ci_cd.yml

name: Python CI/CD

on:
  workflow_dispatch:
  push:
  pull_request:
  release:
    types:
      - published
  schedule:
  # * is a special character in YAML so you have to quote this string
  # Execute a "nightly" build at 2 AM UTC
  - cron:  '0 2 * * *'


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: "3.11"

      - 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
          - windows-latest
        python:
          - "3.11"
          - "3.12"

    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

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

      - name: Document installed pip packages
        shell: bash
        run: pip list --verbose
      
      - 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')
#        run: |
#          sudo apt-get update
#          sudo apt-get install gazebo

      # https://gazebosim.org/docs/harmonic/install_ubuntu
      - name: Install Gazebo Sim
        if: contains(matrix.os, 'ubuntu')
        run: |
          sudo apt-get update
          sudo apt-get install lsb-release wget gnupg
          sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
          echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
          sudo apt-get update
          sudo apt-get install gz-harmonic

      - name: Run the Python tests
        if: contains(matrix.os, 'ubuntu')
        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