Build and test latest for Windows and Linux. Build and Test all support python versions for macOS

ReeceHumphreys · ReeceHumphreys · commit 8b14def246ef · 2025-08-28T11:30:05.000-06:00
diff --git a/.github/actions/build/action.yml b/.github/actions/build/action.yml
@@ -6,21 +6,15 @@ inputs:
   python-version:
     description: Python version
     required: true
-  build-mode:
-    required: false
-    default: conan
   conan-args:
     required: false
     default: ""
-  extra-apt:
-    required: false
-    default: ""
   is-canary:
     description: If a canary build is being performed.
     required: false
     default: false
-  install-doc-reqs:
-    description: If documentation requirements should be installed.
+  skip-build:
+    description: Used to do all build related setup, while skipping the actual build
     required: false
     default: false
 
@@ -41,7 +35,7 @@ runs:
       shell: bash
       run: |
         sudo apt-get update
-        sudo apt-get install -y build-essential python3-setuptools python3-tk ${{ inputs.extra-apt }}
+        sudo apt-get install -y build-essential python3-setuptools python3-tk libgtk2.0
 
     - name: SWIG Install (Linux)
       if: runner.os == 'Linux'
@@ -78,10 +72,6 @@ runs:
         $newPath = “C:\Program Files\SWIG\swigwin-4.2.1;$oldpath;${{ env.GITHUB_WORKSPACE }}\dist3\Basilisk”
         echo "PATH=$newPath" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
 
-    - name: Update Python tooling to latest
-      shell: bash
-      run: pip install -U pip wheel setuptools
-
     - name: Install requirements
       shell: bash
       run: |
@@ -91,18 +81,7 @@ runs:
           pip install -r requirements.txt -r requirements_dev.txt
         fi
 
-    - name: Install documentation requirements
-      if: ${{ inputs.install-doc-reqs == 'true' }}
-      shell: bash
-      run: |
-        if [[ "${{ inputs.is-canary }}" == 'true' ]]; then
-          pip install -r .github/workflows/requirements_doc.txt
-        else
-          pip install -r requirements_doc.txt
-        fi
-
     - name: Cache Conan
-      if: ${{ inputs.build-mode == 'conan' }}
       uses: actions/cache@v4
       with:
         path: ${{ env.HOME }}/.conan2
@@ -113,29 +92,21 @@ runs:
           conan-${{ runner.os }}-py${{ inputs.python-version }}-
 
     - name: Configure Conan profile
-      if: ${{ inputs.build-mode == 'conan' }}
       shell: bash
       run: |
         python -m conans.conan profile detect --exist-ok
         prof_path="$(python -m conans.conan profile path default)"
-
         grep -q '^\[conf\]' "$prof_path" || printf "\n[conf]\n" >> "$prof_path"
         grep -q '^tools.system.package_manager:mode=install$' "$prof_path" || \
-          printf "tools.system.package_manager:mode=install\n" >> "$prof_path"
+           printf "tools.system.package_manager:mode=install\n" >> "$prof_path"
         grep -q '^tools.system.package_manager:sudo=True$' "$prof_path" || \
           printf "tools.system.package_manager:sudo=True\n" >> "$prof_path"
 
-    - name: Build Basilisk (Conanfile)
-      if: ${{ inputs.build-mode == 'conan' }}
+    - name: Build Basilisk
       shell: bash
+      if: ${{ inputs.skip-build == 'false' }}
       env:
-        CONAN_NON_INTERACTIVE: "1"
-      run: |
-        python conanfile.py ${{ inputs.conan-args }}
-
-    - name: Build Basilisk (Pip)
-      if: ${{ inputs.build-mode == 'pip' }}
-      shell: bash
+        CONAN_ARGS: ${{ inputs.conan-args }}
       run: |
-        pip install . -v
+        pip install --no-build-isolation -e . -v
         bskLargeData
diff --git a/.github/actions/docs/action.yml b/.github/actions/docs/action.yml
@@ -3,6 +3,10 @@ description: Build Sphinx docs
 
 inputs:
   html-dir: { required: false, default: "docs/build/html" }
+  is-canary:
+    description: If a canary build is being performed.
+    required: false
+    default: false
 
 runs:
   using: composite
@@ -11,7 +15,11 @@ runs:
       shell: bash
       run: |
         brew install doxygen
-        pip install -r requirements_doc.txt
+        if [[ "${{ inputs.is-canary }}" == 'true' ]]; then
+          pip install -r .github/workflows/requirements_doc.txt
+        else
+          pip install -r requirements_doc.txt
+        fi
     - name: Generate doc artifacts
       shell: bash
       env:
diff --git a/.github/actions/pre-commit/action.yml b/.github/actions/pre-commit/action.yml
@@ -0,0 +1,15 @@
+name: pre-commit
+description: Run pre-commit on changed files with Python 3.11
+
+runs:
+  using: composite
+  steps:
+    - uses: actions/setup-python@v5
+      with:
+        python-version: 3.11
+
+    - id: file_changes
+      uses: tj-actions/changed-files@v44
+    - uses: pre-commit/action@v3.0.1
+      with:
+        extra_args: --files ${{ steps.file_changes.outputs.all_changed_files }}
diff --git a/.github/workflows/canary.yml b/.github/workflows/canary.yml
@@ -37,10 +37,8 @@ jobs:
         uses: ./.github/actions/build
         with:
           python-version: ${{ matrix.python-version }}
-          build-mode: conan
-          conan-args: --opNav True --allOptPkg --mujoco True --mujocoReplay True --recorderPropertyRollback True --pyPkgCanary True
+          conan-args: --opNav True --allOptPkg --mujoco True --mujocoReplay True --pyPkgCanary True
           is-canary: true
-          install-doc-reqs: true
       - name: Capture final package versions
         run: |
           pip freeze > final_versions.txt
@@ -49,16 +47,17 @@ jobs:
           echo "\n" >> $GITHUB_STEP_SUMMARY
           echo "Package version changes:" >> $GITHUB_STEP_SUMMARY
           diff -u initial_versions.txt final_versions.txt | grep -E '^[+-]' | grep -v '^+++' | grep -v '^---' >> $GITHUB_STEP_SUMMARY
-      - name: Run Python Tests
-        working-directory: src
-        run: pytest -n auto -m "not ciSkip" -rs --error-for-skips --dist=loadscope -v
-        if: ${{ always() }}
+      # NOTE: The documentation depends on images generated by executing the
+      # Python tests successfully. As such, the "Build docs" action below
+      # handles running the Python tests internally
       - name: Run C/C++ Tests
         working-directory: ./dist3
         run: ctest -C Release
         if: ${{ always() }}
       - name: Build docs
         uses: ./.github/actions/docs
+        with:
+          is-canary: true
       - name: Upload package version logs
         if: always()
         uses: actions/upload-artifact@v4
diff --git a/.github/workflows/merge.yml b/.github/workflows/merge.yml
@@ -48,11 +48,13 @@ jobs:
       - name: Checkout code
         uses: actions/checkout@v4
 
+      # The 'Build wheel' step will perform the actual build. However, we want
+      # all pre build setup to still be performed
       - uses: ./.github/actions/build
         with:
           python-version: ${{ matrix.python-version }}
-          build-mode: pip
           extra-apt: "cmake"
+          skip-build: true
 
       - name: Build wheel
         run: |
@@ -73,7 +75,6 @@ jobs:
         uses: ./.github/actions/build
         with:
           python-version: 3.13
-          build-mode: conan
           conan-args: --opNav True --allOptPkg --mujoco True --mujocoReplay True --recorderPropertyRollback True
       - name: Build docs
         uses: ./.github/actions/docs
diff --git a/.github/workflows/pre-commit.yml b/.github/workflows/pre-commit.yml
@@ -1,19 +1,10 @@
-name: "Pre-commit"
-
+name: Pre-commit
 on:
-  pull_request:
   workflow_dispatch:
 
 jobs:
   pre-commit:
     runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v4
-      - uses: actions/setup-python@v5
-        with:
-          python-version: 3.11
-      - id: file_changes
-        uses: tj-actions/changed-files@v44
-      - uses: pre-commit/action@v3.0.1
-        with:
-          extra_args: --files ${{ steps.file_changes.outputs.all_changed_files}}
+      - uses: ./.github/actions/pre-commit
diff --git a/.github/workflows/pull-request.yml b/.github/workflows/pull-request.yml
@@ -13,88 +13,47 @@ jobs:
     runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v4
-      - uses: actions/setup-python@v5
-        with:
-          python-version: 3.11
-      - id: file_changes
-        uses: tj-actions/changed-files@v44
-      - uses: pre-commit/action@v3.0.1
-        with:
-          extra_args: --files ${{ steps.file_changes.outputs.all_changed_files}}
+      - uses: ./.github/actions/pre-commit
 
-  # Perform a Basilisk build with all supported python versions using the
-  # conanfile install based approach. For the latest python release, enable
-  # additional conan args.
-  build-linux-conan:
+  build-linux:
     runs-on: ubuntu-22.04
+    timeout-minutes: 90
+    needs: pre-commit
     strategy:
       fail-fast: false
       matrix:
-        python: ["3.8", "3.9", "3.10", "3.11", "3.12", "3.13"]
-        include:
-          - python: 3.13
-            extra_apt: libgtk2.0
-            conan_args: --opNav True --mujoco True --mujocoReplay True --recorderPropertyRollback True
-            error_for_skips: true
-    name: Linux (Conanfile, ${{ matrix.python }})
+        python: ["3.13"]
+    name: Linux (${{ matrix.python }})
     steps:
       - uses: actions/checkout@v4
       - uses: ./.github/actions/build
         with:
           python-version: ${{ matrix.python }}
-          build-mode: conan
-          extra-apt: ${{ matrix.extra_apt || '' }}
-          conan-args: ${{ matrix.conan_args || '' }}
+          conan-args: --opNav True --mujoco True --mujocoReplay True --recorderPropertyRollback True
       - name: Pytest
         working-directory: src
-        run: |
-          if [ "${{ matrix.error_for_skips || 'false' }}" = "true" ]; then
-            pytest -n auto -m "not ciSkip" -rs --error-for-skips --dist=loadscope -v
-          else
-            pytest -n auto -m "not ciSkip" -rs --dist=loadscope -v
-          fi
+        run: pytest -n auto -m "not ciSkip" -rs --error-for-skips --dist=loadscope -v
       - name: CTest
         if: ${{ always() }}
         working-directory: dist3
         run: ctest
 
-  # Perform a Basilisk build with all newer supported python versions using the
-  # pip install based approach.
-  build-linux-pip:
-    runs-on: ubuntu-22.04
-    strategy:
-      fail-fast: false
-      matrix:
-        python: ["3.11", "3.12", "3.13"]
-    name: Linux (pip, ${{ matrix.python }})
-    steps:
-      - uses: actions/checkout@v4
-      - uses: ./.github/actions/build
-        with:
-          python-version: ${{ matrix.python }}
-          build-mode: pip
-      - name: Pytest
-        working-directory: src
-        run: pytest -n auto -m "not ciSkip" -rs --dist=loadscope -v
-
-  # Perform a Basilisk build with Python 3.11 using the conanfile install based
-  # approach.
   build-windows:
     runs-on: windows-2025
-    timeout-minutes: 100
+    timeout-minutes: 90
+    needs: pre-commit
     strategy:
       fail-fast: false
       matrix:
-        python: ["3.11"]
-    name: Windows (Conanfile, ${{ matrix.python }})
+        python: ["3.13"]
+    name: Windows (${{ matrix.python }})
     env:
       MPLBACKEND: agg
     steps:
       - uses: actions/checkout@v4
       - uses: ./.github/actions/build
         with:
           python-version: ${{ matrix.python }}
-          build-mode: conan
           conan-args: --opNav True --mujoco True --mujocoReplay True --recorderPropertyRollback True
       - name: Pytest
         shell: pwsh
@@ -110,40 +69,36 @@ jobs:
           ctest
           if(($LastExitCode -ne 0) -and ($LastExitCode -ne 5)) { exit 1 }
 
-  # Perform a Basilisk build with modern python versions using the conanfile
-  # install based approach. For Python 3.11 we perform a no viz build.
   build-macos:
     runs-on: macos-latest
-    timeout-minutes: 75
+    timeout-minutes: 90
+    needs: pre-commit
     strategy:
       fail-fast: false
       matrix:
-        python: ["3.11", "3.12", "3.13"]
+        python: ["3.8", "3.9", "3.10", "3.11", "3.12", "3.13"]
+        pytest_flags:
+          ['-n auto -m "not ciSkip" -rs --error-for-skips --dist=loadscope -v']
+        # Python 3.8 cannot run all tests.
+        # TODO: Once Python 3.8 support is dropped, delete this include and exclude and remove 3.8 from the python
+        # test matrix.
         include:
-          - python: 3.11
-            conan_args: "--vizInterface False"
-          - python: 3.12
-            conan_args: --opNav True --mujoco True --mujocoReplay True --recorderPropertyRollback True
-            error_for_skips: true
-          - python: 3.13
-            conan_args: --opNav True --mujoco True --mujocoReplay True --recorderPropertyRollback True
-            error_for_skips: true
-    name: macOS (Conanfile, ${{ matrix.python }})
+          - python: "3.8"
+            pytest_flags: -n auto -m "not ciSkip" -rs --dist=loadscope -v -p no:pytest_forbid_skips
+        exclude:
+          - python: "3.8"
+            pytest_flags: '-n auto -m "not ciSkip" -rs --error-for-skips --dist=loadscope -v'
+
+    name: macOS (${{ matrix.python }})
     steps:
       - uses: actions/checkout@v4
       - uses: ./.github/actions/build
         with:
           python-version: ${{ matrix.python }}
-          build-mode: conan
-          conan-args: ${{ matrix.conan_args }}
+          conan-args: --opNav True --mujoco True --mujocoReplay True --recorderPropertyRollback True
       - name: Pytest
         working-directory: src
-        run: |
-          if [ "${{ matrix.error_for_skips || 'false' }}" = "true" ]; then
-            pytest -n auto -m "not ciSkip" -rs --error-for-skips --dist=loadscope -v
-          else
-            pytest -n auto -m "not ciSkip" -rs --dist=loadscope -v
-          fi
+        run: pytest ${{ matrix.pytest_flags }}
       - name: CTest
         if: ${{ always() }}
         working-directory: dist3
@@ -158,8 +113,6 @@ jobs:
         uses: ./.github/actions/build
         with:
           python-version: 3.13
-          build-mode: conan
           conan-args: --opNav True --allOptPkg --mujoco True --mujocoReplay True --recorderPropertyRollback True
-          install-doc-reqs: true
       - name: Build docs
         uses: ./.github/actions/docs
diff --git a/setup.py b/setup.py
@@ -91,9 +91,10 @@ def get_source_files(self) -> list[str]:
     def run(self) -> None:
         for ext in self.conan_extensions:
             if self.editable_mode:
-                # TODO: Add support for installing in editable mode. For now, we
-                # assume that it has already been built (e.g. by `conanfile.py`)
-                pass
+                # TODO: Add support for installing in editable mode.
+                built = any(Path(ext.build_dir).glob("Basilisk*"))
+                if not built:
+                    run([sys.executable, ext.conanfile] + ext.args, check=True)
             else:
                 # Call the underlying Conanfile with the desired arguments.
                 run([sys.executable, ext.conanfile] + ext.args, check=True)
