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ReeceHumphreysReeceHumphreys
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[#9] Extract wheel build into reusable composite action
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‎.github/actions/build-sdk-wheel/action.yml‎

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#
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# ISC License
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#
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# Copyright (c) 2026, Autonomous Vehicle Systems Lab, University of Colorado at Boulder
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#
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# Permission to use, copy, modify, and/or distribute this software for any
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# purpose with or without fee is hereby granted, provided that the above
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# copyright notice and this permission notice appear in all copies.
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#
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# THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
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# WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
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# MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
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# ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
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# WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
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# ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
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# OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
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#
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name: Build bsk-sdk distributions
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description: >
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Checks out the matching Basilisk submodule, syncs vendored artifacts,
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and builds the bsk-sdk wheel.
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inputs:
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sdist:
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description: Build an sdist alongside the wheel
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default: "false"
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output-dir:
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description: Directory to write built distributions into
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default: dist
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runs:
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using: composite
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steps:
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- name: Determine BSK release tag
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id: bsk-tag
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shell: bash
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run: |
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BSK_TAG=$(python -c "
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import re
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from pathlib import Path
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text = Path('pyproject.toml').read_text()
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match = re.search(r'(?m)^version\s*=\s*\"([^\"]+)\"', text)
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if not match:
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raise SystemExit('version not found in pyproject.toml')
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print('v' + match.group(1))
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")
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echo "tag=$BSK_TAG" >> $GITHUB_OUTPUT
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- name: Checkout Basilisk submodule at release tag
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shell: bash
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run: |
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git submodule update --init --depth 1 external/basilisk
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git -C external/basilisk fetch origin \
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refs/tags/${{ steps.bsk-tag.outputs.tag }}:refs/tags/${{ steps.bsk-tag.outputs.tag }} \
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--depth 1
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git -C external/basilisk checkout ${{ steps.bsk-tag.outputs.tag }}
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- name: Sync Basilisk artifacts
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shell: bash
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run: python tools/sync_all.py
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- name: Install build tooling
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shell: bash
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run: python -m pip install --upgrade pip build
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- name: Build distributions
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shell: bash
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env:
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BSK_SDK_AUTO_SYNC: "0"
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run: |
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if [ "${{ inputs.sdist }}" = "true" ]; then
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python -m build --outdir "${{ inputs.output-dir }}"
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else
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python -m build --wheel --outdir "${{ inputs.output-dir }}"
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fi

‎.github/workflows/ci.yml‎

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with:
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python-version: ${{ matrix.python }}
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- name: Determine BSK release tag
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id: bsk-tag
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shell: bash
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run: |
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BSK_VERSION=$(python -c "
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from pathlib import Path
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import re
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text = Path('pyproject.toml').read_text()
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match = re.search(r'(?m)^version\s*=\s*\"([^\"]+)\"', text)
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if not match:
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raise SystemExit('Could not find project.version in pyproject.toml')
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print(match.group(1))
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")
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echo "version=$BSK_VERSION" >> $GITHUB_OUTPUT
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echo "tag=v$BSK_VERSION" >> $GITHUB_OUTPUT
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- name: Checkout Basilisk submodule at release tag
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shell: bash
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run: |
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git submodule update --init --depth 1 external/basilisk
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git -C external/basilisk fetch origin \
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refs/tags/${{ steps['bsk-tag'].outputs.tag }}:refs/tags/${{ steps['bsk-tag'].outputs.tag }} \
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--depth 1
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git -C external/basilisk checkout ${{ steps['bsk-tag'].outputs.tag }}
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- name: Sync artifacts
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run: python tools/sync_all.py
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- name: Build wheel
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run: |
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pip install build
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python -m build --wheel -o dist
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- uses: ./.github/actions/build-sdk-wheel
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with:
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output-dir: dist
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- uses: actions/upload-artifact@v6
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with:
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with:
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python-version: ${{ matrix.python }}
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- uses: actions/download-artifact@v5
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- uses: actions/download-artifact@v6
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with:
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name: wheel-${{ matrix.os }}-py${{ matrix.python }}
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path: dist
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with:
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python-version: ${{ matrix.python }}
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- uses: actions/download-artifact@v5
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- uses: actions/download-artifact@v6
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with:
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name: wheel-${{ matrix.os }}-py${{ matrix.python }}
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path: dist

‎.github/workflows/publish-wheels.yml‎

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with:
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python-version: "3.13"
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- name: Determine BSK release tag
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id: bsk-tag
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shell: bash
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run: |
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BSK_TAG=$(python -c "
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import tomllib
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with open('pyproject.toml', 'rb') as f:
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version = tomllib.load(f)['project']['version']
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print('v' + version)
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")
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echo "tag=$BSK_TAG" >> $GITHUB_OUTPUT
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- name: Checkout Basilisk submodule at release tag
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shell: bash
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run: |
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git submodule update --init --depth 1 external/basilisk
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git -C external/basilisk fetch origin \
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refs/tags/${{ steps['bsk-tag'].outputs.tag }}:refs/tags/${{ steps['bsk-tag'].outputs.tag }} \
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--depth 1
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git -C external/basilisk checkout ${{ steps['bsk-tag'].outputs.tag }}
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- name: Sync Basilisk artifacts
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run: python tools/sync_all.py
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- name: Install build tooling
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run: python -m pip install --upgrade pip build
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- name: Build wheel and sdist
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env:
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# Sync artifacts are already present from the step above;
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# the build backend will find them and skip auto-sync.
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BSK_SDK_AUTO_SYNC: "0"
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run: python -m build --outdir dist
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- uses: ./.github/actions/build-sdk-wheel
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with:
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sdist: 'true'
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output-dir: dist
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- uses: actions/upload-artifact@v6
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with:

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