win.yml

name: Windows CI (Build from source dependencies)

on:
  # Trigger the workflow on push on the master branch, or for any pull request
  push:
    branches:
      - master
  pull_request:

jobs:
  build-and-test-win10:
    name: >-
      (Windows) (${{ matrix.PYTHON_VERSION }}) (${{ matrix.BUILD_TYPE }})
      Build the dependencies. Build the project and run the unit tests.
    runs-on: windows-2022

    defaults:
      run:
        shell: pwsh

    env:
      GENERATOR: "Visual Studio 17 2022"
      CXX_FLAGS: "/DEIGEN_MPL2_ONLY /d2ReducedOptimizeHugeFunctions /fp:contract /arch:AVX2"

    strategy:
      matrix:
        PYTHON_VERSION: ['3.10', '3.11', '3.12']
        BUILD_TYPE: ['Release']
        include:
          - PYTHON_VERSION: '3.12'
            BUILD_TYPE: 'Debug'

    #####################################################################################

    steps:
    - name: Configure Pagefile
      uses: al-cheb/configure-pagefile-action@v1.4
      with:
        disk-root: "C:"
    - name: Create workspace on secondary drive (C:) that has more space
      run: |
        New-Item -ItemType Directory -Force -Path C:\workspace
        New-Item -ItemType Junction -Force -Value C:\workspace -Path "${env:GITHUB_WORKSPACE}/workspace"
    - name: Configure Python
      uses: actions/setup-python@v5
      with:
        python-version: ${{ matrix.PYTHON_VERSION }}
    - name: Checkout jiminy
      uses: actions/checkout@v4
      with:
        path: 'workspace'

    #####################################################################################

    - name: Setup minimal build environment
      run: |
        git config --global advice.detachedHead false
        python -m pip install setuptools wheel "pip>=20.3"
        python -m pip install pefile machomachomangler
    - name: Install pre-compiled binaries for additional gym-jiminy dependencies
      if: matrix.PYTHON_VERSION != '3.13'
      run: |
        python -m pip install "torch" -f https://download.pytorch.org/whl/torch
        python -m pip install "gymnasium>=0.28,<1.0" "stable_baselines3>=2.0"
    - name: Install latest numpy version at build-time for run-time binary compatibility
      run: |
        python -m pip install --upgrade "numpy>=1.24"
    - name: Build jiminy dependencies
      run: |
        ${env:BUILD_TYPE} = "${{ matrix.BUILD_TYPE }}"
        & "./workspace/build_tools/build_install_deps_windows.ps1"

    #####################################################################################

    - name: Configure and build jiminy
      # FIXME: CMake exits with non-zero code if an error occurred in 'execute_process'.
      # Indeed, such errors are expected to occur if some gym_jiminy add-on cannot be
      # installed because of missing pre-compiled dependency on Pypi.
      continue-on-error: true
      run: |
        $ErrorActionPreference = "Stop"
        Set-PSDebug -Trace 1

        $RootDir = "${env:GITHUB_WORKSPACE}/workspace" -replace '\\', '/'
        $InstallDir = "$RootDir/install"

        if (Test-Path env:Boost_ROOT) {
          Remove-Item env:Boost_ROOT
        }

        if (-not (Test-Path -PathType Container $RootDir/build)) {
          New-Item -ItemType "directory" -Force -Path "$RootDir/build"
        }
        Set-Location -Path $RootDir/build
        cmake "$RootDir" -Wdev -G "${env:GENERATOR}" -DCMAKE_GENERATOR_PLATFORM=x64 `
              -DCMAKE_MSVC_RUNTIME_LIBRARY="MultiThreaded$<$<CONFIG:Debug>:Debug>DLL" `
              -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" `
              -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DCMAKE_VERBOSE_MAKEFILE=ON `
              -DBOOST_ROOT="$InstallDir" -DBoost_INCLUDE_DIR="$InstallDir/include" `
              -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE `
              -DBoost_USE_STATIC_LIBS=ON -DPYTHON_REQUIRED_VERSION="${{ matrix.PYTHON_VERSION }}" `
              -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_PYTHON_INTERFACE=ON `
              -DINSTALL_GYM_JIMINY=${{ ((matrix.PYTHON_VERSION == '3.13') && 'OFF') || 'ON' }} `
              -DCMAKE_CXX_FLAGS="${env:CXX_FLAGS} $(
              ) -DBOOST_ALL_NO_LIB -DBOOST_LIB_DIAGNOSTIC -DBOOST_CORE_USE_GENERIC_CMATH $(
              ) -DEIGENPY_STATIC -DURDFDOM_STATIC -DHPP_FCL_STATIC -DPINOCCHIO_STATIC"
        cmake --build . --target ALL_BUILD --config "${{ matrix.BUILD_TYPE }}" --parallel 4

        if (-not (Test-Path -PathType Container "$RootDir/build/pypi/jiminy_py/src/jiminy_py")) {
          New-Item -ItemType "directory" -Force -Path "$RootDir/build/pypi/jiminy_py/src/jiminy_py/core"
        }
        Copy-Item -Force -Recurse -Path "$InstallDir/lib/site-packages/*" `
                  -Destination "$RootDir/build/pypi/jiminy_py/src/jiminy_py/core"

        ${env:Path} += ";$InstallDir/lib"
        cmake --build . --target INSTALL --config "${{ matrix.BUILD_TYPE }}"

    #####################################################################################

    - name: Generating the Python Pip wheels
      run: |
        $RootDir = "${env:GITHUB_WORKSPACE}/workspace" -replace '\\', '/'
        $InstallDir = "$RootDir/install"
        ${env:Path} += ";$InstallDir/lib"

        # Generate stubs
        # FIXME: stubgen does not work with Numpy 2.X
        # (see https://github.com/python/mypy/issues/17396)
        python -m pip install "numpy<2.0"
        stubgen -p jiminy_py -o $RootDir/build/pypi/jiminy_py/src
        python "$RootDir/build_tools/stubgen.py" `
          -o $RootDir/build/stubs --ignore-invalid=all jiminy_py
        Copy-Item -Force -Path "$RootDir/build/stubs/jiminy_py-stubs/core/__init__.pyi" `
                  -Destination "$RootDir/build/pypi/jiminy_py/src/jiminy_py/core/core.pyi"

        # Generate wheels
        Set-Location -Path "$RootDir/build"
        cmake . -DCOMPONENT=pypi -P ./cmake_install.cmake

        # Bundle non-standard dependencies with the wheels
        Remove-Item -Recurse -Path "$RootDir/build/pypi" -Include *.tar.gz
        Get-ChildItem -Recurse -Path "$RootDir/build/pypi/dist/jiminy_py" -Filter *.whl |
        Foreach-Object {
            $wheel_path = ($_.FullName)
            python "$RootDir/build_tools/wheel_repair_win.py" "$wheel_path" -d "$InstallDir/lib" -w "$RootDir/build/wheelhouse"
        }
        Get-ChildItem -Path "$RootDir/build/wheelhouse" -Filter *.whl |
        Foreach-Object {
            $wheel_path = ($_.FullName)
            python -m pip install --force-reinstall --no-deps $wheel_path
        }
    - name: Upload the wheel for Windows of jiminy_py
      if: matrix.BUILD_TYPE != 'Debug'
      uses: actions/upload-artifact@v4
      with:
        name: wheelhouse-${{ matrix.PYTHON_VERSION }}
        path: 'workspace/build/wheelhouse'

    #####################################################################################

    - name: Build extension module
      run: |
        $ErrorActionPreference = "Stop"
        Set-PSDebug -Trace 1

        $RootDir = "${env:GITHUB_WORKSPACE}/workspace" -replace '\\', '/'
        $InstallDir = "$RootDir/install"

        & "$InstallDir/bin/jiminy_double_pendulum.exe"

        mkdir -p "$RootDir/core/examples/external_project/build"
        cd "$RootDir/core/examples/external_project/build"

        $JIMINY_LIB_DIR = (python -c "import os, jiminy_py ; print(os.path.dirname(jiminy_py.get_libraries()))")
        echo $JIMINY_LIB_DIR
        ${env:Path} += ";$JIMINY_LIB_DIR"

        cmake "$RootDir/core/examples/external_project/" -G "${env:GENERATOR}" -DCMAKE_GENERATOR_PLATFORM=x64 `
              -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" `
              -DPYTHON_REQUIRED_VERSION="${{ matrix.PYTHON_VERSION }}" `
              -DCMAKE_CXX_FLAGS="${env:CXX_FLAGS}"
        cmake --build . --target INSTALL --config "${{ matrix.BUILD_TYPE }}"

        & "$InstallDir/bin/pip_double_pendulum.exe"

    - name: Running unit tests for jiminy
      run: |
        $RootDir = "${env:GITHUB_WORKSPACE}/workspace" -replace '\\', '/'

        ctest --output-on-failure --test-dir "${RootDir}/build/core/unit"

        python -m unittest discover -s "${RootDir}/python/jiminy_py/unit_py" -v

    - name: Run unit tests for gym jiminy base module
      run: |
        $RootDir = "${env:GITHUB_WORKSPACE}/workspace" -replace '\\', '/'

        if ("${{ matrix.BUILD_TYPE }}" -eq "Debug") {
          ${env:JIMINY_BUILD_DEBUG} = 1
        }
        python -m unittest discover -s "$RootDir/python/gym_jiminy/unit_py" -v

    - name: Run examples for gym jiminy add-on modules
      if: matrix.BUILD_TYPE != 'Debug'
      run: |
        $RootDir = "${env:GITHUB_WORKSPACE}/workspace" -replace '\\', '/'

        Set-Location -Path "$RootDir/python/gym_jiminy/examples/rllib"
        python acrobot_ppo.py

#########################################################################################

  publish-pypi-win10:
    name: (Windows) Publish on PyPi the wheel for Windows of jiminy_py
    runs-on: ubuntu-24.04
    permissions:
      id-token: write

    needs: build-and-test-win10
    if: github.repository == 'duburcqa/jiminy' && github.event_name == 'push' && github.ref == 'refs/heads/master'

    steps:
    - name: Download the wheels previously generated
      uses: actions/download-artifact@v4
      with:
        pattern: wheelhouse-*
        merge-multiple: true
        path: wheelhouse
    - name: Publish on PyPi the wheels
      uses: pypa/gh-action-pypi-publish@v1.10.3
      with:
        packages-dir: wheelhouse
        verify-metadata: false