CudaRobotics/.github/workflows/python-package.yml at master · rsasaki0109/CudaRobotics · GitHub

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name: Python package

on:
  push:
    branches: [master]
    paths:
      - "python/**"
      - "scripts/sync_python_core.sh"
      - "src/*_gpu.cu"
      - "include/cudarobotics/**"
      - "include/cuda_mppi_controller/**"
      - "include/cuda_check.cuh"
      - ".github/workflows/python-package.yml"
  pull_request:
    branches: [master]
    paths:
      - "python/**"
      - "scripts/sync_python_core.sh"
      - "src/*_gpu.cu"
      - "include/cudarobotics/**"
      - "include/cuda_mppi_controller/**"
      - "include/cuda_check.cuh"
      - ".github/workflows/python-package.yml"

jobs:
  build-and-test:
    runs-on: ubuntu-22.04
    strategy:
      matrix:
        python-version: ["3.10", "3.12"]

    steps:
      - uses: actions/checkout@v4

      - name: Install CUDA toolkit
        uses: Jimver/cuda-toolkit@v0.2.16
        with:
          cuda: "12.0.0"
          method: network

      - name: Set up Python
        uses: actions/setup-python@v5
        with:
          python-version: ${{ matrix.python-version }}

      - name: Sync bundled CUDA core
        run: ./scripts/sync_python_core.sh

      - name: Build sdist and wheel
        run: |
          python -m pip install --upgrade pip build
          python -m build python/ --outdir python/dist

      - name: Install from sdist and run tests
        run: |
          python -m venv /tmp/cudarobotics-test-venv
          SDIST=(python/dist/cudarobotics-*.tar.gz)
          /tmp/cudarobotics-test-venv/bin/pip install "${SDIST[0]}[test]"
          PYTEST_DISABLE_PLUGIN_AUTOLOAD=1 \
            /tmp/cudarobotics-test-venv/bin/pytest python/tests -q

      - name: Upload wheels
        if: matrix.python-version == '3.12'
        uses: actions/upload-artifact@v4
        with:
          name: cudarobotics-wheels
          path: python/dist/*

  cibuildwheel:
    if: github.event_name == 'push' && github.ref == 'refs/heads/master'
    runs-on: ubuntu-22.04
    steps:
      - uses: actions/checkout@v4

      - name: Sync bundled CUDA core
        run: ./scripts/sync_python_core.sh

      - name: Build manylinux wheels
        uses: pypa/cibuildwheel@v2.22.0
        env:
          CIBW_BUILD: cp310-* cp312-*
          CIBW_SKIP: pp* *musllinux* *win32 *macosx* *i686*
          CIBW_BUILD_FRONTEND: build
          CIBW_BEFORE_ALL_LINUX: |
            set -eux
            yum install -y yum-utils
            yum-config-manager --add-repo https://developer.download.nvidia.com/compute/cuda/repos/rhel8/x86_64/cuda-rhel8.repo
            yum install -y --setopt=obsoletes=0 cuda-nvcc-12-0 cuda-cudart-devel-12-0 libcurand-devel-12-0
          CIBW_ENVIRONMENT: >-
            CUDACXX=/usr/local/cuda/bin/nvcc
            CMAKE_CUDA_COMPILER=/usr/local/cuda/bin/nvcc
        with:
          package-dir: python

      - name: Upload manylinux wheels
        uses: actions/upload-artifact@v4
        with:
          name: cudarobotics-manylinux-wheels
          path: wheelhouse/*