robot-control-stack/.github/workflows/build_wheels.yaml at master · RobotControlStack/robot-control-stack · GitHub

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name: Build and Publish Wheels

on:
  workflow_dispatch:
  release:
    types: [published]

jobs:
  build_core_wheels:
    name: Build core wheels
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v4

      - name: Build core wheels
        uses: pypa/cibuildwheel@v2.22.0
        env:
          CIBW_ARCHS_LINUX: x86_64
          CIBW_BUILD: cp311-* cp312-* cp313-*

      - uses: actions/upload-artifact@v4
        with:
          name: core-wheels
          path: ./wheelhouse/*.whl

  build_cpp_extension_wheels:
    name: Build C++ extension wheels for ${{ matrix.extension }}
    needs: [build_core_wheels]
    runs-on: ubuntu-latest
    strategy:
      fail-fast: false
      matrix:
        extension:
          - rcs_fr3
          - rcs_panda
          - rcs_robotics_library
          - rcs_so101

    steps:
      - uses: actions/checkout@v4

      - uses: actions/download-artifact@v4
        with:
          name: core-wheels
          path: dist/core

      - name: Install root Debian dependencies
        run: |
          sudo apt-get update
          sudo xargs -a debian_deps.txt apt-get install -y

      - name: Install extension Debian dependencies
        run: |
          deps_file="extensions/${{ matrix.extension }}/debian_deps.txt"
          if [ -f "${deps_file}" ]; then
            sudo xargs -a "${deps_file}" apt-get install -y
          fi

      - name: Build C++ extension wheels
        uses: pypa/cibuildwheel@v2.22.0
        env:
          CIBW_ARCHS_LINUX: x86_64
          CIBW_BUILD: cp311-* cp312-* cp313-*
          PIP_FIND_LINKS: /project/dist/core
        with:
          package-dir: extensions/${{ matrix.extension }}
          output-dir: extensions/${{ matrix.extension }}/wheelhouse

      - uses: actions/upload-artifact@v4
        with:
          name: wheels-${{ matrix.extension }}
          path: extensions/${{ matrix.extension }}/wheelhouse/*.whl

  build_python_extension_wheels:
    name: Build pure Python wheel for ${{ matrix.extension }}
    needs: [build_core_wheels]
    runs-on: ubuntu-latest
    strategy:
      fail-fast: false
      matrix:
        extension:
          - rcs_realsense
          - rcs_robotiq2f85
          - rcs_tacto
          - rcs_ur5e
          - rcs_usb_cam
          - rcs_xarm7
          - rcs_zed

    steps:
      - uses: actions/checkout@v4

      - uses: actions/download-artifact@v4
        with:
          name: core-wheels
          path: dist/core

      - name: Install root Debian dependencies
        run: |
          sudo apt-get update
          sudo xargs -a debian_deps.txt apt-get install -y

      - name: Install extension Debian dependencies
        run: |
          deps_file="extensions/${{ matrix.extension }}/debian_deps.txt"
          if [ -f "${deps_file}" ]; then
            sudo xargs -a "${deps_file}" apt-get install -y
          fi

      - name: Set up Python
        uses: actions/setup-python@v5
        with:
          python-version: "3.11"
          cache: pip

      - name: Build pure Python wheel
        env:
          PIP_FIND_LINKS: ${{ github.workspace }}/dist/core
        run: |
          python -m pip install --upgrade pip
          python -m pip install build
          python -m build --wheel "extensions/${{ matrix.extension }}"

      - uses: actions/upload-artifact@v4
        with:
          name: wheels-${{ matrix.extension }}
          path: extensions/${{ matrix.extension }}/dist/*.whl

  upload_pypi:
    needs: [build_core_wheels, build_cpp_extension_wheels, build_python_extension_wheels]
    runs-on: ubuntu-latest
    if: github.event_name == 'release' && github.event.action == 'published'
    environment: pypi
    permissions:
      id-token: write
    steps:
      - uses: actions/download-artifact@v4
        with:
          pattern: "*wheels*"
          merge-multiple: true
          path: dist

      - uses: pypa/gh-action-pypi-publish@release/v1