Add Swerve Setpoint Generator to PPLib Python #1137
Workflow file for this run
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| name: PathPlannerLib | |
| on: | |
| push: | |
| branches: [main] | |
| pull_request: | |
| workflow_dispatch: | |
| env: | |
| VERSION_NAME: 0.0.0-dev-${{ github.run_number }} | |
| jobs: | |
| formatting: | |
| name: "[PPLib] Check Formatting" | |
| runs-on: ubuntu-22.04 | |
| container: wpilib/ubuntu-base:22.04 | |
| steps: | |
| - name: Checkout repo | |
| uses: actions/checkout@v4 | |
| - name: Grant execute permission for gradlew | |
| run: chmod +x gradlew | |
| working-directory: ./pathplannerlib | |
| - name: Check formatting | |
| run: ./gradlew spotlessCheck | |
| working-directory: ./pathplannerlib | |
| test: | |
| name: "[PPLib] Unit Tests" | |
| runs-on: ubuntu-22.04 | |
| container: wpilib/ubuntu-base:22.04 | |
| steps: | |
| - name: Checkout repo | |
| uses: actions/checkout@v4 | |
| - name: Grant execute permission for gradlew | |
| run: chmod +x gradlew | |
| working-directory: ./pathplannerlib | |
| - name: Build & Test | |
| run: ./gradlew build | |
| working-directory: ./pathplannerlib | |
| # - name: Upload coverage reports to Codecov | |
| # uses: codecov/codecov-action@v3 | |
| # with: | |
| # token: ${{ secrets.CODECOV_TOKEN }} | |
| # name: pplib-coverage | |
| # files: pathplannerlib/build/reports/jacoco/test/jacocoTestReport.xml | |
| test-python: | |
| name: "[PPLib Python] Unit Tests" | |
| runs-on: ubuntu-22.04 | |
| steps: | |
| - name: Checkout repo | |
| uses: actions/checkout@v4 | |
| - name: Set up Python 3.12 | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: "3.12" | |
| - name: Install dependencies | |
| working-directory: ./pathplannerlib-python | |
| run: | | |
| python -m pip install --upgrade pip | |
| pip install pytest | |
| if [ -f requirements.txt ]; then pip install -r requirements.txt; fi | |
| - name: Test with pytest | |
| working-directory: ./pathplannerlib-python | |
| run: pytest | |
| build-python: | |
| name: "[PPLib Python] Build" | |
| runs-on: ubuntu-22.04 | |
| needs: [test-python] | |
| steps: | |
| - name: Checkout repo | |
| uses: actions/checkout@v4 | |
| - name: Set up Python 3.12 | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: "3.12" | |
| - name: Install dependencies | |
| working-directory: ./pathplannerlib-python | |
| run: | | |
| python -m pip install --upgrade pip | |
| pip install build | |
| if [ -f requirements.txt ]; then pip install -r requirements.txt; fi | |
| - name: Set version | |
| run: sed -i "s/0.0.0/${{ env.VERSION_NAME }}/g" pyproject.toml | |
| working-directory: ./pathplannerlib-python | |
| - name: Build | |
| working-directory: ./pathplannerlib-python | |
| run: python -m build | |
| - name: Upload artifact | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: robotpy-pathplannerlib | |
| path: pathplannerlib-python/dist | |
| build-docker: | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| include: | |
| - container: wpilib/roborio-cross-ubuntu:2024-22.04 | |
| artifact-name: PPLib-Athena | |
| build-options: "-Ponlylinuxathena" | |
| - container: wpilib/ubuntu-base:22.04 | |
| artifact-name: PPLib-Linux | |
| build-options: "-Ponlylinuxx86-64" | |
| - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04 | |
| artifact-name: PPLib-Arm32 | |
| build-options: "-Ponlylinuxarm32" | |
| - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04 | |
| artifact-name: PPLib-Arm64 | |
| build-options: "-Ponlylinuxarm64" | |
| name: "[PPLib] Build - ${{ matrix.artifact-name }}" | |
| needs: [formatting, test] | |
| runs-on: ubuntu-22.04 | |
| container: ${{ matrix.container }} | |
| steps: | |
| - name: Checkout repo | |
| uses: actions/checkout@v4 | |
| - name: Grant execute permission for gradlew | |
| run: chmod +x gradlew | |
| working-directory: ./pathplannerlib | |
| - name: Set version | |
| run: sed -i "s/0.0.0/${{ env.VERSION_NAME }}/g" publish.gradle | |
| working-directory: ./pathplannerlib | |
| - name: Ensure spotless is applied | |
| run: ./gradlew spotlessApply | |
| working-directory: ./pathplannerlib | |
| - name: Build | |
| run: ./gradlew build ${{ matrix.build-options }} | |
| working-directory: ./pathplannerlib | |
| - name: Upload artifact | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: ${{ matrix.artifact-name }} | |
| path: pathplannerlib/build/allOutputs | |
| build-host: | |
| env: | |
| MACOSX_DEPLOYMENT_TARGET: 13.3 | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| include: | |
| - os: windows-2022 | |
| artifact-name: PPLib-Win64 | |
| os-name: windows | |
| - os: macos-15 | |
| artifact-name: PPLib-macOS | |
| os-name: macos | |
| name: "[PPLib] Build - ${{ matrix.artifact-name }}" | |
| needs: [formatting, test] | |
| runs-on: ${{ matrix.os }} | |
| steps: | |
| - name: Checkout repo | |
| uses: actions/checkout@v4 | |
| - name: Setup java | |
| uses: actions/setup-java@v4 | |
| with: | |
| java-version: '17' | |
| distribution: 'zulu' | |
| - name: Set version | |
| if: ${{ matrix.os-name != 'macos' }} | |
| run: sed -i "s/0.0.0/${{ env.VERSION_NAME }}/g" publish.gradle | |
| working-directory: ./pathplannerlib | |
| - name: Set version (mac) | |
| if: ${{ matrix.os-name == 'macos' }} | |
| run: sed -i '' "s/0.0.0/${{ env.VERSION_NAME }}/g" publish.gradle | |
| working-directory: ./pathplannerlib | |
| - name: Ensure spotless is applied | |
| run: ./gradlew spotlessApply | |
| working-directory: ./pathplannerlib | |
| - name: Build | |
| run: ./gradlew build -Pbuildalldesktop | |
| working-directory: ./pathplannerlib | |
| - name: Upload artifact | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: ${{ matrix.artifact-name }} | |
| path: pathplannerlib/build/allOutputs | |
| combine: | |
| name: "[PPLib] Combine" | |
| needs: [build-docker, build-host] | |
| runs-on: ubuntu-22.04 | |
| steps: | |
| - name: Checkout build-tools | |
| uses: actions/checkout@v4 | |
| with: | |
| repository: wpilibsuite/build-tools | |
| - name: Download artifacts | |
| uses: actions/download-artifact@v4 | |
| with: | |
| path: combiner/products/build/allOutputs | |
| - name: Flatten Artifacts | |
| run: rsync -a --delete combiner/products/build/allOutputs/*/* combiner/products/build/allOutputs/ | |
| - name: Setup java | |
| uses: actions/setup-java@v4 | |
| with: | |
| java-version: '17' | |
| distribution: 'zulu' | |
| - name: Combine | |
| run: ./gradlew publish -Pthirdparty | |
| working-directory: combiner | |
| - name: Upload artifact | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: PPLib-Maven-v${{ env.VERSION_NAME }} | |
| path: ~/releases |