manylinux.yml

name: Manylinux CI (PyPi deploy)

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

jobs:
  build-manylinux:
    name: (${{ matrix.PYTHON_VERSION }}) Build wheels.

    strategy:
      matrix:
        PYTHON_VERSION: ['cp310', 'cp311', 'cp312', 'cp313']
        OS: [ubuntu-24.04]
        include:
          - OS: ubuntu-24.04
            CONTAINER: 'quay.io/pypa/manylinux_2_28_x86_64:latest'
            # Enabling AVX2 would bring about 10% speeds-up but breaks compatibility with
            # libraries not compiled for AVX2 as it requires 256 bits memory alignment.
            CXX_FLAGS_ARCH: "-march=x86-64-v3 -mno-avx -mno-avx2"
          #- OS: macos-15
          #  CONTAINER: 'quay.io/pypa/manylinux_2_28_aarch64:latest'
          #  CXX_FLAGS_ARCH: ""

    runs-on: ${{ matrix.OS }}
    container: ${{ matrix.CONTAINER }}

    defaults:
      run:
        # Using bash enables automatic sourcing `.bashrc` and fail-fast behavior
        shell: bash -ieo pipefail {0}

    env:
      BUILD_TYPE: "Release"
      CXX_FLAGS: "-DEIGEN_MPL2_ONLY ${{ matrix.CXX_FLAGS_ARCH }}"

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

    steps:
    - name: Checkout jiminy
      uses: actions/checkout@v4

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

    - name: Setup minimal build environment
      run: |
        pythonLocation=$(find /opt/python -maxdepth 1 -name \
          "$(echo "${{ matrix.PYTHON_VERSION }}*" | sed -e 's/\.//g')" -print \
          | LC_COLLATE=C sort | head -n 1)

        echo "export PATH=\"${pythonLocation}/bin:\$PATH\"" >> $HOME/.bashrc
        source $HOME/.bashrc

        git config --global advice.detachedHead false

        PYTHON_EXECUTABLE="${pythonLocation}/bin/python"
        echo "PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" >> $GITHUB_ENV

        echo "RootDir=${GITHUB_WORKSPACE}" >> $GITHUB_ENV
        echo "InstallDir=${GITHUB_WORKSPACE}/install" >> $GITHUB_ENV

        "${PYTHON_EXECUTABLE}" -m pip install setuptools wheel "pip>=20.3"
        "${PYTHON_EXECUTABLE}" -m pip install twine cmake
    - name: Install latest numpy version at build-time for run-time binary compatibility
      run: |
        "${PYTHON_EXECUTABLE}" -m pip install --upgrade "numpy>=1.24" numba
    - name: Build project dependencies
      run: |
        ./build_tools/build_install_deps_unix.sh

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

    - name: Build and install Jiminy
      run: |
        unset Boost_ROOT

        # Build jiminy
        mkdir "$RootDir/build"
        cd "$RootDir/build"
        export LD_LIBRARY_PATH="$InstallDir/lib:$InstallDir/lib64:/usr/local/lib"
        cmake "$RootDir" -Wdev \
              -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" \
              -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DCMAKE_VERBOSE_MAKEFILE=ON \
              -DBOOST_ROOT="$InstallDir" -DBoost_INCLUDE_DIR="$InstallDir/include" \
              -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE \
              -DBoost_USE_STATIC_LIBS=ON -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" \
              -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_PYTHON_INTERFACE=ON \
              -DCMAKE_CXX_FLAGS="${CXX_FLAGS}" -DCMAKE_BUILD_TYPE="$BUILD_TYPE"
        make -j4

        # Bundle the boost python dependencies with jiminy
        mkdir -p "$RootDir/build/pypi/jiminy_py/src/jiminy_py"
        PYTHON_VERSION="$(${PYTHON_EXECUTABLE} -c \
          "import sysconfig; print(sysconfig.get_config_var('py_version_short'))")"
        \cp -r -H "$InstallDir/lib/python${PYTHON_VERSION}/site-packages/." \
                  "$RootDir/build/pypi/jiminy_py/src/jiminy_py/core"

        # Install jiminy along with its dependencies
        make install

        # Strip all symbol table and relocation information from python bindings and shared libraries
        find "$RootDir/build/pypi/" -name "*.so*" -print -exec strip -s {} +
        find "$InstallDir/lib"* -name "*.so*" -maxdepth 1 -print -exec strip -s {} +

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

    - name: Generate Python Pip wheels
      run: |
        export LD_LIBRARY_PATH="$InstallDir/lib:$InstallDir/lib64:/usr/local/lib"

        # Generate stubs
        # FIXME: stubgen does not work with Numpy 2.X without option `--no-analysis`
        # (see https://github.com/python/mypy/issues/17396)
        stubgen -p jiminy_py -o $RootDir/build/pypi/jiminy_py/src --no-analysis
        "${PYTHON_EXECUTABLE}" "$RootDir/build_tools/stubgen.py" \
          -o $RootDir/build/stubs --ignore-invalid=all jiminy_py
        \cp $RootDir/build/stubs/jiminy_py-stubs/core/__init__.pyi \
            $RootDir/build/pypi/jiminy_py/src/jiminy_py/core/core.pyi

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

        # Bundle non-standard dependencies with the wheels for optimal portability.
        # Note that `--strip` option is not used but rather done manually because the
        # built-in option corrupts the shared library for some reason...
        "${PYTHON_EXECUTABLE}" "$RootDir/build_tools/wheel_repair_linux.py" repair \
            -w "$RootDir/build/wheelhouse" "$RootDir/build/pypi/dist/jiminy_py/"*.whl
    - name: Upload the wheel of Jiminy for Linux
      uses: actions/upload-artifact@v4
      with:
        name: wheelhouse-jiminy-${{ matrix.PYTHON_VERSION }}
        path: build/wheelhouse
    - name: Upload the wheels of Gym Jiminy
      if: success() && matrix.PYTHON_VERSION == 'cp312'
      uses: actions/upload-artifact@v4
      with:
        name: wheelhouse-gym_jiminy
        path: build/pypi/dist/gym_jiminy

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

  test-user-linux:
    name: (${{ matrix.OS }}) Build a pip extension and run the unit tests.
    needs: build-manylinux

    strategy:
      matrix:
        OS: [ubuntu-24.04] #, macos-15]

    runs-on: ${{ matrix.OS }}

    defaults:
      run:
        shell: bash -ieo pipefail {0}

    env:
      BUILD_TYPE: "Release"

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

    steps:
    - name: Checkout jiminy
      uses: actions/checkout@v4
    - name: Setup minimal build environment
      run: |
        PYTHON_EXECUTABLE="/usr/bin/python3"
        echo "PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" >> $GITHUB_ENV
        echo "RootDir=${GITHUB_WORKSPACE}" >> $GITHUB_ENV
        echo "InstallDir=${GITHUB_WORKSPACE}/install" >> $GITHUB_ENV

        echo "/home/runner/.local/bin" >> $GITHUB_PATH
    - name: Installing requirements
      run: |
        sudo env "PATH=$PATH" "$RootDir/build_tools/easy_install_deps_ubuntu.sh"
        "${PYTHON_EXECUTABLE}" -m pip install --prefer-binary pillow scipy "numpy<2.0"

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

    - name: Download the wheels previously generated
      uses: actions/download-artifact@v4
      with:
        pattern: wheelhouse-*
        merge-multiple: true
        path: wheelhouse
    - name: Install the best wheel among the previously generated
      run: |
        # Extract the "best" wheel for our system out of the wheelhouse, using pip's own resolution.
        # We cannot directly install with find-links because it does not guarantee precedence of
        # local wheels for `pip>=21.1` (see https://github.com/pypa/pip/issues/2589).
        "${PYTHON_EXECUTABLE}" -m pip download \
          --no-index --find-links="$RootDir/wheelhouse" --no-deps --dest="$RootDir/dist" jiminy_py
        # rely on bash to expand the full wheel name
        "${PYTHON_EXECUTABLE}" -m pip install --prefer-binary $RootDir/dist/jiminy_py*

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

    - name: Build extension module
      run: |
        mkdir -p "$RootDir/core/examples/external_project/build"
        cd "$RootDir/core/examples/external_project/build"
        cmake "$RootDir/core/examples/external_project/" \
               -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" \
               -DCMAKE_VERBOSE_MAKEFILE=ON \
               -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" \
               -DCMAKE_BUILD_TYPE="${BUILD_TYPE}"
        make install

        "$InstallDir/bin/pip_double_pendulum"
    - name: Run unit tests on user environment
      run: |
        "${PYTHON_EXECUTABLE}" -m unittest discover -s "${GITHUB_WORKSPACE}/python/jiminy_py/unit_py" -v

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

  publish-pypi-manylinux:
    name: Publish on PyPi the wheel for Linux of jiminy_py and gym_jiminy
    runs-on: ubuntu-24.04
    permissions:
      id-token: write

    needs: test-user-linux
    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 the wheels on PyPi
      uses: pypa/gh-action-pypi-publish@v1.10.3
      with:
        packages-dir: wheelhouse
        verify-metadata: false