integrate.yml

# Test and publish toppra (Python)
name: Python package

on: [push, pull_request]

jobs:

  python:
    runs-on: ubuntu-latest
    strategy:
      matrix:
        python-version: [3.7, 3.8, 3.9, "3.10"]

    steps:
      - uses: actions/checkout@v2
      - name: Set up Python ${{ matrix.python-version }}
        uses: actions/setup-python@v2
        with:
          python-version: ${{ matrix.python-version }}

      - name: Install dependencies
        run: |
          python -m pip install --upgrade pip
          pip install tox tox-gh-actions

      - name: Test with tox
        run: tox

  cpp:
    runs-on: ${{ matrix.os }}
    strategy:
      matrix:
        include:
          # This is because of pinocchio version on apt
          - python-version: 3.6
            os: ubuntu-18.04
          - python-version: 3.8
            os: ubuntu-20.04

    steps:
      - uses: actions/checkout@v2
      - name: Set up Python 
        uses: actions/setup-python@v2
        with:
          python-version: ${{ matrix.python-version }}
      - name: Install dep
        run: |
          echo "deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -sc) robotpkg" \
            | sudo tee /etc/apt/sources.list.d/robotpkg.list
          curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key \
            | sudo apt-key add -

          sudo apt update

          PY_VER_LONG=${{ matrix.python-version }}
          PY_VER="${PY_VER_LONG:0:1}${PY_VER_LONG:2:1}"
          sudo apt install -y cmake \
            clang-tidy \
            libeigen3-dev \
            robotpkg-pinocchio \
            robotpkg-qpoases \
            libglpk-dev \
            robotpkg-py${PY_VER}-pinocchio \
            robotpkg-py${PY_VER}-example-robot-data

          cd ~/ && git clone https://github.com/pybind/pybind11
          cd pybind11 && git checkout v2.5.0
          mkdir build && cd build && cmake -DPYBIND11_TEST=false .. && sudo make install

      - name: Build
        run: |
          export LD_LIBRARY_PATH=/opt/openrobots/lib:${LD_LIBRARY_PATH}
          export CMAKE_PREFIX_PATH=/opt/openrobots:$CMAKE_PREFIX_PATH
          mkdir -p cpp/build
          cd cpp/build
          cmake \
            -DBUILD_WITH_PINOCCHIO=ON \
            -DBUILD_WITH_qpOASES=ON \
            -DBUILD_WITH_GLPK=ON \
            -DPYTHON_BINDINGS=ON \
            -DPYTHON_VERSION=${{ matrix.python-version }} \
            -DBUILD_WITH_PINOCCHIO_PYTHON=true \
            -DBoost_NO_BOOST_CMAKE=ON \
          ..
          make -j4
      - name: Test
        run: |
          cd cpp/build
          ./tests/all_tests

      - name: Install dependencies
        run: |
          python -m pip install --upgrade pip
          pip install tox tox-gh-actions

      - name: Test with tox
        run: tox

  build-wheels:
    name: Build wheels
    runs-on: ${{ matrix.os }}
    strategy:
      matrix:
        os: [ubuntu-latest]
    if: github.event_name == 'push' && startsWith(github.ref, 'refs/tags')
    steps:
      - uses: actions/checkout@v2

      - uses: actions/setup-python@v2
        name: Install Python
        with:
          python-version: '3.8'

      - name: Build wheels
        uses: pypa/cibuildwheel@v2.1.1

      - uses: actions/upload-artifact@v2
        with:
          name: dist
          path: ./wheelhouse/*.whl

  build-sdist:
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v2
      - name: Set up Python 3.9
        uses: actions/setup-python@v2
        with:
          python-version: 3.9

      - name: Install dependencies
        run: |
          python -m pip install --upgrade pip
          pip install cython numpy setuptools wheel
          python setup.py sdist

      - name: Archive production artifacts
        uses: actions/upload-artifact@v2
        with:
          name: dist
          path: |
            dist

  release:
    needs: ["build-sdist", "build-wheels", "python", "cpp"]
    runs-on: ubuntu-latest
    environment: PYPI_PASSWORD
    if: github.event_name == 'push' && startsWith(github.ref, 'refs/tags')
    steps:
      - run: echo "Deploying to pypi on branch $GITHUB_REF"

      - name: Download all workflow run artifacts
        uses: actions/download-artifact@v2

      - run: ls dist

      - name: Publish package
        uses: pypa/gh-action-pypi-publish@release/v1
        with:
          user: __token__
          password: ${{ secrets.PYPI_TOKEN }}
          skip_existing: true