User' && matrix.ignition == 'fortress'
shell: bash -i -e {0}
run: pip wheel --use-feature=in-tree-build -v -w dist/ ./scenario
# Note: Calling "pip wheel" with "--global-option" forces all dependencies to be built from their sdist.
# Since it's very slow, we create the wheel from setup.py without isolation (requires system deps).
- name: '[👤|user] Create wheel (custom ignition)'
if: matrix.type == 'User' && matrix.ignition != 'fortress'
shell: bash -i -e {0}
run: |
pip install wheel setuptools-scm cmake-build-extension
python3 ./scenario/setup.py bdist_wheel \
build_ext -DIGNITION_DISTRIBUTION=$(python3 -c "print('${{ matrix.ignition }}'.capitalize())")
- name: '[👤|user] Install local wheel'
if: matrix.type == 'User'
run: pip install -v dist/scenario-*.whl
- name: '🔍️ Inspect installed ScenarIO package'
if: matrix.type == 'User' && contains(matrix.os, 'ubuntu')
run: |
sudo apt-get install -y --no-install-recommends tree
tree $(python3 -c "import scenario, pathlib; print(pathlib.Path(scenario.__file__).parent)")
# ====================
# Install gym-ignition
# ====================
- name: '🐍 Install gym-ignition'
run: pip install wheel && pip install .[all]
# ============
# Test project
# ============
- name: '🔍 Inspect installed versions'
run: pip list | grep -E "^scenario|^gym-ignition"
- name: '[🐍|scenario] Python Tests'
shell: bash -i -e {0}
run: pytest -m "scenario"
- name: '[🚨|scenario] Python Tests with Valgrind'
shell: bash -i -e {0}
if: failure()
run: |
sudo apt-get install -y --no-install-recommends valgrind
pip install colour-valgrind
valgrind --log-file=/tmp/valgrind.log pytest -m "scenario" || colour-valgrind -t /tmp/valgrind.log
- name: '[🐍|gym-ignition] Python Tests'
shell: bash -i -e {0}
run: pytest -m "gym_ignition"
- name: '[🚨|gym-ignition] Python Tests with Valgrind'
shell: bash -i -e {0}
if: failure()
run: |
sudo apt-get install -y --no-install-recommends valgrind
pip install colour-valgrind
valgrind --log-file=/tmp/valgrind.log pytest -m "gym_ignition" || colour-valgrind -t /tmp/valgrind.log
# ============================
# Upload artifacts (only User)
# ============================
- name: '🗑️ Remove external wheels'
if: matrix.type == 'User'
run: find dist/ -type f -not -name 'scenario-*' -delete -print
# We have to trick PyPI that our wheels are manylinux2014 even if they are not.
# Unfortunately we cannot create self-contained wheels (neither the PEP600 perennial)
# due to the Ignition architecture.
- name: '📝 Rename scenario wheel'
if: matrix.type == 'User' && contains(matrix.os, 'ubuntu')
run: |
ls dist/
find dist/ -type f -name "*.whl" -exec rename.ul linux manylinux2014 {} +
ls dist/
- name: '🔍 Inspect dist folder'
if: matrix.type == 'User'
run: ls -lah dist/
- name: '⬆️ Upload artifacts'
uses: actions/upload-artifact@v2
if: matrix.type == 'User' && matrix.ignition == 'fortress'
with:
path: dist/*
name: dist
# =======
# Website
# =======
- name: '⬇️ Install website dependencies'
run: |
sudo apt-get update
sudo apt-get install -y doxygen texlive-font-utils
- name: '🔍 Inspect metadata'
run: sphinx-multiversion --dump-metadata docs/sphinx/ build/
# This is necessary because otherwise the check for uncommitted apidoc
# only detects additions, not removals.
- name: '🗑️ Remove apidoc folder'
run: rm -r docs/sphinx/apidoc
- name: '🏗️ Build sphinx website'
shell: bash -i -e {0}
run: |
[[ -d build ]] && sudo chown -R $(id -u):$(id -g) build/
cmake -S . -B build/ -DBUILD_DOCS:BOOL=ON
cmake --build build/ --target sphinx
- name: '🔍 Check new uncommitted apidoc'
run: test $(git status --porcelain | wc -l) -eq 0
- name: '🔍 git status'
if: ${{ failure() }}
run: |
git status
git diff
- name: '⬆️ Upload website folder'
uses: actions/upload-artifact@v2
if: matrix.type == 'User' && matrix.ignition == 'fortress' && contains(matrix.os, 'ubuntu')
with:
path: build/html
name: website
retention-days: 1
# ===================
website-deployment:
# ===================
name: 'Website Deployment'
if: always() && needs.build-and-test.result == 'success'
needs: [ build-and-test ]
runs-on: ubuntu-latest
steps:
- name: '⬇️ Download website folder'
uses: actions/download-artifact@v2
with:
path: build/html
name: website
- name: '🔍 Inspect html folder'
run: ls -lah build/html
- name: '🚀 Deploy'
uses: JamesIves/github-pages-deploy-action@releases/v3
if: |
github.event_name == 'push' &&
github.repository == 'robotology/gym-ignition' &&
(github.ref == 'refs/heads/master' || github.ref == 'refs/heads/devel')
with:
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
BRANCH: gh-pages
FOLDER: build/html
CLEAN: true
CLEAN_EXCLUDE: '[".gitignore", ".nojekyll"]'
# =================
python-packaging:
# =================
name: 'Python packaging'
if: always() && needs.build-and-test.result == 'success'
needs: [ build-and-test ]
runs-on: ubuntu-latest
steps:
- name: '🔍️ Inspect Environment'
run: |
env | grep ^GITHUB
echo ""
cat ${GITHUB_EVENT_PATH}
echo ""
env
# Any Python3 version is ok in this job
- name: '🐍 Initialize Python'
uses: actions/setup-python@v2
with:
python-version: 3.8
- name: '🔀 Clone repository'
uses: actions/checkout@master
- name: '🔀 Download all refs'
run: git fetch --prune --unshallow
# ===============
# Download wheels
# ===============
- name: '⬇️ Download scenario wheels'
uses: actions/download-artifact@v2
with:
path: dist
name: dist
- name: '🔍 Inspect dist folder'
run: ls -lah dist/
# ===============
# Create packages
# ===============
# We use build to create sdist. Also pipx would work.
# https://github.com/pypa/build
# Compared to calling setup.py, the advantage of these tools is that
# they automatically handle the build dependencies.
- name: '🐍️️ Install dependencies'
run: pip install build
- name: '[📦|scenario]️ Create sdist'
run: python -m build --sdist scenario/ -o dist/
- name: '[📦|gym-ignition]️ Create sdist and wheel'
run: python -m build .
# ================
# Upload artifacts
# ================
- name: '🗑️ Remove external packages'
run: find dist/ -type f -not \( -name '*scenario-*' -o -name '*gym_ignition-*' \) -delete -print
- name: '🔍 Check packages'
run: pipx run twine check dist/*
- name: '🔍 Inspect dist folder'
run: ls -lah dist/
- name: '⬆️ Upload artifacts'
uses: actions/upload-artifact@v2
with:
path: dist/*
name: dist
# ============
upload_pypi:
# ============
name: Publish to PyPI
if: always() && needs.build-and-test.result == 'success' && needs.python-packaging.result == 'success'
needs:
- build-and-test
- python-packaging
runs-on: ubuntu-latest
# Devel branch produces pre-releases.
# GitHub releases produce stable releases.
steps:
# Needed only to extract from the git repo the last revision
- name: '🔀 Clone repository'
uses: actions/checkout@master
- name: '🔀 Download all refs'
run: git fetch --prune --unshallow
- name: '⬇️ Download Python packages'
uses: actions/download-artifact@v2
with:
path: dist
name: dist
- name: '🔍 Inspect dist folder'
run: ls -lah dist/
# Validate the last tag accordingly to PEP440
# From https://stackoverflow.com/a/37972030/12150968
- name: '📌 Check PEP440 compliance'
if: github.event_name == 'release'
run: |
sudo apt-get update
sudo apt-get install -y source-highlight
last_tag_with_v="$(git describe --abbrev=0 --tags)"
last_tag=${last_tag_with_v#v}
rel_regexp='^(\d+!)?(\d+)(\.\d+)+([\.\-\_])?((a(lpha)?|b(eta)?|c|r(c|ev)?|pre(view)?)\d*)?(\.?(post|dev)\d*)?$'
echo ""
echo $last_tag
echo ""
check-regexp ${rel_regexp} ${last_tag}
match=$(check-regexp ${rel_regexp} ${last_tag} | grep matches | cut -d ' ' -f 5)
test $match -eq 1 && true
- name: '⬆️ Publish packages to PyPI'
if: |
github.repository == 'robotology/gym-ignition' &&
((github.event_name == 'release' && github.event.action == 'published') ||
(github.event_name == 'push' && github.ref == 'refs/heads/devel'))
uses: pypa/gh-action-pypi-publish@master
with:
user: __token__
password: ${{ secrets.PYPI_TOKEN }}
skip_existing: true