build-pypi-wheels.yml

name: Build PyPI wheels

on:
  pull_request:
  push:
    branches:
      - main
  workflow_dispatch:
  workflow_call:

permissions:
  contents: read

jobs:
  check_version:
    name: Check package version
    runs-on: ubuntu-latest
    outputs:
      version: ${{ steps.package.outputs.version }}
    steps:
      - name: Check out repository
        uses: actions/checkout@v4
        with:
          submodules: true
          fetch-depth: 0
          persist-credentials: false
      - name: Read package metadata
        id: package
        run: |
          python -m pip install --upgrade "setuptools-scm>=8"
          python - <<'PY' >> "$GITHUB_OUTPUT"
          import tomllib
          from pathlib import Path

          from setuptools_scm import get_version

          pyproject = tomllib.loads(Path("pyproject.toml").read_text())
          project = pyproject["project"]
          if project["name"] != "roboplan":
              raise SystemExit(f"Unexpected package name: {project['name']}")
          if "version" in project:
              raise SystemExit("pyproject.toml must use git-derived dynamic versioning")
          if project.get("dynamic") != ["version"]:
              raise SystemExit("pyproject.toml must declare dynamic = ['version']")
          print(f"version={get_version(root='.', local_scheme='no-local-version')}")
          PY
      - name: Check tag matches package version
        if: startsWith(github.ref, 'refs/tags/')
        env:
          PACKAGE_VERSION: ${{ steps.package.outputs.version }}
          RELEASE_TAG: ${{ github.ref_name }}
        run: |
          if ! [[ "$RELEASE_TAG" =~ ^[0-9]+\.[0-9]+\.[0-9]+$ ]]; then
            echo "::error::Tag $RELEASE_TAG must use N.N.N format"
            exit 1
          fi
          if [ "$RELEASE_TAG" != "$PACKAGE_VERSION" ]; then
            echo "::error::Tag $RELEASE_TAG does not match package version $PACKAGE_VERSION"
            exit 1
          fi

  build_sdist:
    name: Build source distribution
    runs-on: ubuntu-latest
    needs: check_version
    steps:
      - name: Check out repository
        uses: actions/checkout@v4
        with:
          submodules: true
          fetch-depth: 0
          persist-credentials: false
      - name: Set up Python
        uses: actions/setup-python@v5
        with:
          python-version: "3.12"
      - name: Build sdist
        run: |
          rm -rf dist
          python -m pip install --upgrade build twine
          python -m build --sdist
          python -m twine check dist/*.tar.gz
      - name: Upload sdist
        uses: actions/upload-artifact@v4
        with:
          name: python-distributions-sdist
          path: dist/roboplan-*.tar.gz
          if-no-files-found: error

  build_wheels:
    name: Build ${{ matrix.name }} wheels
    runs-on: ${{ matrix.os }}
    needs: check_version
    strategy:
      fail-fast: false
      matrix:
        include:
          - name: Linux x86_64
            os: ubuntu-latest
            archs: x86_64
            artifact: linux-x86_64
            extra_environment: ""
          - name: Linux aarch64
            os: ubuntu-24.04-arm
            archs: aarch64
            artifact: linux-aarch64
            extra_environment: ""
          - name: macOS arm64
            os: macos-14
            archs: arm64
            artifact: macos-arm64
            extra_environment: "MACOSX_DEPLOYMENT_TARGET=14.0"
    steps:
      - name: Check out repository
        uses: actions/checkout@v4
        with:
          submodules: true
          fetch-depth: 0
          persist-credentials: false
      - name: Build wheels
        uses: pypa/cibuildwheel@v4.1.0
        env:
          CIBW_ARCHS: ${{ matrix.archs }}
          CIBW_BUILD: "cp310-* cp311-* cp312-* cp313-* cp314-*"
          CIBW_SKIP: "pp* *-musllinux*"
          CIBW_MANYLINUX_X86_64_IMAGE: manylinux_2_28
          CIBW_MANYLINUX_AARCH64_IMAGE: manylinux_2_28
          CIBW_ENVIRONMENT: >-
            CMAKE_BUILD_PARALLEL_LEVEL=2
            MAKEFLAGS="-j2"
            NINJAFLAGS="-j2"
            ${{ matrix.extra_environment }}
          CIBW_TEST_COMMAND: >-
            python -c "import roboplan; import roboplan.core; import roboplan.filters; import roboplan.example_models;
            import roboplan.simple_ik; import roboplan.optimal_ik; import roboplan.rrt;
            import roboplan.toppra; import roboplan.cartesian_planning; print('roboplan imports ok')"
      - name: Upload wheels
        uses: actions/upload-artifact@v4
        with:
          name: python-distributions-${{ matrix.artifact }}
          path: wheelhouse/roboplan-*.whl
          if-no-files-found: error