ci_cd.yml

name: Python CI/CD

on:
  push:
  pull_request:
  release:
    types:
      - published

jobs:

  package:
    name: Package the project
    runs-on: ubuntu-22.04

    steps:

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

      - name: Set up Python
        uses: actions/setup-python@v4
        with:
          python-version: 3.8

      - name: Install Python tools
        run: pip install build twine

      - name: Create distributions
        run: python -m build -o dist/

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

      - name: Check wheel's abi and platform tags
        run: test $(find dist/ -name *-none-any.whl | wc -l) -gt 0

      - name: Run twine check
        run: twine check dist/*

      - name: Upload artifacts
        uses: actions/upload-artifact@v3
        with:
          path: dist/*
          name: dist

  test:
    name: 'Python${{ matrix.python }}@${{ matrix.os }}'
    needs: package
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        os:
          - ubuntu-22.04
          - macos-latest
          # https://github.com/google/jax/issues/5795
          # - windows-latest
        python:
          - "3.8"
          - "3.9"
          - "3.10"
          - "3.11"

    steps:

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

      - name: Download Python packages
        uses: actions/download-artifact@v3
        with:
          path: dist
          name: dist

      # Workaround: install iDynTree for Python 3.11
      - name: iDynTree on Python 3.11
        if: contains(matrix.os, 'ubuntu') && matrix.python == '3.11'
        shell: bash
        run: pip install --pre idyntree

      - name: Install wheel (ubuntu)
        if: contains(matrix.os, 'ubuntu')
        shell: bash
        run: pip install "$(find dist/ -type f -name '*.whl')[all]"

      - name: Install wheel (macos)
        if: contains(matrix.os, 'macos')
        shell: bash
        run: pip install "$(find dist/ -type f -name '*.whl')"

      - name: Import the package
        run: python -c "import jaxsim"

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

      - name: Install Gazebo Classic
        if: contains(matrix.os, 'ubuntu') && (matrix.python == '3.10' || matrix.python == '3.11')
        run: |
          sudo apt-get update
          sudo apt-get install gazebo

      - name: Run the Python tests
        if: contains(matrix.os, 'ubuntu') && (matrix.python == '3.10' || matrix.python == '3.11')
        run: pytest
        env:
          JAX_PLATFORM_NAME: cpu

  publish:
    name: Publish to PyPI
    needs: test
    runs-on: ubuntu-22.04

    steps:

      - name: Download Python packages
        uses: actions/download-artifact@v3
        with:
          path: dist
          name: dist

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

      - name: Publish to PyPI
        if: |
          github.repository == 'ami-iit/jaxsim' &&
          ((github.event_name == 'push' && github.ref == 'refs/heads/main') ||
           (github.event_name == 'release'))
        uses: pypa/gh-action-pypi-publish@release/v1
        with:
          user: __token__
          password: ${{ secrets.PYPI_TOKEN }}
          skip_existing: true