# This workflow builds the Python wheels using cibuildwheel and uploads them to TestPyPI. # It can be triggered on push to the develop branch or manually via Github Actions. name: Build Wheels for Develop on: push: branches: - develop workflow_dispatch: jobs: # Get the system time and store it in an output. This is used to tag the wheels. # This needs to be done in a separate job so that each matrix job in build_wheels can # access the same timestamp. get_system_time: name: Get System Time runs-on: ubuntu-latest outputs: timestamp: ${{ steps.get_time.outputs.timestamp }} steps: - name: Get system time id: get_time run: echo "timestamp=$(date +'%Y%m%d%H%M')" >> "$GITHUB_OUTPUT" build_wheels: name: Build Wheels needs: get_system_time runs-on: ${{ matrix.os }} strategy: fail-fast: false matrix: include: # Linux x86_64 - os: ubuntu-latest python_version: "3.10" cibw_python_version: 310 platform_id: manylinux_x86_64 manylinux_image: manylinux2014 - os: ubuntu-latest python_version: "3.11" cibw_python_version: 311 platform_id: manylinux_x86_64 manylinux_image: manylinux2014 - os: ubuntu-latest python_version: "3.12" cibw_python_version: 312 platform_id: manylinux_x86_64 manylinux_image: manylinux2014 - os: ubuntu-latest python_version: "3.13" cibw_python_version: 313 platform_id: manylinux_x86_64 manylinux_image: manylinux2014 # Linux aarch64 - os: ubuntu-24.04-arm python_version: "3.10" cibw_python_version: 310 platform_id: manylinux_aarch64 manylinux_image: manylinux2014 - os: ubuntu-24.04-arm python_version: "3.11" cibw_python_version: 311 platform_id: manylinux_aarch64 manylinux_image: manylinux2014 - os: ubuntu-24.04-arm python_version: "3.12" cibw_python_version: 312 platform_id: manylinux_aarch64 manylinux_image: manylinux2014 - os: ubuntu-24.04-arm python_version: "3.13" cibw_python_version: 313 platform_id: manylinux_aarch64 manylinux_image: manylinux2014 # MacOS x86_64 - os: macos-13 python_version: "3.10" cibw_python_version: 310 platform_id: macosx_x86_64 - os: macos-13 python_version: "3.11" cibw_python_version: 311 platform_id: macosx_x86_64 - os: macos-13 python_version: "3.12" cibw_python_version: 312 platform_id: macosx_x86_64 - os: macos-13 python_version: "3.13" cibw_python_version: 313 platform_id: macosx_x86_64 # MacOS arm64 - os: macos-14 python_version: "3.10" cibw_python_version: 310 platform_id: macosx_arm64 - os: macos-14 python_version: "3.11" cibw_python_version: 311 platform_id: macosx_arm64 - os: macos-14 python_version: "3.12" cibw_python_version: 312 platform_id: macosx_arm64 - os: macos-14 python_version: "3.13" cibw_python_version: 313 platform_id: macosx_arm64 steps: - name: Checkout uses: actions/checkout@v4 - name: Set up Python ${{ matrix.python_version }} uses: actions/setup-python@v5 with: python-version: ${{ matrix.python_version }} # Set the DEVELOP flag and the TIMESTAMP environment variables. This is used in the # top-level CMakeLists.txt to generate the GTSAM_VERSION_STRING. - name: Set Develop Flag run: | echo "DEVELOP=1" >> $GITHUB_ENV echo "TIMESTAMP=${{ needs.get_system_time.outputs.timestamp }}" >> $GITHUB_ENV - name: Install Dependencies run: | python3 -m pip install -r python/dev_requirements.txt if [ "$RUNNER_OS" == "Linux" ]; then sudo apt-get install -y wget libicu-dev python3-pip python3-setuptools libboost-all-dev ninja-build elif [ "$RUNNER_OS" == "macOS" ]; then brew install wget icu4c boost ninja python-setuptools else echo "$RUNNER_OS not supported" exit 1 fi # We first build the Python wrapper module on the host machine. This is done because cibuildwheel # expects a setup.py file to be present in the project directory. # # The Python wrapper module is then rebuilt within the cibuildwheel container before building # the wheels to ensure platform compatibility. - name: Run CMake run: | cmake . -B build -DGTSAM_BUILD_PYTHON=1 -DGTSAM_PYTHON_VERSION=${{ matrix.python_version }} # If on macOS, we previously installed boost using homebrew for the first build. # We need to uninstall it before building the wheels with cibuildwheel, which will # install boost from source. - name: Uninstall Boost (MacOS) if: runner.os == 'macOS' run: | brew uninstall boost - name: Build and test wheels env: # Generate the platform identifier. See https://cibuildwheel.pypa.io/en/stable/options/#build-skip. CIBW_BUILD: cp${{ matrix.cibw_python_version }}-${{ matrix.platform_id }} CIBW_MANYLINUX_X86_64_IMAGE: ${{ matrix.manylinux_image }} CIBW_MANYLINUX_AARCH64_IMAGE: ${{ matrix.manylinux_image }} CIBW_ARCHS: all CIBW_ENVIRONMENT_PASS_LINUX: DEVELOP TIMESTAMP # Set the minimum required MacOS version for the wheels. MACOSX_DEPLOYMENT_TARGET: 10.15 # Set DYLD_LIBRARY_PATH to REPAIR_LIBRARY_PATH, which is set in cibw_before_all.sh. REPAIR_LIBRARY_PATH # simply appends BOOST_LIBRARYDIR to the path, which is required during during link-time repair. CIBW_REPAIR_WHEEL_COMMAND_MACOS: DYLD_LIBRARY_PATH=$REPAIR_LIBRARY_PATH delocate-wheel --require-archs {delocate_archs} -w {dest_dir} -v {wheel} # Use build instead of pip wheel to build the wheels. This is recommended by PyPA. # See https://cibuildwheel.pypa.io/en/stable/options/#build-frontend. CIBW_BUILD_FRONTEND: "build" CIBW_BEFORE_ALL: bash .github/scripts/python_wheels/cibw_before_all.sh ${{ matrix.python_version }} {project} CIBW_BUILD_VERBOSITY: 1 run: bash .github/scripts/python_wheels/build_wheels.sh - name: Store artifacts uses: actions/upload-artifact@v4 with: name: cibw-wheels-cp${{ matrix.cibw_python_version }}-${{ matrix.platform_id }} path: wheelhouse/*.whl upload_all: name: Upload All needs: build_wheels runs-on: ubuntu-latest permissions: id-token: write steps: - name: Download Artifacts uses: actions/download-artifact@v4 with: path: dist/ merge-multiple: true - name: Publish to PyPI uses: pypa/gh-action-pypi-publish@release/v1 with: verbose: true packages-dir: dist/ # repository-url: https://test.pypi.org/legacy/