robot-control-stack/.github/workflows/ci.yaml at master · RobotControlStack/robot-control-stack · GitHub

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name: Python

on:
  workflow_call:
  pull_request:
    paths:
      - "python/**"
      - "src/pybind/**"
      - ".github/workflows/py.yaml"
      - "extensions/**"
  push:
    branches:
      - master

jobs:
  pythonpackage:
    runs-on: ubuntu-latest
    env:
      CC: clang
      CXX: clang++
      GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
    steps:
      - uses: actions/checkout@v4
      - name: Install CPP dependencies
        run: sudo apt install $(cat debian_deps.txt)
      - name: Install virtual frame buffer tool
        run: sudo apt install xvfb
      - name: Set up Python 3.11
        uses: actions/setup-python@v5
        with:
          python-version: "3.11"
          cache: "pip"
      - name: upgrade pip
        run: pip install --upgrade pip
      - name: Install building dependencies
        run: python -m pip install --group build_deps
      - name: Install wheel
        run: python -m pip install wheel
      - name: Install the package
        run: python -m pip install -ve . --group dev
      - name: Check formatting
        run: make pycheckformat
      - name: Code linting
        run: make pylint
      - name: Check that stub files are up-to-date
        run: make stubgen && git diff --exit-code
      - name: Ensure all unittests(pytest) are passing
        run: xvfb-run make pytest

  check-paths:
    runs-on: ubuntu-latest
    outputs:
      extensions_changed: ${{ steps.changed-files.outputs.any_changed }}
    steps:
      - uses: actions/checkout@v4
        with:
          fetch-depth: 0
      - name: Get changed files for extensions
        id: changed-files
        uses: tj-actions/changed-files@v41
        with:
          files: |
            extensions/**

  build_extensions:
    needs: [pythonpackage, check-paths]
    if: needs.check-paths.outputs.extensions_changed == 'true'
    strategy:
      matrix:
        extension:
          # Python extensions
          - rcs_xarm7
          - rcs_realsense
          - rcs_robotiq2f85
          - rcs_tacto
          - rcs_usb_cam
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4
      - name: Cache apt packages
        uses: actions/cache@v4
        with:
          path: /var/cache/apt/archives
          key: ${{ runner.os }}-apt-${{ hashFiles('debian_deps.txt') }}
          restore-keys: |
            ${{ runner.os }}-apt-
      - name: Install dependencies
        run: sudo apt install $(cat debian_deps.txt)
      - name: Set up Python 3.11
        id: setup-python
        uses: actions/setup-python@v5
        with:
          python-version: "3.11"
          cache: "pip"

      - name: upgrade pip
        run: pip install --upgrade pip
      - name: Install build dependencies
        run: pip install --group build_deps

      - name: Install rcs
        run: pip install -ve . --group dev

      - name: Install extension
        run: pip install -ve extensions/${{ matrix.extension }}

  build_cpp_extensions:
    needs: [pythonpackage, check-paths]
    if: needs.check-paths.outputs.extensions_changed == 'true'
    strategy:
      matrix:
        extension:
          - rcs_fr3
          - rcs_panda
          - rcs_robotics_library
          - rcs_so101
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4
      - name: Cache apt packages
        uses: actions/cache@v4
        with:
          path: /var/cache/apt/archives
          key: ${{ runner.os }}-apt-${{ hashFiles('debian_deps.txt') }}
          restore-keys: |
            ${{ runner.os }}-apt-
      - name: Install virtual frame buffer tool
        run: sudo apt install xvfb
      - name: Install potential debian deps
        run: |
          if [ -f extensions/${{ matrix.extension }}/debian_deps.txt ]; then
            sudo apt install $(cat extensions/${{ matrix.extension }}/debian_deps.txt)
          fi
      - name: Install dependencies
        run: sudo apt install $(cat debian_deps.txt)
      - name: Set up Python 3.11
        id: setup-python
        uses: actions/setup-python@v5
        with:
          python-version: "3.11"
          cache: "pip"
      - name: upgrade pip
        run: pip install --upgrade pip
      - name: Install Python dependencies
        run: pip install --group build_deps
      - name: Install RCS
        run: pip install -ve . --group dev
      - name: Install extension
        run: pip install -ve extensions/${{ matrix.extension }}
      - name: Check that stub files are up-to-date
        run: make -C extensions/${{ matrix.extension }} stubgen && git diff --exit-code
      - name: Check clang format
        run: make -C extensions/${{ matrix.extension }} cppcheckformat
      # - name: Clang Tidy
      #   run: make -C extensions/${{ matrix.extension }} cpplint
      # - name: Clang build
      #   run: make -C extensions/${{ matrix.extension }} clangcompile PYTHON_EXECUTABLE=${{ steps.setup-python.outputs.python-path }}