build-wheel.yml

name: Build Wheel

on:
  push:
    branches:
      - main
    paths:
      - ".github/actions/**"
      - ".github/workflows/build-wheel.yml"
      - "native/**"
      - "pixi.lock"
      - "pixi.toml"
      - "packages/bricksim-domain-randomization-assets-starter/**"
      - "packages/bricksim-domain-randomization-assets-expanded/**"
      - "python/**"
      - "scripts/build.sh"
      - "scripts/materialize_domain_randomization_assets.py"
      - "scripts/set_domain_randomization_wheel_version.py"
  pull_request:
    paths:
      - ".github/actions/**"
      - ".github/workflows/build-wheel.yml"
      - "native/**"
      - "pixi.lock"
      - "pixi.toml"
      - "packages/bricksim-domain-randomization-assets-starter/**"
      - "packages/bricksim-domain-randomization-assets-expanded/**"
      - "python/**"
      - "scripts/build.sh"
      - "scripts/materialize_domain_randomization_assets.py"
      - "scripts/set_domain_randomization_wheel_version.py"
  workflow_dispatch:

permissions:
  contents: read

jobs:
  build-wheels:
    name: cp311_amd64_linux
    runs-on: ubuntu-22.04
    steps:
      - name: Checkout repository
        uses: actions/checkout@v4
        with:
          fetch-depth: 0
          submodules: recursive

      - name: Free disk space
        uses: ./.github/actions/free-disk-space

      - name: Install uv
        uses: astral-sh/setup-uv@v7

      - name: Install pixi
        uses: prefix-dev/setup-pixi@v0.9.3
        with:
          pixi-version: v0.67.0
          cache: true
          frozen: true
          activate-environment: true

      - name: Cache BrickSim artifacts
        uses: ./.github/actions/cache-bricksim-artifacts

      - name: Compute wheel version
        id: version
        run: |
          base_version=$(python - <<'PY'
          from pathlib import Path
          import tomllib

          data = tomllib.loads(Path("python/pyproject.toml").read_text())
          print(data["project"]["version"])
          PY
          )
          sequence=$(git rev-list --count --first-parent HEAD)
          short_sha=$(git rev-parse --short HEAD)
          wheel_version="${base_version}.dev${sequence}+g${short_sha}"
          echo "wheel_version=$wheel_version" >> "$GITHUB_OUTPUT"

      - name: Apply wheel version
        env:
          WHEEL_VERSION: ${{ steps.version.outputs.wheel_version }}
        run: python scripts/set_domain_randomization_wheel_version.py "$WHEEL_VERSION"

      - name: Materialize locked asset payloads
        run: |
          python scripts/materialize_domain_randomization_assets.py --package starter
          python scripts/materialize_domain_randomization_assets.py --package expanded

      - name: Build starter asset wheel
        working-directory: packages/bricksim-domain-randomization-assets-starter
        run: uv build --wheel --out-dir "$GITHUB_WORKSPACE/dist"

      - name: Build expanded asset wheel
        working-directory: packages/bricksim-domain-randomization-assets-expanded
        run: uv build --wheel --out-dir "$GITHUB_WORKSPACE/dist"

      - name: Build native extension
        run: pixi run build-native

      - name: Build runtime wheel
        working-directory: python
        run: uv build --wheel --out-dir "$GITHUB_WORKSPACE/dist"

      - name: Upload wheel artifacts to GitHub Actions
        uses: actions/upload-artifact@v4
        with:
          name: wheels-cp311-linux-amd64
          path: dist/*.whl
          if-no-files-found: error
          compression-level: 0

  publish-wheels:
    needs: build-wheels
    if: >-
      github.repository == 'intelligent-control-lab/BrickSim' &&
      github.ref == 'refs/heads/main' &&
      github.event_name == 'push'
    runs-on: ubuntu-22.04
    permissions:
      contents: read
      id-token: write
    env:
      CLOUDSMITH_NAMESPACE: bricksim
      CLOUDSMITH_REPOSITORY: bricksim
    steps:
      - name: Download wheel artifacts
        uses: actions/download-artifact@v4
        with:
          name: wheels-cp311-linux-amd64
          path: dist

      - name: Authenticate with Cloudsmith via OIDC
        uses: cloudsmith-io/cloudsmith-cli-action@v2
        with:
          oidc-namespace: ${{ env.CLOUDSMITH_NAMESPACE }}
          oidc-service-slug: bricksim-github-actions

      - name: Upload starter asset wheel to Cloudsmith
        run: cloudsmith push python "$CLOUDSMITH_NAMESPACE/$CLOUDSMITH_REPOSITORY" dist/bricksim_domain_randomization_assets_starter-*.whl --republish

      - name: Upload expanded asset wheel to Cloudsmith
        run: cloudsmith push python "$CLOUDSMITH_NAMESPACE/$CLOUDSMITH_REPOSITORY" dist/bricksim_domain_randomization_assets_expanded-*.whl --republish

      - name: Upload runtime wheel to Cloudsmith
        run: cloudsmith push python "$CLOUDSMITH_NAMESPACE/$CLOUDSMITH_REPOSITORY" dist/bricksim-*.whl --republish

      - name: Upload wheel pointer to Cloudsmith
        run: |
          wheel_file=$(basename dist/bricksim-*.whl)
          wheel_url=$(cloudsmith list packages "$CLOUDSMITH_NAMESPACE/$CLOUDSMITH_REPOSITORY" -F json -q "format:python AND filename:^${wheel_file}$" | python -c 'import json, sys; payload = json.load(sys.stdin); data = payload["data"] if isinstance(payload, dict) and "data" in payload else payload; len(data) == 1 or (_ for _ in ()).throw(SystemExit(f"Expected exactly one Cloudsmith package match, got {len(data)}")); print(data[0]["cdn_url"])')
          pointer_dir=$(mktemp -d)
          pointer_file="$pointer_dir/wheel-url.txt"
          printf '%s\n' "$wheel_url" > "$pointer_file"
          cloudsmith push generic "$CLOUDSMITH_NAMESPACE/$CLOUDSMITH_REPOSITORY" "$pointer_file" --filepath "commits/${GITHUB_SHA}/wheel-url.txt" --republish