unitree_sdk2_python/.github/workflows/python-package-action.yml

# This workflow will install Python dependencies, run tests and lint with a variety of Python versions
# For more information see: https://docs.github.com/en/actions/automating-builds-and-tests/building-and-testing-python

name: Python package
run-name: ${{ github.actor }} package
on:
  workflow_dispatch:
    inputs:
      c_cyclonedds_version:
        description: 'clang cyclonedds version'
        required: false
        default: 'releases/0.10.x'
      cyclonedds_python_version:
        description: cyclonedds_python的版本
        required: false
        default: 'releases/0.10.x'

jobs:
  build:

    # 输入参数定义部分
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        python-version: ["3.11"]
        os: [macos-latest, windows-latest, ubuntu-latest]

    steps:
      # 初始化
    - uses: actions/checkout@v4

    # 配置python
    - name: Set up Python ${{ matrix.python-version }}
      uses: actions/setup-python@v3
      with:
        python-version: ${{ matrix.python-version }}

    # 初始化制品收集目录
    - name: init dist
      run: |
        mkdir dist        

    # 准备构建python wheel包
    - name: Install dependencies
      run: |
        python -m pip install --upgrade pip
        pip install build        

    # 由于cyclonedds-python暂时没有提供python3.11 顺带也编译了 issue:https://github.com/eclipse-cyclonedds/cyclonedds-python/issues/221
    - name: build cyclonedds-python in windows
      if: startsWith(runner.os, 'Windows')
      run: |
        git clone https://github.com/eclipse-cyclonedds/cyclonedds-python -b ${{ github.event.inputs.cyclonedds_python_version }} --depth=1
        cd cyclonedds-python
        (Get-Content pyproject.toml) -replace 'https://github.com/eclipse-cyclonedds/cyclonedds.git','https://github.com/eclipse-cyclonedds/cyclonedds -b ${{ github.event.inputs.c_cyclonedds_version }} --depth=1' | Set-Content pyproject.toml
        (Get-Content pyproject.toml) -replace '(?<=^skip = ")','cp3{6..10}-* ' | Set-Content pyproject.toml
        (Get-Content pyproject.toml) -replace 'delvewheel==0.0.18','delvewheel==1.6.0' | Set-Content pyproject.toml
        (Get-Content setup.py) -replace '(?<="Programming Language :: Python :: 3.10",.*?)', "`n        `"Programming Language :: Python :: 3.11`",`n        `"Programming Language :: Python :: 3.12`",`n        `"Programming Language :: Python :: 3.13`","  | Set-Content setup.py
        pip install --user cibuildwheel==2.18.*
        python -m cibuildwheel --output-dir wheelhouse .
        tar zcvf  cyclonedds.tar.gz -C cyclonedds-build .        
      shell: pwsh

    # 兼容sed see:https://gist.github.com/andre3k1/e3a1a7133fded5de5a9ee99c87c6fa0d
    - name: install GNU sed in mac
      if: startsWith(runner.os, 'macOS')
      run: |
        brew install gnu-sed        

    - name: build cyclonedds-python in unix
      if: startsWith(runner.os, 'Linux') || startsWith(runner.os, 'macOS')
      run: |
        if [ "${{ startsWith(runner.os, 'macOS') }}" ]; then
          PATH="/opt/homebrew/opt/gnu-sed/libexec/gnubin:$PATH"
        fi
        git clone https://github.com/eclipse-cyclonedds/cyclonedds-python -b ${{ github.event.inputs.c_cyclonedds_version }} --depth=1
        cd cyclonedds-python
        
        sed -i "s~https://github.com/eclipse-cyclonedds/cyclonedds.git~https://github.com/eclipse-cyclonedds/cyclonedds -b ${{ github.event.inputs.c_cyclonedds_version }} --depth=1~g" pyproject.toml
        echo "debugprintpoint1"
        sed -i 's/\(^skip = "\)/\1cp3{6..10}-* /g' pyproject.toml
        echo "printpoint2"
        sed -i 's/delvewheel==0\.0\.18/delvewheel==1\.6\.0/g' pyproject.toml
        echo "printpoint3"
        sed -i 's/(?<="Programming Language :: Python :: 3.10",.*?)/\n        "Programming Language :: Python :: 3.11",\n        "Programming Language :: Python :: 3.12",\n        "Programming Language :: Python :: 3.13",/g'  setup.py
        pip install --user cibuildwheel==2.18.*
        python -m cibuildwheel --output-dir wheelhouse .        
      shell: bash

    # 构建宇树python sdk本身
    - name: build package unix
      if: startsWith(runner.os, 'Linux') || startsWith(runner.os, 'macOS')
      run: |
        export CYCLONEDDS_HOME=${{ github.workspace }}/cyclonedds/install
        python -m build --wheel        
      shell: bash
    - name: build package windows
      if: startsWith(runner.os, 'Windows')
      run: |
        set CYCLONEDDS_HOME=${{ github.workspace }}/cyclonedds/install
        python -m build --wheel        
      shell: cmd

    # 收集构建产物
    - name: collect binary
      if: startsWith(runner.os, 'Windows')
      run: |
        mv ${{ github.workspace }}/cyclonedds-python/wheelhouse/* dist/
        mv ${{ github.workspace }}/dist/* dist/        
    - name: collect binary
      if: startsWith(runner.os, 'Linux') || startsWith(runner.os, 'macOS')
      run: |
        # 对复杂的不同平台目录机制信息收集
        find . -print | sed -e 's;[^/]*/;|____;g;s;____|; |;g' > dist/${{runner.os}}_${{runner.arch}}.txt
        mv -f ${{ github.workspace }}/cyclonedds-python/wheelhouse/* dist/
        # mv -f ${{ github.workspace }}/dist/* dist/        

    # 上传到工作流制品库
    - name: upload package and dependency
      uses: actions/upload-artifact@v4
      with:
        name: unitree_sdk2_python${{ matrix.python-version }}_${{runner.os}}_${{runner.arch}}
        path:  |
          dist/*