Wheel for macOS

* - draft wheel for macOS

* - added wheel testing

* - add platform tag to wheel

* - publish macOS wheel to PyPI & GHR

.circleci/config.yml

@@ -84,6 +84,56 @@ jobs:
           root: ~/
           paths:
             - project/build/wheelhouse
+  test-wheel:
+    docker:
+      - image: cimg/base:stable
+    environment:
+      PYTHONPATH=./lib
+    steps:
+      - checkout
+      - attach_workspace:
+          at: ~/
+      - run:
+          name: "Install mrob & numpy"
+          command: |
+            sudo apt-get update
+            sudo apt-get install -y --no-install-recommends python3-pip
+            python3 -m pip install ~/project/build/wheelhouse/mrob*.whl numpy
+      - run:
+          name: "Run FGraph_2d"
+          command: |
+            python3 mrobpy/tests/FGraph_2d.py
+          when: always
+      - run:
+          name: "Run FGraph_M3500"
+          command: |
+            python3 mrobpy/tests/FGraph_M3500.py
+          when: always
+      - run:
+          name: "Run FGraph_sphere"
+          command: |
+            python3 mrobpy/tests/FGraph_sphere.py
+          when: always
+      - run:
+          name: "Run SE3_examples"
+          command: |
+            python3 mrobpy/tests/SE3_examples.py
+          when: always
+      - run:
+          name: "Run FGraph_landmark_3d_example"
+          command: |
+            python3 mrobpy/tests/FGraph_landmark_3d_example.py
+          when: always
+      - run:
+          name: "Run FGraph_landmark_2d_example"
+          command: |
+            python3 mrobpy/tests/FGraph_landmark_2d_example.py
+          when: always
+      - run:
+          name: "Run PC_align"
+          command: |
+            python3 mrobpy/tests/PC_align.py
+          when: always
   publish-github-release:
     docker:
       - image: cibuilds/github:0.10
@@ -98,7 +148,6 @@ jobs:
                   -u "${CIRCLE_PROJECT_USERNAME}" \
                   -r "${CIRCLE_PROJECT_REPONAME}" \
                   -c "${CIRCLE_SHA1}" \
-                  -delete \
                   ${VERSION} ~/project/build/wheelhouse/*.whl
   publish-pypi:
     docker:
@@ -133,19 +182,23 @@ workflows:
       - build:
           filters: *all-tags
       - build-wheel:
-          filters: *all-tags
-      - publish-github-release:
           requires:
             - build
+          filters: *all-tags
+      - test-wheel:
+          requires:
             - build-wheel
+          filters: *all-tags
+      - publish-github-release:
+          requires:
+            - test-wheel
           filters:
             <<: *all-tags
             branches:
               ignore: /.*/ # publish to GHR only tagged commits
       - publish-pypi:
           requires:
-            - build
-            - build-wheel
+            - test-wheel
           filters:
             <<: *all-tags
             branches:

.github/workflows/wheels.yml

@@ -0,0 +1,131 @@
+name: Build macOS wheels
+
+on: [push, pull_request]
+
+jobs:
+  build_wheel:
+    name: Build wheel on ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [macos-10.15]
+    steps:
+      - uses: actions/checkout@v2
+        with:
+          submodules: recursive
+
+      - name: Install packages
+        run: brew install coreutils
+
+      - name: Build wheel
+        run: sudo ./scripts/build-wheels-macOS.sh
+
+      - uses: actions/upload-artifact@v2
+        with:
+          path: ./dist/mrob*.whl
+
+  test_wheel:
+    name: Test Python ${{ matrix.python }} wheel on ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    needs: build_wheel
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [macos-10.15]
+        python: [3.5, 3.9]
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+
+      - name: Setup Python ${{ matrix.python }}
+        uses: actions/setup-python@v2
+        with:
+          python-version: ${{ matrix.python }}
+
+      - name: Download artifacts
+        uses: actions/download-artifact@v2
+
+      - name: Install mrob & numpy
+        run: |
+          python3 -m pip install ./artifact/mrob*.whl numpy
+
+      - name: Run FGraph_2d
+        run: |
+          python3 mrobpy/tests/FGraph_2d.py
+
+      - name: Run FGraph_M3500
+        run: |
+          python3 mrobpy/tests/FGraph_M3500.py
+
+      - name: Run FGraph_sphere
+        run: |
+          python3 mrobpy/tests/FGraph_sphere.py
+
+      - name: Run SE3_examples
+        run: |
+          python3 mrobpy/tests/SE3_examples.py
+
+      - name: Run FGraph_landmark_3d_example
+        run: |
+          python3 mrobpy/tests/FGraph_landmark_3d_example.py
+
+      - name: Run FGraph_landmark_2d_example
+        run: |
+          python3 mrobpy/tests/FGraph_landmark_2d_example.py
+
+      - name: Run PC_align
+        run: |
+          python3 mrobpy/tests/PC_align.py
+
+  publish_pypi:
+    name: Publish macOS wheel to PyPI
+    needs: test_wheel
+    if: github.event_name == 'push' && startsWith(github.ref, 'refs/tags')
+    runs-on: ubuntu-latest
+    steps:
+      - name: Download artifacts
+        uses: actions/download-artifact@v2
+
+      - name: Publish to PyPI
+        uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          user: __token__
+          password: ${{ secrets.PYPI_API_TOKEN }}
+          packages_dir: artifact/
+
+  publish-github-release:
+    name: Publish macOS wheel to GitHub Releases
+    needs: test_wheel
+    if: github.event_name == 'push' && startsWith(github.ref, 'refs/tags')
+    runs-on: ubuntu-latest
+    steps:
+      - name: Download artifacts
+        uses: actions/download-artifact@v2
+
+      - name: Create Draft Release
+        id: create_release
+        uses: actions/create-release@v1
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        with:
+          tag_name: ${{ github.ref }}
+          release_name: ${{ github.ref }}
+          draft: false
+          prerelease: false
+
+      - name: Export release assets
+        id: path
+        run: |
+          whl=$(find artifact/ -name '*.whl' -exec basename {} \;)
+          echo "::set-output name=WHL::$whl"
+
+      - uses: actions/upload-release-asset@v1.0.1
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        with:
+          upload_url: ${{ steps.create_release.outputs.upload_url }}
+          asset_path: artifact/${{ steps.path.outputs.WHL }}
+          asset_name: ${{ steps.path.outputs.WHL }}
+          asset_content_type: application/octet-stream
+

scripts/build-wheels-macOS.sh

@@ -0,0 +1,52 @@
+# Copyright (c) 2018, Skolkovo Institute of Science and Technology (Skoltech)
+# 
+#  Licensed under the Apache License, Version 2.0 (the "License");
+#  you may not use this file except in compliance with the License.
+#  You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+#  Unless required by applicable law or agreed to in writing, software
+#  distributed under the License is distributed on an "AS IS" BASIS,
+#  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+#  See the License for the specific language governing permissions and
+#  limitations under the License.
+# 
+# 
+#  build-wheels.sh
+# 
+#  Created on: Mar 22, 2021
+#       Author: Lyubov Miloserdova
+#               miloslubov@gmail.com
+#
+
+#!/bin/bash
+set -euo pipefail
+export LC_ALL=C
+export MACOSX_DEPLOYMENT_TARGET=10.9
+
+cd $(dirname $(greadlink -f "${BASH_SOURCE[0]}"))/..
+mkdir -p ./build ./dist ./mrob
+
+cp ./__init__.py ./mrob/__init__.py 
+
+cd ./build
+
+NUMPROC=$(sysctl -n hw.ncpu)
+echo "Running $NUMPROC parallel jobs"
+
+for PYBIN in /Users/runner/hostedtoolcache/Python/3.*/x64/bin/python3.[5-9]
+do
+    cmake .. -DPYTHON_EXECUTABLE:FILEPATH=$PYBIN \
+             -DCMAKE_MACOSX_RPATH=ON \
+             -DCMAKE_BUILD_WITH_INSTALL_RPATH=TRUE \
+             -DCMAKE_INSTALL_RPATH="@loader_path" 
+    make -j $NUMPROC
+
+    mv ../lib/* ../mrob
+done
+
+cd ../
+python3 -m pip install --user -q build
+python3 -m build --wheel --outdir dist/ .
+

setup.cfg

@@ -37,7 +37,9 @@ python_requires = >= 3.5
 packages = find:
 
 [options.package_data]
-* = *.so 
+* = 
+    *.so 
+    *.dylib
 
 [sdist]
 formats = zip, gztar

setup.py

@@ -23,6 +23,35 @@
 
 import setuptools
 
+
+try:
+    from wheel.bdist_wheel import bdist_wheel as _bdist_wheel
+    import platform, os
+
+    class bdist_wheel(_bdist_wheel):
+
+        def finalize_options(self):
+            _bdist_wheel.finalize_options(self)
+            if platform.system() == "Darwin":
+                self.root_is_pure = False
+
+        def get_tag(self):
+            python, abi, plat = _bdist_wheel.get_tag(self)
+            if platform.system() == "Darwin":
+                python, abi = 'py3', 'none'
+                name = plat[:plat.find("_")]
+                for i in range(3):
+                    plat = plat[plat.find("_") + 1:]   # skip name and version of OS
+                arch = plat
+                version = os.getenv('MACOSX_DEPLOYMENT_TARGET').replace('.', '_')
+                plat = name + "_" + version + "_" + arch
+            return python, abi, plat
+
+except ImportError:
+    bdist_wheel = None
+
+
 setuptools.setup(
-    version_config=True
+    version_config=True,
+    cmdclass={'bdist_wheel': bdist_wheel}
 )