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ReeceHumphreysReeceHumphreys
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Refactor GitHub workflows and use composite actions
- Created .github/actions which contains a reusable build action for bsk and the docs - Updated pull-request-closed.yml to merge.yml and simplified logic to reflect this is a workflow only intended to run on merges - Simplified pull-request.yml by using the reusable actions - Simplified version bump checking - Gated docs build/deploy behind successful macOS builds
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‎.github/actions/build/action.yml‎

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name: build
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description: >
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Sets up a cross-platform build environment for Basilisk and performs
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either a Conan-based build or a pip-based build.
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inputs:
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python-version:
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description: Python version
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required: true
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build-mode:
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required: false
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default: conan
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conan-args:
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required: false
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default: ""
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extra-apt:
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required: false
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default: ""
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is-canary:
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description: If a canary build is being performed.
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required: false
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default: false
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install-doc-reqs:
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description: If documentation requirements should be installed.
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required: false
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default: false
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runs:
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using: "composite"
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steps:
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- uses: actions/setup-python@v5
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with:
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python-version: ${{ inputs.python-version }}
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cache: "pip"
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cache-dependency-path: |
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requirements_dev.txt
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requirements_doc.txt
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requirements.txt
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- name: Install Linux System Deps.
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if: runner.os == 'Linux'
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shell: bash
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run: |
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sudo apt-get update
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sudo apt-get install -y build-essential python3-setuptools python3-tk ${{ inputs.extra-apt }}
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- name: SWIG Install (Linux)
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if: runner.os == 'Linux'
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uses: mmomtchev/setup-swig@v4
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with:
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version: v4.2.1
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- name: SWIG Install (macOS)
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if: runner.os == 'macOS'
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shell: bash
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env:
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HOMEBREW_NO_AUTO_UPDATE: 1
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HOMEBREW_NO_INSTALL_UPGRADE: 1
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HOMEBREW_NO_ANALYTICS: 1
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run: brew install swig || true
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- name: SWIG Install (Windows)
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if: runner.os == 'Windows'
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shell: pwsh
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run: |
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$swigDir = "C:\Program Files\SWIG"
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if (!(Test-Path $swigDir)) {New-Item -ItemType Directory -Path $swigDir | Out-Null}
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$swigZip = "$swigDir\swigwin-4.2.1.zip"
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$swigUrl = "https://sourceforge.net/projects/swig/files/swigwin/swigwin-4.2.1/swigwin-4.2.1.zip/download"
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Start-Process -NoNewWindow -Wait -FilePath "curl.exe" -ArgumentList "-L -o `"$swigZip`" `"$swigUrl`""
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if (!(Test-Path $swigZip) -or ((Get-Item $swigZip).Length -lt 500KB)) { Write-Host "Download failed or file is corrupted." }
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Expand-Archive -Path $swigZip -DestinationPath $swigDir -Force
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- name: "Add Basilisk and SWIG paths"
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if: runner.os == 'Windows'
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shell: pwsh
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run: |
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$oldpath = (Get-ItemProperty -Path 'Registry::HKEY_LOCAL_MACHINE\System\CurrentControlSet\Control\Session Manager\Environment' -Name PATH).path
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$newPath = “C:\Program Files\SWIG\swigwin-4.2.1;$oldpath;${{ env.GITHUB_WORKSPACE }}\dist3\Basilisk”
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echo "PATH=$newPath" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
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- name: Update Python tooling to latest
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shell: bash
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run: pip install -U pip wheel setuptools
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- name: Install requirements
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shell: bash
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run: |
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if [[ "${{ inputs.is-canary }}" == 'true' ]]; then
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pip install -r .github/workflows/requirements.txt -r .github/workflows/requirements_dev.txt
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else
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pip install -r requirements.txt -r requirements_dev.txt
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fi
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- name: Install documentation requirements
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if: ${{ inputs.install-doc-reqs == 'true' }}
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shell: bash
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run: |
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if [[ "${{ inputs.is-canary }}" == 'true' ]]; then
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pip install -r .github/workflows/requirements_doc.txt
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else
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pip install -r requirements_doc.txt
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fi
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- name: Cache Conan
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if: ${{ inputs.build-mode == 'conan' }}
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uses: actions/cache@v4
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with:
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path: ${{ env.HOME }}/.conan2
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key: >-
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conan-${{ runner.os }}-py${{ inputs.python-version }}-
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${{ hashFiles('conan.lock','conanfile.*','**/conanfile.*','CMakeLists.txt','**/*.cmake') }}
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restore-keys: |
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conan-${{ runner.os }}-py${{ inputs.python-version }}-
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- name: Configure Conan profile
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if: ${{ inputs.build-mode == 'conan' }}
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shell: bash
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run: |
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python -m conans.conan profile detect --exist-ok
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prof_path="$(python -m conans.conan profile path default)"
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grep -q '^\[conf\]' "$prof_path" || printf "\n[conf]\n" >> "$prof_path"
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grep -q '^tools.system.package_manager:mode=install$' "$prof_path" || \
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printf "tools.system.package_manager:mode=install\n" >> "$prof_path"
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grep -q '^tools.system.package_manager:sudo=True$' "$prof_path" || \
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printf "tools.system.package_manager:sudo=True\n" >> "$prof_path"
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- name: Build Basilisk (Conanfile)
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if: ${{ inputs.build-mode == 'conan' }}
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shell: bash
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env:
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CONAN_NON_INTERACTIVE: "1"
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run: |
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python conanfile.py ${{ inputs.conan-args }}
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- name: Build Basilisk (Pip)
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if: ${{ inputs.build-mode == 'pip' }}
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shell: bash
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run: |
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pip install . -v
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bskLargeData

‎.github/actions/docs/action.yml‎

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name: docs
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description: Build Sphinx docs
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inputs:
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html-dir: { required: false, default: "docs/build/html" }
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runs:
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using: composite
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steps:
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- name: Install doc requirements
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shell: bash
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run: |
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brew install doxygen
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pip install -r requirements_doc.txt
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- name: Generate doc artifacts
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shell: bash
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env:
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MPLBACKEND: agg
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working-directory: src
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run: pytest -n auto -m "not ciSkip" -rs --dist=loadscope -v
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- name: Compile docs
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shell: bash
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run: |
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make -C docs html SPHINXOPTS="-W"
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echo "DOCS_HTML=${{ inputs.html-dir }}" >> "$GITHUB_ENV"

‎.github/workflows/canary.yml‎

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on:
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schedule:
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- cron: '0 0 * * 0' # Run weekly on Sunday at midnight
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- cron: "0 0 * * 0" # Run weekly on Sunday at midnight
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workflow_dispatch:
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pull_request:
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branches:
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timeout-minutes: 75
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strategy:
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matrix:
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python-version: [ "3.13" ]
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python-version: ["3.13"]
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steps:
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- name: Checkout code
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uses: actions/checkout@v4
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- name: Set up Python ${{ matrix.python-version }}
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uses: actions/setup-python@v5
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with:
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python-version: ${{ matrix.python-version }}
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- name: Install Homebrew
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run: |
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/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
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brew install swig doxygen
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- name: "Create virtual Environment"
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run: python3 -m venv .venv
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- name: "Capture initial package versions"
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- name: Capture initial package versions
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run: |
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source .venv/bin/activate
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pip freeze > initial_versions.txt
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echo "Initial package versions:" >> $GITHUB_STEP_SUMMARY
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cat initial_versions.txt >> $GITHUB_STEP_SUMMARY
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echo "\n" >> $GITHUB_STEP_SUMMARY
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- name: "Install canary requirements"
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run: |
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source .venv/bin/activate
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pip3 install -r .github/workflows/requirements.txt
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pip3 install -r .github/workflows/requirements_dev.txt
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pip3 install -r .github/workflows/requirements_doc.txt
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pip3 install pytest-error-for-skips
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- name: "Capture final package versions"
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- name: Build Basilisk
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uses: ./.github/actions/build
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with:
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python-version: ${{ matrix.python-version }}
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build-mode: conan
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conan-args: --opNav True --allOptPkg --mujoco True --mujocoReplay True --recorderPropertyRollback True --pyPkgCanary True
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is-canary: true
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install-doc-reqs: true
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- name: Capture final package versions
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run: |
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source .venv/bin/activate
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pip freeze > final_versions.txt
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echo "Final package versions:" >> $GITHUB_STEP_SUMMARY
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cat final_versions.txt >> $GITHUB_STEP_SUMMARY
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echo "\n" >> $GITHUB_STEP_SUMMARY
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echo "Package version changes:" >> $GITHUB_STEP_SUMMARY
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diff -u initial_versions.txt final_versions.txt | grep -E '^[+-]' | grep -v '^+++' | grep -v '^---' >> $GITHUB_STEP_SUMMARY
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- name: "Build basilisk with latest dependencies"
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run: source .venv/bin/activate && python3 conanfile.py --opNav True --allOptPkg --mujoco True --mujocoReplay True --pyPkgCanary True
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- name: "Run Python Tests"
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run: |
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source .venv/bin/activate
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cd src
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pytest -n auto -m "not ciSkip" -rs --error-for-skips --dist=loadscope -v
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- name: Run Python Tests
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working-directory: src
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run: pytest -n auto -m "not ciSkip" -rs --error-for-skips --dist=loadscope -v
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if: ${{ always() }}
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- name: "Run C/C++ Tests"
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- name: Run C/C++ Tests
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working-directory: ./dist3
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run: ctest -C Release
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if: ${{ always() }}
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- name: "Build Documentation"
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run: |
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source .venv/bin/activate
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cd docs
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make html SPHINXOPTS="-W"
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if: ${{ always() }}
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- name: "Upload package version logs"
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- name: Build docs
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uses: ./.github/actions/docs
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- name: Upload package version logs
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if: always()
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uses: actions/upload-artifact@v4
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with:

‎.github/workflows/merge.yml‎

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name: Merge to develop
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on:
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push:
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branches: [develop]
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workflow_dispatch:
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permissions:
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contents: write
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actions: read
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concurrency:
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group: merge-develop
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cancel-in-progress: false
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jobs:
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bump_version:
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name: Bump version (skip if already bumped)
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runs-on: ubuntu-latest
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if: ${{ github.actor != 'AVSlabBot' }}
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steps:
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- uses: actions/checkout@v4
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with:
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ref: develop
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fetch-depth: 0
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token: ${{ secrets.BOT_ACCESS_TOKEN }}
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- name: Bump version
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run: ./.github/workflows/version-bumper.sh ./docs/source/bskVersion.txt
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- name: Commit and push
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run: |
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git config user.name "AVSlabBot"
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git config user.email "cuavslab@gmail.com"
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git commit -a -m "[AUTO] Bump version number" || echo "No changes"
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git push || true
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build-ubuntu-latest-wheels:
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name: Build ubuntu-latest wheels
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needs: bump_version
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# Allow for manual runs to generate new wheels
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if: ${{ always() }}
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runs-on: ubuntu-latest
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strategy:
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matrix:
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python-version: ["3.9", "3.10", "3.11"]
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steps:
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- name: Checkout code
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uses: actions/checkout@v4
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- uses: ./.github/actions/build
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with:
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python-version: ${{ matrix.python-version }}
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build-mode: pip
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extra-apt: "cmake"
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- name: Build wheel
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run: |
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python -m pip wheel . -v --wheel-dir /tmp/wheelhouse
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- uses: actions/upload-artifact@v4
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with:
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name: basilisk-wheels_ubuntu-22.04_python${{ matrix['python-version'] }}
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path: /tmp/wheelhouse/**/*asilisk*.whl
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build_documentation:
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name: macOS Docs Deployment
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needs: bump_version
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runs-on: macos-latest
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steps:
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- uses: actions/checkout@v4
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- name: Build Basilisk
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uses: ./.github/actions/build
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with:
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python-version: 3.13
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build-mode: conan
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conan-args: --opNav True --allOptPkg --mujoco True --mujocoReplay True --recorderPropertyRollback True
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- name: Build docs
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uses: ./.github/actions/docs
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- name: Deploy
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if: ${{ success() }} # deploy only if prior steps ok
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uses: peaceiris/actions-gh-pages@v3
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with:
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github_token: ${{ secrets.GITHUB_TOKEN }}
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publish_dir: ./docs/build/html
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force_orphan: true

‎.github/workflows/pre-commit.yml‎

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name: "Pre-commit"
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on:
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pull_request:
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workflow_dispatch:
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jobs:
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pre-commit:
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runs-on: ubuntu-22.04
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steps:
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- uses: actions/checkout@v4
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- uses: actions/setup-python@v5
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with:
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python-version: 3.11
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- id: file_changes
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uses: tj-actions/changed-files@v44
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- uses: pre-commit/action@v3.0.1
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with:
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extra_args: --files ${{ steps.file_changes.outputs.all_changed_files}}

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