docs: Update projects #17
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| # SPDX-FileCopyrightText: 2026 The RISE Project | |
| # SPDX-License-Identifier: MIT | |
| --- | |
| # This workflow is based on: https://github.com/cmake-wheel/cmeel-octomap/blob/v1.10.0.c5/.github/workflows/release.yml | |
| name: Build cmeel-octomap wheels (riscv64) | |
| on: | |
| workflow_dispatch: | |
| inputs: | |
| version: | |
| description: 'Version glob to (re)build; empty builds every version of docs/packages/cmeel-octomap.yaml not released yet' | |
| required: false | |
| default: '' | |
| pull_request: | |
| branches: [main] | |
| paths: | |
| - '.github/workflows/build-cmeel-octomap.yml' | |
| - 'docs/packages/cmeel-octomap.yaml' | |
| push: | |
| branches: [main] | |
| paths: | |
| - '.github/workflows/build-cmeel-octomap.yml' | |
| - 'docs/packages/cmeel-octomap.yaml' | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }} | |
| cancel-in-progress: true | |
| permissions: | |
| contents: read # to fetch code (actions/checkout) | |
| env: | |
| MANYLINUX_RISCV64_IMAGE: quay.io/pypa/manylinux_2_39_riscv64 | |
| jobs: | |
| setup: | |
| uses: $/.github/workflows/_setup.yml | |
| with: | |
| package: cmeel-octomap | |
| version: ${{ inputs.version }} | |
| build_wheels: | |
| needs: [setup] | |
| if: needs.setup.outputs.versions != '[]' | |
| name: Build cmeel-octomap ${{ matrix.version }} manylinux_riscv64 | |
| runs-on: ubuntu-24.04-riscv | |
| timeout-minutes: 120 | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| version: ${{ fromJSON(needs.setup.outputs.versions) }} | |
| env: | |
| CMEEL_OCTOMAP_VERSION: ${{ matrix.version }} | |
| steps: | |
| # cmeel-octomap's release tags carry a packaging-revision suffix (.c5) that is the | |
| # wheel's build tag, not part of its version; .c5 is the revision 1.10.0 released last. | |
| - name: Checkout cmeel-octomap v${{ env.CMEEL_OCTOMAP_VERSION }}.c5 | |
| uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7.0.1 | |
| with: | |
| repository: cmake-wheel/cmeel-octomap | |
| ref: v${{ env.CMEEL_OCTOMAP_VERSION }}.c5 | |
| submodules: true | |
| persist-credentials: false | |
| - name: Build wheels | |
| uses: pypa/cibuildwheel@1828c10ab37f080699c7b81cea34097c684a7074 # v4.2.0 | |
| with: | |
| output-dir: wheelhouse/ | |
| # has-sitelib = false: the wheel holds no Python extension, so one | |
| # py3-none wheel covers every interpreter. | |
| only: cp312-manylinux_riscv64 | |
| env: | |
| CIBW_MANYLINUX_RISCV64_IMAGE: ${{ env.MANYLINUX_RISCV64_IMAGE }} | |
| CIBW_ENVIRONMENT: CMEEL_LOG_LEVEL=DEBUG CMEEL_RUN_TESTS=false | |
| # cmeel installs into a shared prefix with an $ORIGIN RPATH it sets itself. | |
| CIBW_REPAIR_WHEEL_COMMAND: "" | |
| - name: Check wheel contents | |
| run: | | |
| python3 - wheelhouse/*.whl <<'EOF' | |
| import sys, zipfile | |
| names = zipfile.ZipFile(sys.argv[1]).namelist() | |
| assert "cmeel.prefix/lib/liboctomap.so.1.10.0" in names, names | |
| assert "cmeel.prefix/lib/liboctomath.so.1.10.0" in names, names | |
| assert "cmeel.prefix/include/octomap/OcTree.h" in names, names | |
| EOF | |
| - name: Smoke-test the built library | |
| run: | | |
| sudo apt-get update -qq | |
| sudo apt-get install -y -qq --no-install-recommends python3-venv | |
| python3 -m venv .venv | |
| . .venv/bin/activate | |
| # gotcha 234: stock Ubuntu 24.04 apt pip (24.0) has zero manylinux_*_riscv64 | |
| # tags, so it rejects the riscv64 wheel outright without upgrading first. | |
| pip install -q --upgrade pip | |
| pip install -q wheelhouse/*.whl | |
| prefix=$(python3 -c "import pathlib, sysconfig; print(pathlib.Path(sysconfig.get_paths()['purelib']) / 'cmeel.prefix')") | |
| python3 -c "import ctypes; ctypes.CDLL('$prefix/lib/liboctomap.so')" | |
| python3 - > scan.log <<'EOF' | |
| import math | |
| print("NODE 0 0 0 0 0 0") | |
| for i in range(720): | |
| a = i * math.pi / 360 | |
| for j in range(20): | |
| r = 2 + j * 0.1 | |
| print(f"{r * math.cos(a):.4f} {r * math.sin(a):.4f} {(j - 10) * 0.05:.4f}") | |
| EOF | |
| # cmeel's patch gives the libraries an $ORIGIN RPATH but not the tools, as upstream ships them. | |
| export LD_LIBRARY_PATH="$prefix/lib" | |
| "$prefix/bin/log2graph" scan.log scan.graph | |
| "$prefix/bin/graph2tree" -i scan.graph -o tree.bt | |
| test -s tree.bt | |
| - uses: actions/upload-artifact@043fb46d1a93c77aae656e7c1c64a875d1fc6a0a # v7.0.1 | |
| with: | |
| name: cmeel-octomap-${{ env.CMEEL_OCTOMAP_VERSION }}-py3-none-manylinux_riscv64 | |
| path: wheelhouse/*.whl | |
| if-no-files-found: error | |
| publish: | |
| name: Publish cmeel-octomap ${{ matrix.version }} | |
| needs: [setup, build_wheels] | |
| if: needs.setup.outputs.versions != '[]' | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| version: ${{ fromJSON(needs.setup.outputs.versions) }} | |
| permissions: | |
| contents: write | |
| pull-requests: write | |
| uses: $/.github/workflows/_publish-wheel.yml | |
| secrets: | |
| app-private-key: ${{ secrets.RISEPROJECT_APP_PRIVATE_KEY }} | |
| with: | |
| artifact-pattern: cmeel-octomap-${{ matrix.version }}-py3-none-manylinux_riscv64 |