Rebase from 'release/noetic/hpp-fcl'

humanoid-path-planner · Dec 3, 2023 · b12aa02 · b12aa02
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diff --git a/.git-blame-ignore-revs b/.git-blame-ignore-revs
@@ -1 +1,6 @@
 0067c8aa66aac548601e2a3fd029aa264cc59f2a
+76b68f785df31b00e153290b45ec290a9c5f7963
+# ruff --fix . (Guilhem Saurel, 2023-10-24)
+58dee5ae90eded5125825a2da0fe76a5031f3334
+# black . (Guilhem Saurel, 2023-10-24)
+889ff8d1ca00b9e317e1da4136e233bb49a049df
diff --git a/.github/workflows/check-changelog.yml b/.github/workflows/check-changelog.yml
@@ -0,0 +1,14 @@
+name: Check-changelog
+on:
+  pull_request:
+    types: [assigned, opened, synchronize, reopened, labeled, unlabeled]
+    branches:
+      - devel
+jobs:
+  check-changelog:
+    name: Check changelog action
+    runs-on: ubuntu-latest
+    steps:
+      - uses: tarides/changelog-check-action@v2
+        with:
+          changelog: CHANGELOG.md
diff --git a/.github/workflows/macos-linux-conda.yml b/.github/workflows/macos-linux-conda.yml
@@ -11,6 +11,7 @@ jobs:
       fail-fast: false
       matrix:
         os: ["ubuntu-latest", "macos-latest"]
+        python-version: ["3.8", "3.12"]
 
     steps:
     - uses: actions/checkout@v3
@@ -22,7 +23,7 @@ jobs:
         activate-environment: hpp-fcl
         auto-update-conda: true
         environment-file: .github/workflows/conda/conda-env.yml
-        python-version: 3.7
+        python-version: ${{ matrix.python-version }}
 
     - name: Install compilers on OSX
       if: contains(matrix.os, 'macos')
@@ -60,3 +61,18 @@ jobs:
       run: |
         cd build
         make uninstall
+
+  check:
+    if: always()
+    name: check-macos-linux-conda
+
+    needs:
+    - hpp-fcl-conda
+
+    runs-on: Ubuntu-latest
+
+    steps:
+    - name: Decide whether the needed jobs succeeded or failed
+      uses: re-actors/alls-green@release/v1
+      with:
+        jobs: ${{ toJSON(needs) }}
diff --git a/.github/workflows/macos-linux-pip.yml b/.github/workflows/macos-linux-pip.yml
@@ -0,0 +1,31 @@
+name: Build hpp-fcl for Mac OS X/Linux via pip
+
+on: [push, pull_request]
+
+env:
+    CTEST_OUTPUT_ON_FAILURE: 1
+    CTEST_PARALLEL_LEVEL: 4
+
+jobs:
+  hpp-fcl-pip:
+    name: "CI on ${{ matrix.os }} / py ${{ matrix.python-version }} with pip"
+    runs-on: "${{ matrix.os }}-latest"
+
+    strategy:
+      fail-fast: false
+      matrix:
+        os: ["ubuntu", "macos"]
+        python-version: ["3.8", "3.9", "3.10", "3.11", "3.12"]
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: 'true'
+      - uses: actions/setup-python@v4
+        with:
+          python-version: ${{ matrix.python-version }}
+      - run: python -m pip install -U pip
+      - run: python -m pip install cmeel-assimp cmeel-octomap cmeel-qhull eigenpy[build]
+      - run: echo "CMAKE_PREFIX_PATH=$(cmeel cmake)" >> $GITHUB_ENV
+      - run: cmake -B build -S . -DHPP_FCL_HAS_QHULL=ON
+      - run: cmake --build build -j 4
+      - run: cmake --build build -t test
diff --git a/.github/workflows/ros_ci.yml b/.github/workflows/ros_ci.yml
@@ -11,12 +11,12 @@ jobs:
     strategy:
       matrix:
         env:
-          - {ROS_DISTRO: melodic, PRERELEASE: false}
           - {ROS_DISTRO: noetic}
-          - {ROS_DISTRO: foxy}
+          - {ROS_DISTRO: iron}
+          - {ROS_DISTRO: humble}
           - {ROS_DISTRO: rolling}
     env:
-      CCACHE_DIR: /github/home/.ccache # Enable ccache
+      #CCACHE_DIR: /github/home/.ccache # Enable ccache
       BUILDER: colcon
       PRERELEASE: true
     runs-on: ubuntu-latest
@@ -25,10 +25,25 @@ jobs:
         with:
           submodules: recursive
       # This step will fetch/store the directory used by ccache before/after the ci run
-      - uses: actions/cache@v3
-        with:
-          path: ${{ env.CCACHE_DIR }}
-          key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+      #- uses: actions/cache@v3
+      #  with:
+      #    path: ${{ env.CCACHE_DIR }}
+      #    key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
       # Run industrial_ci
-      - uses: 'ros-industrial/industrial_ci@6a8f546cbd31fbd5c9f77e3409265c8b39abc3d6'
+      - uses: 'ros-industrial/industrial_ci@9f963f67ebb889792175776c5ee00134d7bb569b'
         env: ${{ matrix.env }}
+
+  check:
+    if: always()
+    name: check-ros-ci
+
+    needs:
+    - CI
+
+    runs-on: Ubuntu-latest
+
+    steps:
+    - name: Decide whether the needed jobs succeeded or failed
+      uses: re-actors/alls-green@release/v1
+      with:
+        jobs: ${{ toJSON(needs) }}
diff --git a/.github/workflows/windows-conda-clang.yml b/.github/workflows/windows-conda-clang.yml
@@ -18,13 +18,13 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: recursive
-    - uses: goanpeca/setup-miniconda@v1
+    - uses: conda-incubator/setup-miniconda@v2
       env:
         ACTIONS_ALLOW_UNSECURE_COMMANDS: 'true'
       with:
         activate-environment: fcl
         environment-file: .github/workflows/conda/conda-env.yml
-        python-version: 3.7
+        python-version: "3.10"
     - name: Install cmake and update conda
       run: |
         conda install cmake -c main
@@ -52,23 +52,38 @@ jobs:
           -G "Visual Studio 16 2019" -T "ClangCl" -DCMAKE_GENERATOR_PLATFORM=x64 ^
           -DCMAKE_INSTALL_PREFIX=%CONDA_PREFIX%\Library ^
           -DCMAKE_BUILD_TYPE=Release ^
-          -DGENERATE_PYTHON_STUBS=OFF ^
+          -DGENERATE_PYTHON_STUBS=ON ^
           -DPYTHON_SITELIB=%CONDA_PREFIX%\Lib\site-packages ^
           -DPYTHON_EXECUTABLE=%CONDA_PREFIX%\python.exe ^
           -DHPP_FCL_HAS_QHULL=ON ^
           -DBUILD_PYTHON_INTERFACE=ON ^
           ..
+        if errorlevel 1 exit 1
 
         :: Build and Install
         cmake --build . --config Release --target install
-
-        :: Build stubs
-        git clone https://github.com/jcarpent/pybind11-stubgen.git
-        python "%CD%\pybind11-stubgen\pybind11_stubgen\__init__.py" -o %CONDA_PREFIX%\Lib\site-packages hppfcl --boost-python --ignore-invalid signature --no-setup-py --root-module-suffix ""
+        if errorlevel 1 exit 1
 
         :: Testing
         ctest --output-on-failure -C Release -V
+        if errorlevel 1 exit 1
 
         :: Test Python import
         cd ..
         python -c "import hppfcl"
+        if errorlevel 1 exit 1
+
+  check:
+    if: always()
+    name: check-windows-conda-clang
+
+    needs:
+    - build
+
+    runs-on: Ubuntu-latest
+
+    steps:
+    - name: Decide whether the needed jobs succeeded or failed
+      uses: re-actors/alls-green@release/v1
+      with:
+        jobs: ${{ toJSON(needs) }}
diff --git a/.github/workflows/windows-conda-v142.yml b/.github/workflows/windows-conda-v142.yml
@@ -17,13 +17,13 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: recursive
-    - uses: goanpeca/setup-miniconda@v1
+    - uses: conda-incubator/setup-miniconda@v2
       env:
         ACTIONS_ALLOW_UNSECURE_COMMANDS: 'true'
       with:
         activate-environment: fcl
         environment-file: .github/workflows/conda/conda-env.yml
-        python-version: 3.7
+        python-version: "3.10"
     - name: Install cmake and update conda
       run: |
         conda install cmake -c main
@@ -51,24 +51,38 @@ jobs:
           -G "Visual Studio 16 2019" -T "v142" -DCMAKE_GENERATOR_PLATFORM=x64 ^
           -DCMAKE_INSTALL_PREFIX=%CONDA_PREFIX%\Library ^
           -DCMAKE_BUILD_TYPE=Release ^
-          -DGENERATE_PYTHON_STUBS=OFF ^
+          -DGENERATE_PYTHON_STUBS=ON ^
           -DPYTHON_SITELIB=%CONDA_PREFIX%\Lib\site-packages ^
           -DPYTHON_EXECUTABLE=%CONDA_PREFIX%\python.exe ^
           -DHPP_FCL_HAS_QHULL=ON ^
           -DBUILD_PYTHON_INTERFACE=ON ^
           ..
+        if errorlevel 1 exit 1
 
         :: Build and Install
         cmake --build . --config Release --target install
-
-
-        :: Build stubs
-        git clone https://github.com/jcarpent/pybind11-stubgen.git
-        python "%CD%\pybind11-stubgen\pybind11_stubgen\__init__.py" -o %CONDA_PREFIX%\Lib\site-packages hppfcl --boost-python --ignore-invalid signature --no-setup-py --root-module-suffix ""
+        if errorlevel 1 exit 1
 
         :: Testing
         ctest --output-on-failure -C Release -V
+        if errorlevel 1 exit 1
 
         :: Test Python import
         cd ..
         python -c "import hppfcl"
+        if errorlevel 1 exit 1
+
+  check:
+    if: always()
+    name: check-windows-conda-v142
+
+    needs:
+    - build
+
+    runs-on: Ubuntu-latest
+
+    steps:
+    - name: Decide whether the needed jobs succeeded or failed
+      uses: re-actors/alls-green@release/v1
+      with:
+        jobs: ${{ toJSON(needs) }}
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
@@ -1 +1 @@
-include: http://rainboard.laas.fr/project/hpp-fcl/.gitlab-ci.yml
+include: https://rainboard.laas.fr/project/hpp-fcl/.gitlab-ci.yml
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -1,16 +1,24 @@
 ci:
-    autoupdate_branch: 'devel'
+  autoupdate_branch: devel
 repos:
--   repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v15.0.7
-    hooks:
-    -   id: clang-format
-        args: ['--style={BasedOnStyle: Google, SortIncludes: false}']
--   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.4.0
-    hooks:
-    -   id: trailing-whitespace
--   repo: https://github.com/psf/black
-    rev: 23.1.0
-    hooks:
-    -   id: black
+- repo: https://github.com/astral-sh/ruff-pre-commit
+  rev: v0.1.6
+  hooks:
+  - id: ruff
+    args:
+    - --fix
+    - --exit-non-zero-on-fix
+- repo: https://github.com/pre-commit/mirrors-clang-format
+  rev: v17.0.5
+  hooks:
+  - id: clang-format
+    args:
+    - '--style={BasedOnStyle: Google, SortIncludes: false}'
+- repo: https://github.com/pre-commit/pre-commit-hooks
+  rev: v4.5.0
+  hooks:
+  - id: trailing-whitespace
+- repo: https://github.com/psf/black
+  rev: 23.11.0
+  hooks:
+  - id: black
Original file line number	Diff line number	Diff line change
		@@ -1 +1 @@
		include: http://rainboard.laas.fr/project/hpp-fcl/.gitlab-ci.yml
		include: https://rainboard.laas.fr/project/hpp-fcl/.gitlab-ci.yml