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juelgjuelg
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chore: dev dependencies and ci (#236)
- moved development dependencies into pyproject.toml installable via '.[dev]' - moved robotics library debian dependencies into the extension - fixed and clarified readme and documentation install instructions - refactored build system and added test installation of extensions in matrix form - installation of extensions' specific debian dependencies - fixed resulting ci problems including apriltags dependency and formatting
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‎.ci_docker/Dockerfile‎

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‎.ci_docker/script.deb.sh‎

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‎.github/workflows/ci.yaml‎

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name: Python
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on:
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workflow_call:
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pull_request:
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paths:
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- "python/**"
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- "src/pybind/**"
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- ".github/workflows/py.yaml"
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- "extensions/**"
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push:
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branches:
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- master
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jobs:
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pythonpackage:
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runs-on: ubuntu-latest
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env:
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CC: clang
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CXX: clang++
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GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
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steps:
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- uses: actions/checkout@v4
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- name: Install CPP dependencies
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run: sudo apt install $(cat debian_deps.txt)
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- name: Install virtual frame buffer tool
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run: sudo apt install xvfb
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- name: Set up Python 3.11
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uses: actions/setup-python@v5
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with:
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python-version: "3.11"
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cache: "pip"
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- name: Install building dependencies
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run: python -m pip install -r requirements.txt
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- name: Install wheel
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run: python -m pip install wheel
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- name: Install the package
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run: python -m pip install -v --no-build-isolation '.[dev]'
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- name: Check formatting
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run: make pycheckformat
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- name: Code linting
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run: make pylint
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- name: Check that stub files are up-to-date
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run: make stubgen && git diff --exit-code
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- name: Ensure all unittests(pytest) are passing
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run: xvfb-run make pytest
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check-paths:
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runs-on: ubuntu-latest
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outputs:
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extensions_changed: ${{ steps.changed-files.outputs.any_changed }}
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steps:
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- uses: actions/checkout@v4
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with:
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fetch-depth: 0
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- name: Get changed files for extensions
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id: changed-files
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uses: tj-actions/changed-files@v41
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with:
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files: |
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extensions/**
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build_extensions:
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needs: [pythonpackage, check-paths]
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if: needs.check-paths.outputs.extensions_changed == 'true'
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strategy:
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matrix:
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extension:
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# Python extensions
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- rcs_xarm7
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- rcs_realsense
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# - rcs_robotiq
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- rcs_tacto
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- rcs_usb_cam
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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- name: Cache apt packages
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uses: actions/cache@v4
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with:
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path: /var/cache/apt/archives
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key: ${{ runner.os }}-apt-${{ hashFiles('debian_deps.txt') }}
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restore-keys: |
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${{ runner.os }}-apt-
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- name: Install dependencies
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run: sudo apt install $(cat debian_deps.txt)
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- name: Set up Python 3.11
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id: setup-python
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uses: actions/setup-python@v5
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with:
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python-version: "3.11"
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cache: "pip"
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- name: Install build dependencies
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run: pip install -r requirements.txt
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- name: Install rcs
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run: pip install -v --no-build-isolation '.[dev]'
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- name: Install extension
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run: pip install -v --no-build-isolation extensions/${{ matrix.extension }}
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build_cpp_extensions:
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needs: [pythonpackage, check-paths]
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if: needs.check-paths.outputs.extensions_changed == 'true'
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strategy:
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matrix:
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extension:
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- rcs_fr3
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- rcs_panda
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- rcs_robotics_library
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- rcs_so101
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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- name: Cache apt packages
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uses: actions/cache@v4
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with:
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path: /var/cache/apt/archives
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key: ${{ runner.os }}-apt-${{ hashFiles('debian_deps.txt') }}
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restore-keys: |
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${{ runner.os }}-apt-
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- name: Install virtual frame buffer tool
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run: sudo apt install xvfb
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- name: Install potential debian deps
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run: |
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if [ -f extensions/${{ matrix.extension }}/debian_deps.txt ]; then
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sudo apt install $(cat extensions/${{ matrix.extension }}/debian_deps.txt)
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fi
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- name: Install dependencies
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run: sudo apt install $(cat debian_deps.txt)
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- name: Set up Python 3.11
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id: setup-python
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uses: actions/setup-python@v5
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with:
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python-version: "3.11"
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cache: "pip"
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- name: Install Python dependencies
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run: pip install -r requirements.txt
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- name: Install RCS
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run: pip install -v --no-build-isolation '.[dev]'
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- name: Install extension
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run: pip install -v --no-build-isolation extensions/${{ matrix.extension }}
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- name: Check that stub files are up-to-date
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run: make -C extensions/${{ matrix.extension }} stubgen && git diff --exit-code
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- name: Check clang format
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run: make -C extensions/${{ matrix.extension }} cppcheckformat
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# - name: Clang Tidy
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# run: make -C extensions/${{ matrix.extension }} cpplint
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# - name: Clang build
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# run: make -C extensions/${{ matrix.extension }} clangcompile PYTHON_EXECUTABLE=${{ steps.setup-python.outputs.python-path }}

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