CI #3953
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| # Copyright (c) 2020, Massachusetts Institute of Technology. | |
| # All rights reserved. | |
| # | |
| # Redistribution and use in source and binary forms, with or without | |
| # modification, are permitted provided that the following conditions are met: | |
| # | |
| # * Redistributions of source code must retain the above copyright notice, this | |
| # list of conditions and the following disclaimer. | |
| # | |
| # * Redistributions in binary form must reproduce the above copyright notice, | |
| # this list of conditions and the following disclaimer in the documentation | |
| # and/or other materials provided with the distribution. | |
| # | |
| # * Neither the name of the copyright holder nor the names of its contributors | |
| # may be used to endorse or promote products derived from this software | |
| # without specific prior written permission. | |
| # | |
| # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | |
| # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | |
| # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | |
| # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE | |
| # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | |
| # CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | |
| # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | |
| # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | |
| # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | |
| # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | |
| # POSSIBILITY OF SUCH DAMAGE. | |
| --- | |
| name: CI | |
| on: | |
| pull_request: | |
| types: | |
| - opened | |
| - reopened | |
| - synchronize | |
| push: | |
| branches: | |
| - master | |
| schedule: | |
| - cron: '0 8 * * *' | |
| jobs: | |
| noble: | |
| name: ubuntu 24.04 noble | |
| runs-on: ubuntu-24.04 | |
| container: ubuntu:24.04 | |
| steps: | |
| - name: pre-checkout setup | |
| run: | | |
| export APT_KEY_DONT_WARN_ON_DANGEROUS_USAGE=1 DEBIAN_FRONTEND=noninteractive | |
| apt-get update -o APT::Acquire::Retries=4 -qq | |
| apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends ca-certificates gnupg sudo | |
| apt-key adv --keyserver keyserver.ubuntu.com --recv-keys E1DD270288B4E6030699E45FA1715D88E1DF1F24 | |
| echo 'deb http://ppa.launchpad.net/git-core/ppa/ubuntu noble main' > /etc/apt/sources.list.d/git.list | |
| apt-get update -o APT::Acquire::Retries=4 -qq | |
| apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends git | |
| # Create non-root user for bazel bzlmod compatibility | |
| useradd -m -s /bin/bash runner | |
| echo 'runner ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers | |
| rm -rf /var/cache/apt/archives/*.deb /var/cache/apt/archives/partial/*.deb /var/cache/apt/*.bin /var/lib/apt/lists/* /var/log/apt/* | |
| shell: bash | |
| - name: checkout | |
| uses: actions/checkout@v2 | |
| - name: fix ownership and run as non-root user | |
| run: | | |
| # Fix ownership of the workspace | |
| chown -R runner:runner . | |
| # Switch to runner user for remaining commands | |
| sudo -u runner ./setup/submodule_checkout | |
| # Install system packages as root, but avoid running bazel as root | |
| ./setup/ubuntu/24.04/install_prereqs.sh | |
| apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends xvfb | |
| rm -rf /var/cache/apt/archives/*.deb /var/cache/apt/archives/partial/*.deb /var/cache/apt/*.bin /var/lib/apt/lists/* /var/log/apt/* | |
| # Now run bazel operations as non-root user (Python 3.12 via .bazelrc linux config) | |
| sudo -u runner bazel fetch //... | |
| shell: bash | |
| - name: test | |
| run: sudo -u runner ./book/htmlbook/workflows/ci/noble/test | |
| shell: bash | |
| sonoma: | |
| name: macos sonoma 14 | |
| runs-on: macos-14 | |
| steps: | |
| - name: checkout | |
| uses: actions/checkout@v2 | |
| - name: submodule checkout | |
| run: ./setup/submodule_checkout | |
| shell: zsh -efuo pipefail {0} | |
| - name: setup | |
| run: | | |
| ./book/htmlbook/workflows/ci/sonoma/setup | |
| bazel fetch //... | |
| shell: zsh -efuo pipefail {0} | |
| - name: test | |
| run: ./book/htmlbook/workflows/ci/sonoma/test | |
| shell: zsh -efuo pipefail {0} | |
| lint: | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: checkout repo | |
| uses: actions/checkout@v4 | |
| - name: setup python | |
| uses: actions/setup-python@v5 | |
| with: | |
| python-version: '3.10' | |
| - name: black | |
| uses: psf/black@stable | |
| with: | |
| version: 24.10.0 | |
| jupyter: true | |
| - name: isort | |
| uses: isort/isort-action@master | |
| with: | |
| configuration: "--profile black --check-only" | |
| isort-version: 5.12.0 | |
| - name: autoflake | |
| uses: creyD/autoflake_action@master | |
| with: | |
| options: --remove-all-unused-imports --in-place | |
| # Pegging version s.t. https://github.com/creyD/autoflake_action/issues/1 | |
| - name: Install and configure Poetry | |
| uses: snok/install-poetry@v1 | |
| with: | |
| version: 2.1.4 | |
| virtualenvs-create: true | |
| virtualenvs-in-project: true | |
| - name: build the docs | |
| run: | | |
| poetry install --only docs | |
| source .venv/bin/activate | |
| sphinx-build -M html underactuated book/python | |
| shell: bash | |
| - name: Test full poetry install | |
| run: poetry install | |
| # The following jobs rely on the pip wheels being up to date. They can be disabled for a PR by adding the "requires new pip wheels" label. | |
| # docker: | |
| # name: dockerfile | |
| # runs-on: ubuntu-latest | |
| # if: ${{ !contains(github.event.pull_request.labels.*.name, 'requires new pip wheels') }} | |
| # container: russtedrake/underactuated:latest | |
| # steps: | |
| # - name: checkout | |
| # uses: actions/checkout@v4 | |
| # - name: submodule checkout | |
| # run: ./setup/submodule_checkout | |
| # shell: bash | |
| # - name: post-checkout setup | |
| # # Force bazel to use user pip instead of re-downloading everything to | |
| # # be hermetic: | |
| # run: | | |
| # apt remove -y python3-matplotlib # due to mpl_toolkits.mplot3d woes | |
| # pip install underactuated[all] -U --extra-index-url https://drake-packages.csail.mit.edu/whl/nightly/ | |
| # truncate -s0 requirements*.txt | |
| # sed -i '/PYTHONNOUSERSITE/d' .bazelrc | |
| # shell: bash | |
| # - name: test | |
| # run: | | |
| # EXCLUDE_TESTS="(//book/htmlbook/... + attr(name, .*_linktest$, //...))" \ | |
| # DRAKE_RESOURCE_ROOT=`python3 -c \ | |
| # "from pathlib import Path; from pydrake.all import GetDrakePath; \ | |
| # print(Path(GetDrakePath()).parent)"` \ | |
| # UNDERACTUATED_DATA_DIR="`pwd`/book/data" \ | |
| # BAZEL_TEST_FLAGS="--define=use_dependencies=none" \ | |
| # ./book/htmlbook/workflows/ci/noble/test | |
| # shell: bash | |
| noble-pip-core: | |
| # This should emulate a student's experience if they are doing exercises | |
| # via pip install underactuated. | |
| name: pip notebooks on noble | |
| runs-on: ubuntu-24.04 | |
| if: ${{ !contains(github.event.pull_request.labels.*.name, 'requires new pip wheels') }} | |
| container: ubuntu:24.04 | |
| steps: | |
| - name: pre-checkout setup | |
| run: | | |
| apt-get update -o APT::Acquire::Retries=4 -qq | |
| apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends python3-pip git xvfb sudo | |
| # Create non-root user | |
| useradd -m -s /bin/bash runner | |
| echo 'runner ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers | |
| shell: bash | |
| - name: checkout | |
| uses: actions/checkout@v2 | |
| - name: test pip installation and exercises | |
| run: | | |
| # Fix ownership of the workspace | |
| chown -R runner:runner . | |
| # Switch to runner user for remaining commands | |
| sudo -u runner ./setup/submodule_checkout | |
| # Install system dependencies for Drake | |
| ./setup/ubuntu/24.04/install_prereqs.sh | |
| # Install underactuated via pip (to mimic student experience) | |
| sudo -u runner pip install underactuated jupyter nbconvert ipykernel --extra-index-url https://drake-packages.csail.mit.edu/whl/nightly/ --break-system-packages | |
| shell: bash | |
| - name: test | |
| run: | | |
| # The underactuated library needs be robust against partial | |
| # installations, but the examples will assume a full installation. So | |
| # we test only the underactuated library here. | |
| sudo -u runner ./book/htmlbook/workflows/ci/noble/test_wheels --core-library-only | |
| shell: bash | |
| noble-pip-extra: | |
| # This should emulate a student's experience if they are doing exercises | |
| # via pip install underactuated[all]. | |
| name: pip extra on noble | |
| runs-on: ubuntu-24.04 | |
| if: ${{ !contains(github.event.pull_request.labels.*.name, 'requires new pip wheels') }} | |
| container: ubuntu:24.04 | |
| steps: | |
| - name: pre-checkout setup | |
| run: | | |
| apt-get update -o APT::Acquire::Retries=4 -qq | |
| apt-get install -o APT::Acquire::Retries=4 -o Dpkg::Use-Pty=0 -qy --no-install-recommends python3-pip git xvfb sudo | |
| # Create non-root user | |
| useradd -m -s /bin/bash runner | |
| echo 'runner ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers | |
| shell: bash | |
| - name: checkout | |
| uses: actions/checkout@v2 | |
| - name: test pip installation and exercises | |
| run: | | |
| # Fix ownership of the workspace | |
| chown -R runner:runner . | |
| # Switch to runner user for remaining commands | |
| sudo -u runner ./setup/submodule_checkout | |
| # Install system dependencies for Drake | |
| ./setup/ubuntu/24.04/install_prereqs.sh | |
| # Install underactuated via pip (to mimic student experience) | |
| sudo -u runner pip install underactuated[all] jupyter nbconvert ipykernel --extra-index-url https://drake-packages.csail.mit.edu/whl/nightly/ --break-system-packages | |
| shell: bash | |
| - name: test | |
| run: | | |
| sudo -u runner ./book/htmlbook/workflows/ci/noble/test_wheels | |
| shell: bash | |