name: Python CI # Since this is a required check, specify paths-ignore in the check-paths job # instead of under 'pull_request:'. Otherwise, the check is still required but # never runs, and a maintainer must bypass the check in order to merge the PR. on: [pull_request] # Every time you make a push to your PR, it cancel immediately the previous checks, # and start a new one. The other runner will be available more quickly to your PR. concurrency: group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }} cancel-in-progress: true jobs: # Check paths to changed files to see if any are non-ignored. check-paths: runs-on: ubuntu-latest outputs: should_run: ${{ steps.filter.outputs.relevant_changes }} steps: - name: Check modified files id: filter uses: dorny/paths-filter@v3 with: predicate-quantifier: "every" # If any changed file matches every filter, proceed with build filters: | relevant_changes: - '!**.md' - '!**.ipynb' - '!myst.yml' build: # Only run build if relevant files have been modified in this PR. needs: check-paths if: needs.check-paths.outputs.should_run == 'true' name: ${{ matrix.name }} ${{ matrix.build_type }} Python ${{ matrix.python_version }} runs-on: ${{ matrix.os }} env: CTEST_OUTPUT_ON_FAILURE: ON CTEST_PARALLEL_LEVEL: 2 CMAKE_BUILD_TYPE: ${{ matrix.build_type }} PYTHON_VERSION: ${{ matrix.python_version }} BOOST_VERSION: 1.72.0 BOOST_EXE: boost_1_72_0-msvc-14.2 strategy: fail-fast: true matrix: # Github Actions requires a single row to be added to the build matrix. # See https://help.github.com/en/articles/workflow-syntax-for-github-actions. name: [ ubuntu-22.04-gcc-9, ubuntu-22.04-clang-11, macos-13-xcode-14.2, macos-14-xcode-15.4, windows-2022-msbuild, ] build_type: [Release] python_version: [3] include: - name: ubuntu-22.04-gcc-9 os: ubuntu-22.04 compiler: gcc version: "9" - name: ubuntu-22.04-clang-11 os: ubuntu-22.04 compiler: clang version: "11" - name: macos-13-xcode-14.2 os: macos-13 compiler: xcode version: "14.2" - name: macos-14-xcode-15.4 os: macos-14 compiler: xcode version: "15.4" - name: windows-2022-msbuild os: windows-2022 platform: 64 steps: - name: Checkout uses: actions/checkout@v4 - name: Install (Linux) if: runner.os == 'Linux' run: | if [ "${{ matrix.compiler }}" = "clang" ] && [ "${{ matrix.version }}" = "9" ]; then # (ipv4|ha).pool.sks-keyservers.net is the SKS GPG global keyserver pool # ipv4 avoids potential timeouts because of crappy IPv6 infrastructure # 15CF4D18AF4F7421 is the GPG key for the LLVM apt repository # This key is not in the keystore by default for Ubuntu so we need to add it. LLVM_KEY=15CF4D18AF4F7421 gpg --keyserver keyserver.ubuntu.com --recv-key $LLVM_KEY || gpg --keyserver hkp://keyserver.ubuntu.com:80 --recv-key $LLVM_KEY gpg -a --export $LLVM_KEY | sudo apt-key add - sudo add-apt-repository "deb http://apt.llvm.org/bionic/ llvm-toolchain-bionic-9 main" fi sudo apt-get -y update sudo apt-get -y install cmake build-essential pkg-config libpython3-dev python3-numpy libboost-all-dev ninja-build if [ "${{ matrix.compiler }}" = "gcc" ]; then sudo apt-get install -y g++-${{ matrix.version }} g++-${{ matrix.version }}-multilib echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV echo "CXX=g++-${{ matrix.version }}" >> $GITHUB_ENV else sudo apt-get install -y clang-${{ matrix.version }} g++-multilib echo "CC=clang-${{ matrix.version }}" >> $GITHUB_ENV echo "CXX=clang++-${{ matrix.version }}" >> $GITHUB_ENV fi - name: Install (macOS) if: runner.os == 'macOS' run: | brew tap ProfFan/robotics brew install cmake ninja brew install boost sudo xcode-select -switch /Applications/Xcode.app echo "CC=clang" >> $GITHUB_ENV echo "CXX=clang++" >> $GITHUB_ENV - name: Setup msbuild (Windows) if: runner.os == 'Windows' uses: ilammy/msvc-dev-cmd@v1 with: arch: x${{matrix.platform}} toolset: 14.40 - name: cl version (Windows) if: runner.os == 'Windows' shell: cmd run: cl - name: Setup python (Windows) uses: actions/setup-python@v5 if: runner.os == 'Windows' with: python-version: ${{ matrix.python_version }} - name: Install ninja (Windows) if: runner.os == 'Windows' shell: bash run: | choco install ninja ninja --version where ninja - name: Install Boost (Windows) if: runner.os == 'Windows' shell: powershell run: | # Snippet from: https://github.com/actions/virtual-environments/issues/2667 $BOOST_PATH = "C:\hostedtoolcache\windows\Boost\$env:BOOST_VERSION\x86_64" # Use the prebuilt binary for Windows $Url = "https://sourceforge.net/projects/boost/files/boost-binaries/$env:BOOST_VERSION/$env:BOOST_EXE-${{matrix.platform}}.exe" # Create WebClient with appropriate settings and download Boost exe $wc = New-Object System.Net.Webclient $wc.Headers.Add("User-Agent: Other"); $wc.DownloadFile($Url, "$env:TEMP\boost.exe") Start-Process -Wait -FilePath "$env:TEMP\boost.exe" "/SILENT","/SP-","/SUPPRESSMSGBOXES","/DIR=$BOOST_PATH" # Set the BOOST_ROOT variable echo "BOOST_ROOT=$BOOST_PATH" >> $env:GITHUB_ENV - name: Set GTSAM_WITH_TBB Flag if: matrix.flag == 'tbb' run: | echo "GTSAM_WITH_TBB=ON" >> $GITHUB_ENV echo "GTSAM Uses TBB" - name: Set Swap Space (Linux) if: runner.os == 'Linux' uses: pierotofy/set-swap-space@master with: swap-size-gb: 6 - name: Install System Dependencies (Linux, macOS) if: runner.os != 'Windows' run: | bash .github/scripts/python.sh -d - name: Create virtual on MacOS if: runner.os == 'macOS' run: | python$PYTHON_VERSION -m venv venv source venv/bin/activate echo "PATH=$(pwd)/venv/bin:$PATH" >> $GITHUB_ENV python -m pip install --upgrade pip - name: Install Python Dependencies shell: bash run: python$PYTHON_VERSION -m pip install -r python/dev_requirements.txt - name: Build shell: bash run: | bash .github/scripts/python.sh -b - name: Test shell: bash run: | bash .github/scripts/python.sh -t