publish_dartpy.yml

name: Publish dartpy

on:
  push:
    branches:
      - "**"
  schedule:
    - cron: "0 10 * * 0,3"

# This workflow will install Python dependencies, run tests and lint with a
# variety of Python versions. For more information see:
#   - https://help.github.com/actions/language-and-framework-guides/using-python-with-github-actions
#   - https://github.com/pypa/cibuildwheel/blob/main/examples/github-deploy.yml
jobs:
  check_format:
    name: Check format
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4

      - name: Set up Python 3.11
        uses: actions/setup-python@v5
        with:
          python-version: 3.11

      - name: Install dependencies
        run: |
          python -m pip install --upgrade pip
          pip install black -U
          pip install isort -U

      - name: Check format
        run: |
          black --check --diff .

      - name: Check import
        run: |
          isort --check --diff .

  build_wheels:
    name: ${{ matrix.os }}-${{ matrix.build }}
    runs-on: ${{ matrix.os }}
    continue-on-error: ${{ matrix.experimental }}
    strategy:
      fail-fast: false
      matrix:
        os: [ubuntu-latest]
        build: ["cp37-manylinux_x86_64"]
        toolchain_file: [""]
        experimental: [false]
        release_only: [true]

        include:
          - os: ubuntu-latest
            build: "cp38-manylinux_x86_64"
            toolchain_file: ""
            experimental: false
            release_only: true

          - os: ubuntu-latest
            build: "cp39-manylinux_x86_64"
            toolchain_file: ""
            experimental: false
            release_only: true

          - os: ubuntu-latest
            build: "cp310-manylinux_x86_64"
            toolchain_file: ""
            experimental: false
            release_only: true

          - os: ubuntu-latest
            build: "cp311-manylinux_x86_64"
            toolchain_file: ""
            experimental: false
            release_only: false

          - os: macos-latest
            build: "cp38-macosx_x86_64"
            toolchain_file: ""
            experimental: false
            release_only: true

          - os: macos-latest
            build: "cp39-macosx_x86_64"
            toolchain_file: ""
            experimental: false
            release_only: true

          - os: macos-latest
            build: "cp310-macosx_x86_64"
            toolchain_file: ""
            experimental: false
            release_only: true

          - os: macos-latest
            build: "cp311-macosx_x86_64"
            toolchain_file: ""
            experimental: false
            release_only: false

          - os: windows-latest
            build: "cp38-win_amd64"
            toolchain_file: C:/.dartsim/vcpkg/scripts/buildsystems/vcpkg.cmake
            experimental: false
            release_only: true

          - os: windows-latest
            build: "cp39-win_amd64"
            toolchain_file: C:/.dartsim/vcpkg/scripts/buildsystems/vcpkg.cmake
            experimental: false
            release_only: true

          - os: windows-latest
            build: "cp310-win_amd64"
            toolchain_file: C:/.dartsim/vcpkg/scripts/buildsystems/vcpkg.cmake
            experimental: false
            release_only: true

          - os: windows-latest
            build: "cp311-win_amd64"
            toolchain_file: C:/.dartsim/vcpkg/scripts/buildsystems/vcpkg.cmake
            experimental: false
            release_only: false

          - os: windows-latest
            build: "cp311-win_arm64"
            toolchain_file: C:/.dartsim/vcpkg/scripts/buildsystems/vcpkg.cmake
            experimental: true
            release_only: false

    env:
      CIBW_BUILD: ${{ matrix.build }}

    steps:
      - uses: actions/checkout@v4

      - uses: johnwason/vcpkg-action@v6
        with:
          pkgs: assimp ccd eigen3 fcl fmt spdlog bullet3 coin-or-ipopt freeglut glfw3 nlopt ode opengl osg pagmo2 pybind11 tinyxml2 urdfdom
          triplet: x64-windows
          revision: "2024.02.14"
          github-binarycache: true
          token: ${{ github.token }}

      - name: Build wheels
        if: ${{ matrix.release_only == false || github.ref == 'refs/heads/main' }}
        uses: pypa/cibuildwheel@v2.16.2
        env:
          # Common
          DART_IN_CI: ON

          # macOS
          MACOSX_DEPLOYMENT_TARGET: 10.15

          # Windows
          CMAKE_TOOLCHAIN_FILE: ${{ matrix.toolchain_file }}

      - uses: actions/upload-artifact@v4
        with:
          path: ./wheelhouse/*.whl

  # TODO: Disabled because installing from source doesn't work when the deps are not
  # installed in the system
  # build_sdist:
  #   name: Build source distribution
  #   runs-on: ubuntu-latest
  #   steps:
  #     - uses: actions/checkout@v4

  #     - name: Build SDist
  #       run: pipx run build --sdist

  #     - uses: actions/upload-artifact@v4
  #       with:
  #         path: dist/*.tar.gz

  upload_pypi:
    # needs: [build_wheels, build_sdist]
    needs: [build_wheels]
    runs-on: ubuntu-latest
    if: github.event_name == 'push' && github.ref == 'refs/heads/main'
    # upload to PyPI on every tag starting with 'release-'
    # if: github.event_name == 'push' && startsWith(github.ref, 'release-')
    # alternatively, to publish when a GitHub Release is created, use the following rule:
    # if: github.event_name == 'release' && github.event.action == 'published'
    steps:
      - uses: actions/download-artifact@v4
        with:
          # unpacks default artifact into dist/
          # if `name: artifact` is omitted, the action will create extra parent dir
          name: artifact
          path: dist

      - uses: pypa/gh-action-pypi-publish@v1.8.11
        with:
          user: __token__
          password: ${{ secrets.PYPI_TOKEN }}
          # To test: repository_url: https://test.pypi.org/legacy/
          skip_existing: true