python.yml

name: Python CI/CD

on:
  push:
    branches: [ '**' ]
    tags-ignore: [ '**' ]
  pull_request:
  workflow_dispatch:
  release:
    types:
      - published
  schedule:
  # * is a special character in YAML so you have to quote this string
  # Execute a "weekly" build at 2 AM UTC on Thursday
  - cron:  '0 2 * * *'

jobs:

  # sdist can be built from any os and against any python version
  build_sdist:
    name: Build source distribution
    runs-on: ubuntu-22.04
    strategy:
      matrix:
        python-version:
          - "3.10"

    steps:

      - uses: actions/checkout@v3
        with:
          fetch-depth: 0

      - name: Install Python
        uses: actions/setup-python@v4
        with:
          python-version: ${{ matrix.python-version }}

      - name: Install build dependencies
        run: |
          sudo apt-get update
          sudo apt-get install -y \
            build-essential \
            coinor-libipopt-dev \
            libeigen3-dev \
            swig \
            libxml2-dev \
            libassimp-dev \
            libirrlicht-dev \
            libglfw3-dev
          pip install build

      - name: Build sdist
        run: python -m build --sdist

      - name: Install sdist
        run: pip -v install dist/*.tar.gz

      - name: Test import
        run: python -c 'import idyntree.bindings'

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

  build_wheels:
    name: Build wheels [${{ matrix.os }}]
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        python-version:
          - "3.10"
        os:
          - ubuntu-22.04
          #- macos-latest
          #- windows-latest

    steps:

      - uses: actions/checkout@v3
        with:
          fetch-depth: 0

      - name: Set up Python
        uses: actions/setup-python@v4
        with:
          python-version: ${{ matrix.python-version }}

      - name: Install cibuildwheel
        run: pip install cibuildwheel

      - name: Build wheels
        run: python -m cibuildwheel --output-dir wheelhouse
        env:
          CIBW_BUILD_VERBOSITY: 1
          CIBW_BUILD: cp39-*manylinux*_x86_64 cp310-*manylinux*_x86_64 cp311-*manylinux*_x86_64 cp312-*manylinux*_x86_64
          CIBW_MANYLINUX_X86_64_IMAGE: manylinux_2_28
          CIBW_ENVIRONMENT_LINUX: AUDITWHEEL_PLAT=manylinux_2_28_x86_64
          CIBW_BEFORE_BUILD_LINUX: |
            # workaround for https://almalinux.org/blog/2023-12-20-almalinux-8-key-update/
            rpm --import https://repo.almalinux.org/almalinux/RPM-GPG-KEY-AlmaLinux &&\
            dnf update -y &&\
            dnf install -y eigen3-devel libxml2-devel
            # Pre-install NumPy > 2.0
            pip install "numpy>=2.0.0"
          CIBW_TEST_COMMAND: "python -c 'import idyntree.bindings'"

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

  upload_pypi:
    needs:
      - build_sdist
      - build_wheels
    runs-on: ubuntu-latest
    permissions:
      id-token: write
    # Devel branch produces pre-releases.
    # Master branch produces stable releases linked to GitHub releases.

    steps:

      - uses: actions/download-artifact@v4

      - name: Move sdist and wheels
        run: |
          mkdir -p dist/
          mv sdist/* dist/
          mv wheels/* dist/

      - name: Inspect dist folder
        run: ls -lah dist/

      - uses: pypa/gh-action-pypi-publish@release/v1
        if: |
          github.repository == 'robotology/idyntree' &&
          ((github.event_name == 'release' && github.event.action == 'published') ||
           (github.event_name == 'push' && github.ref == 'refs/heads/devel'))