publish.yml

name: Publish

on:
  push:
    tags:
      - "v*"

env:
  PYBIN_SUPPORTED_VERSIONS: "cp3(6m|7m|8|9|10)"

jobs:
  publish:
    runs-on: ubuntu-latest

    container:
      image: quay.io/pypa/manylinux2014_x86_64

    steps:
      - name: Create release
        uses: "marvinpinto/action-automatic-releases@latest"
        with:
          repo_token: "${{ secrets.GITHUB_TOKEN }}"
          prerelease: false

      - name: Checkout repository and submodules
        uses: actions/checkout@v2
        with:
          submodules: recursive

      - name: Log Python versions
        run: |
          echo "Found the following Python versions:"
          for PYBIN in /opt/python/*/bin; do
            if [[ "${PYBIN}" =~ ${PYBIN_SUPPORTED_VERSIONS} ]]; then
              echo "${PYBIN}" | cut -d / -f 4
            fi
          done

      - name: Install build essentials
        run: |
          yum -y install poco-devel*
          
          for PYBIN in /opt/python/*/bin; do
            if [[ "${PYBIN}" =~ ${PYBIN_SUPPORTED_VERSIONS} ]]; then
              "${PYBIN}/pip" install cmake setuptools wheel --user
            fi
          done
          
          ln -f -s $HOME/.local/bin/cmake /usr/bin/cmake

      - name: Install Eigen3
        run: |
          echo $PATH
          git clone https://gitlab.com/libeigen/eigen.git
          cd eigen
          git checkout 3.4.0
          mkdir build && cd build
          cmake ..
          make install -j2

      - name: Install libfranka
        run: |
          git clone --recursive https://github.com/frankaemika/libfranka.git
          cd libfranka
          git checkout 0.10.0
          git submodule update
          mkdir build && cd build
          cmake -DBUILD_TESTS=OFF -DBUILD_EXAMPLES=OFF ..
          make -j2
          make install

      - name: Install pybind11
        run: |
          git clone https://github.com/pybind/pybind11.git
          cd pybind11
          git checkout v2.9.1
          mkdir build && cd build
          cmake -DPYBIND11_TEST=OFF ..
          make -j2
          make install

      - name: Install Catch2
        run: |
          git clone https://github.com/catchorg/Catch2.git
          cd Catch2
          git checkout v2.13.8
          mkdir build && cd build
          cmake -DCATCH_BUILD_TESTING=OFF -DCATCH_ENABLE_WERROR=OFF -DCATCH_INSTALL_DOCS=OFF -DCATCH_INSTALL_HELPERS=OFF ..
          make install

      - name: Python package
        run: |
          mkdir -p wheels
          mkdir -p dist
          mkdir -p dist_full
          
          # Compile wheels
          for PYBIN in /opt/python/*/bin; do
            if [[ "${PYBIN}" =~ ${PYBIN_SUPPORTED_VERSIONS} ]]; then
              "${PYBIN}/pip" wheel . -w wheels/
            fi
          done
          
          # Bundle external shared libraries into the wheels
          for whl in wheels/*.whl; do
            if [[ "$whl" =~ wheels/franky_panda-.*\.whl ]]; then
              auditwheel repair "$whl" -w dist_full/
            else
              cp "$whl" dist_full/
            fi
          done
          
          # Install packages and test
          for PYBIN in /opt/python/*/bin/; do
            if [[ "${PYBIN}" =~ ${PYBIN_SUPPORTED_VERSIONS} ]]; then
              "${PYBIN}/pip" install franky-panda --no-index -f dist_full
              # (cd "$HOME"; "${PYBIN}/nosetests" -w /io/tests)
            fi
          done
          
          cp dist_full/franky_panda-*.whl dist/
          
          ls dist

      - name: Publish python package
        uses: pypa/gh-action-pypi-publish@master
        with:
          password: ${{ secrets.PYPI_TOKEN }}