[misc] Build OSX wheels.

duburcqa · Nov 10, 2021 · 2c36089 · 2c36089
1 parent 4625000
commit 2c36089
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Showing 5 changed files with 142 additions and 63 deletions.
diff --git a/.github/workflows/linux.yml b/.github/workflows/linux.yml
@@ -72,7 +72,7 @@ jobs:
 
         mkdir "$RootDir/build"
         cd "$RootDir/build"
-        export LD_LIBRARY_PATH="/opt/openrobots/lib:$InstallDir/lib/:/usr/local/lib"
+        export LD_LIBRARY_PATH="$InstallDir/lib/:/usr/local/lib"
         cmake "$RootDir" -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" \
               -DBOOST_ROOT="$InstallDir" -DBoost_INCLUDE_DIR="$InstallDir/include" \
               -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE \
@@ -86,7 +86,7 @@ jobs:
 
     - name: Build extension module
       run: |
-        export LD_LIBRARY_PATH="/opt/openrobots/lib:$InstallDir/lib/:/usr/local/lib"
+        export LD_LIBRARY_PATH="$InstallDir/lib/:/usr/local/lib"
 
         "$InstallDir/bin/jiminy_double_pendulum"
 
@@ -101,7 +101,7 @@ jobs:
 
     - name: Run unit tests
       run: |
-        export LD_LIBRARY_PATH="/opt/openrobots/lib:$InstallDir/lib/:/usr/local/lib"
+        export LD_LIBRARY_PATH="$InstallDir/lib/:/usr/local/lib"
 
         ./build/unit/unit
 

diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml
@@ -14,16 +14,18 @@ jobs:
 
     strategy:
       matrix:
-        os: [macos-10.15]
+        os: [macos-10.15, macos-11]
+        PYTHON_VERSION: ['3.6', '3.7', '3.8', '3.9']
+        exclude:
+          - os: macos-11
+            PYTHON_VERSION: '3.6'
 
     defaults:
       run:
-        shell: bash
+        shell: bash -ieo pipefail {0}  # Using bash enables automatic sourcing `.bashrc` and fail-fast behavior
 
     env:
       BUILD_TYPE: "Release"
-      PYTHON_VERSION: 3.8
-      MIN_MACOS_VERSION: 10.9
 
     #####################################################################################
 
@@ -36,29 +38,34 @@ jobs:
     - name: Configure Python
       uses: actions/setup-python@v1
       with:
-        python-version: ${{ env.PYTHON_VERSION }}
+        python-version: ${{ matrix.PYTHON_VERSION }}
         architecture: 'x64'
     - name: Setup minimal build environment
       run: |
+        git config --global advice.detachedHead false
+
         PYTHON_EXECUTABLE="${pythonLocation}/bin/python${PYTHON_VERSION}"
         echo "PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" >> $GITHUB_ENV
-
-        "${PYTHON_EXECUTABLE}" -m pip install --upgrade pip
-        "${PYTHON_EXECUTABLE}" -m pip install --upgrade wheel
-        "${PYTHON_EXECUTABLE}" -m pip install --upgrade numpy
-
         echo "RootDir=${GITHUB_WORKSPACE}" >> $GITHUB_ENV
         echo "InstallDir=${GITHUB_WORKSPACE}/install" >> $GITHUB_ENV
 
-        git config --global advice.detachedHead false
+        if [ "${{ matrix.os }}" == "macos-10.15" ] ; then
+          echo "MIN_MACOS_VERSION='10.9'" >> $GITHUB_ENV
+          echo "OSX_ARCHITECTURES='x86_64'" >> $GITHUB_ENV
+          echo "WHEEL_ARCH='x86_64'" >> $GITHUB_ENV
+        else
+          echo "MIN_MACOS_VERSION='11.0'" >> $GITHUB_ENV
+          echo "OSX_ARCHITECTURES='x86_64;arm64'" >> $GITHUB_ENV
+          echo "WHEEL_ARCH='universal2'" >> $GITHUB_ENV
+        fi
+
+        "${PYTHON_EXECUTABLE}" -m pip install --upgrade pip
+        "${PYTHON_EXECUTABLE}" -m pip install --upgrade twine wheel delocate
+        "${PYTHON_EXECUTABLE}" -m pip install --upgrade numpy
     - name: Build project dependencies
       run: |
-        MIN_MACOS_VERSION=${MIN_MACOS_VERSION} ./build_tools/build_install_deps_unix.sh
-
-        PYTHON_USER_SITELIB="$(${PYTHON_EXECUTABLE} -m site --user-site)"
-        mkdir -p "${PYTHON_USER_SITELIB}"
-        echo "$InstallDir/lib/python${PYTHON_VERSION}/site-packages" \
-        >> "${PYTHON_USER_SITELIB}/user_site.pth"
+        MIN_MACOS_VERSION=${MIN_MACOS_VERSION} OSX_ARCHITECTURES=${OSX_ARCHITECTURES} ./build_tools/build_install_deps_unix.sh
+        "${PYTHON_EXECUTABLE}" -m pip install --prefer-binary "gym>=0.18.3" "stable_baselines3>=0.10" "importlib-metadata>=3.3.0"
 
     #####################################################################################
 
@@ -68,13 +75,63 @@ jobs:
 
         mkdir "$RootDir/build"
         cd "$RootDir/build"
-        export LD_LIBRARY_PATH="/opt/openrobots/lib:$InstallDir/lib/:/usr/local/lib"
+        export LD_LIBRARY_PATH="$InstallDir/lib/:/usr/local/lib"
         cmake "$RootDir" -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" \
-              -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF -DCMAKE_OSX_DEPLOYMENT_TARGET="${MIN_MACOS_VERSION}" \
+              -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF \
+              -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${MIN_MACOS_VERSION}" \
               -DBOOST_ROOT="$InstallDir" -DBoost_INCLUDE_DIR="$InstallDir/include" \
               -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE \
               -DBoost_USE_STATIC_LIBS=ON -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" \
               -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_PYTHON_INTERFACE=ON \
               -DCMAKE_CXX_FLAGS="-fPIC" \
               -DCMAKE_BUILD_TYPE="${BUILD_TYPE}"
-        make install -j2
+        make -j2
+
+        mkdir -p "$RootDir/build/pypi/jiminy_py/src/jiminy_py"
+        cp -R -H "$InstallDir/lib/python${{ matrix.PYTHON_VERSION }}/site-packages/." \
+                 "$RootDir/build/pypi/jiminy_py/src/jiminy_py/core"
+        find "$RootDir/build/pypi/" -name "*.so*" -exec strip -S -x -r -v {} +
+
+        make install
+
+    #####################################################################################
+
+    - name: Generate and install Python Pip wheels
+      run: |
+        export DYLD_LIBRARY_PATH="$InstallDir/lib"
+
+        cd "$RootDir/build"
+        cmake . -DCOMPONENT=pypi -P ./cmake_install.cmake
+
+        delocate-wheel --require-archs "${WHEEL_ARCH}" \
+                       -w "$RootDir/build/wheelhouse" "$RootDir/build/pypi/dist/jiminy_py/"*.whl
+        delocate-addplat --rm-orig -p "macosx_${MIN_MACOS_VERSION//./_}_${WHEEL_ARCH}" \
+                         "$RootDir/build/wheelhouse/"*.whl
+        "${PYTHON_EXECUTABLE}" -m pip install --force-reinstall --no-deps "$RootDir/build/wheelhouse/"*.whl
+    - name: Upload the wheel for Linux of jiminy_py
+      if: success() && github.repository == 'duburcqa/jiminy'
+      uses: actions/upload-artifact@v1
+      with:
+        name: jiminy_py-${{ matrix.PYTHON_VERSION }}-wheel
+        path: build/wheelhouse
+
+    #####################################################################################
+
+    - name: Run unit tests
+      run: |
+        ./build/unit/unit
+
+        cd "$RootDir/unit_py"
+        "${PYTHON_EXECUTABLE}" -m unittest discover -v
+
+    #####################################################################################
+
+    - name: Publish on PyPi the wheel for Linux of jiminy_py
+      if: >-
+        success() &&
+        github.repository == 'duburcqa/jiminy' && github.event_name == 'push' && github.ref == 'refs/heads/master'
+      uses: pypa/gh-action-pypi-publish@master
+      with:
+        user: __token__
+        password: ${{ secrets.PYPI_DEPLOY }}
+        packages_dir: build/wheelhouse
diff --git a/.github/workflows/manylinux.yml b/.github/workflows/manylinux.yml
@@ -49,20 +49,20 @@ jobs:
         echo "export PATH=\"${pythonLocation}/bin:\$PATH\"" >> $HOME/.bashrc
         source $HOME/.bashrc
 
+        git config --global advice.detachedHead false
+
         PYTHON_EXECUTABLE="${pythonLocation}/bin/python"
+        echo "PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" >> $GITHUB_ENV
+        echo "RootDir=${GITHUB_WORKSPACE}" >> $GITHUB_ENV
+        echo "InstallDir=${GITHUB_WORKSPACE}/install" >> $GITHUB_ENV
+
         "${PYTHON_EXECUTABLE}" -m pip install --upgrade pip
         "${PYTHON_EXECUTABLE}" -m pip install --upgrade twine wheel auditwheel cmake
         if [ "${{ matrix.legacy }}" == true ] ; then
           "${PYTHON_EXECUTABLE}" -m pip install --upgrade "numpy<1.20"
         else
           "${PYTHON_EXECUTABLE}" -m pip install --upgrade numpy
         fi
-        echo "PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" >> $GITHUB_ENV
-
-        echo "RootDir=${GITHUB_WORKSPACE}" >> $GITHUB_ENV
-        echo "InstallDir=${GITHUB_WORKSPACE}/install" >> $GITHUB_ENV
-
-        git config --global advice.detachedHead false
     - name: Build project dependencies
       run: |
         ./build_tools/build_install_deps_unix.sh
@@ -95,6 +95,8 @@ jobs:
 
         make install
 
+    #####################################################################################
+
     - name: Generate and install Python Pip wheels
       run: |
         export LD_LIBRARY_PATH="$InstallDir/lib:/usr/local/lib"
@@ -105,8 +107,8 @@ jobs:
         # Note that `--strip` option is not used but rather done manually because the
         # built-in option corrupts the shared library for some reason...
         "${PYTHON_EXECUTABLE}" "$RootDir/build_tools/wheel_repair_linux.py" repair \
-            -w "$RootDir/build/wheelhouse" "$RootDir"/build/pypi/dist/jiminy_py/*.whl
-        "${PYTHON_EXECUTABLE}" -m pip install --force-reinstall --no-deps "$RootDir"/build/wheelhouse/*.whl
+            -w "$RootDir/build/wheelhouse" "$RootDir/build/pypi/dist/jiminy_py/"*.whl
+        "${PYTHON_EXECUTABLE}" -m pip install --force-reinstall --no-deps "$RootDir/build/wheelhouse/"*.whl
     - name: Upload the wheel for Linux of Jiminy_py
       if: success() && github.repository == 'duburcqa/jiminy'
       uses: actions/upload-artifact@v1

diff --git a/.github/workflows/win.yml b/.github/workflows/win.yml
@@ -117,7 +117,7 @@ jobs:
             $wheel_path = ($_.FullName)
             python -m pip install --force-reinstall --no-deps $wheel_path
         }
-    - name: Upload the wheel for Windows of Jiminy_py
+    - name: Upload the wheel for Windows of jiminy_py
       if: success() && github.repository == 'duburcqa/jiminy'
       uses: actions/upload-artifact@v1
       with:
@@ -164,7 +164,7 @@ jobs:
 #########################################################################################
 
   publish-pypi-win10:
-    name: (Windows) Publish on PyPi the wheel for Windows of Jiminy_py
+    name: (Windows) Publish on PyPi the wheel for Windows of jiminy_py
     needs: build-and-test-win10
     runs-on: ubuntu-20.04
     if: github.repository == 'duburcqa/jiminy' && github.event_name == 'push' && github.ref == 'refs/heads/master'