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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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required: true
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description: "Python version"
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swig-version:
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required: false
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default: 4.2.1
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conan-args:
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required: false
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default: ""
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build-mode:
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required: false
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default: conan
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extra-apt:
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required: false
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default: ""
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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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- 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 ${EXTRA_APT}
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env:
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EXTRA_APT: ${{ inputs.extra-apt }}
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- name: SWIG Install (Linux)
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if: runner.os == 'Linux'
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uses: mmomtchev/setup-swig@v4
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with:
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version: v${{ inputs.swig-version }}
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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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choco install swig --version=${{ inputs.swig-version }} -y --no-progress --force
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swig -version
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- name: Update Python tooling to latest
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shell: bash
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run: python -m pip install -U pip wheel setuptools
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- name: Cache Conan (Linux/macOS)
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if: ${{ inputs.build-mode == 'conan' }}
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uses: actions/cache@v4
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with:
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path: |
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~/.conan2
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key: conan-${{ runner.os }}-${{ inputs.python-version }}-${{ hashFiles('conanfile.*', '**/conanfile.*') }}
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restore-keys: |
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conan-${{ runner.os }}-${{ inputs.python-version }}-
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- name: Cache Conan (Windows)
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if: runner.os == 'Windows' && ${{ inputs.build-mode == 'conan' }}
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uses: actions/cache@v4
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with:
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path: ${{ env.USERPROFILE }}\.conan2
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key: conan-${{ runner.os }}-${{ inputs.python-version }}-${{ hashFiles('conan.lock','conanfile.*','**/conanfile.*') }}
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restore-keys: |
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conan-${{ runner.os }}-${{ 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: Install dev requirements
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shell: bash
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run: |
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python -m pip install -r requirements_dev.txt
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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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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 Doxygen
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if: ${{ runner.os == 'macOS' }}
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shell: bash
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env:
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HOMEBREW_NO_AUTO_UPDATE: 1
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HOMEBREW_NO_INSTALL_UPGRADE: 1
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HOMEBREW_NO_ANALYTICS: 1
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run: |
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brew install doxygen || true
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- name: Compile docs
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shell: bash
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run: |
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make -C docs html SPHINXOPTS="-W"
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echo "DOCS_HTML=${{ inputs.html-dir }}" >> "$GITHUB_ENV"

‎.github/workflows/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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- id: build
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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"
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- name: Build docs
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if: ${{ steps.build.outcome == 'success' }}
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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}}

‎.github/workflows/pull-request-closed.yml‎

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