From fbfbde0524434d94512ea2339d30b88475d89f05 Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Tue, 29 Oct 2024 17:32:14 +0100 Subject: [PATCH 1/8] pixi: Add pixi.toml --- .gitattributes | 2 + .gitignore | 5 + build_scripts/pixi/activation.sh | 42 + build_scripts/pixi/activation_clang.sh | 5 + pixi.lock | 15308 +++++++++++++++++++++++ pixi.toml | 133 + 6 files changed, 15495 insertions(+) create mode 100644 .gitattributes create mode 100644 build_scripts/pixi/activation.sh create mode 100644 build_scripts/pixi/activation_clang.sh create mode 100644 pixi.lock create mode 100644 pixi.toml diff --git a/.gitattributes b/.gitattributes new file mode 100644 index 000000000..07fe41c52 --- /dev/null +++ b/.gitattributes @@ -0,0 +1,2 @@ +# GitHub syntax highlighting +pixi.lock linguist-language=YAML linguist-generated=true diff --git a/.gitignore b/.gitignore index 24e6fb9b0..cce4c5735 100644 --- a/.gitignore +++ b/.gitignore @@ -1,5 +1,6 @@ assets/ build*/ +!build_scripts/ *.pyc **/__pycache__ *.aux @@ -7,3 +8,7 @@ build*/ .cache/ *.mp4 + +# pixi environments +.pixi +*.egg-info diff --git a/build_scripts/pixi/activation.sh b/build_scripts/pixi/activation.sh new file mode 100644 index 000000000..05058c715 --- /dev/null +++ b/build_scripts/pixi/activation.sh @@ -0,0 +1,42 @@ +#! /bin/bash +# Activation script + +# Remove flags setup from cxx-compiler +unset CFLAGS +unset CPPFLAGS +unset CXXFLAGS +unset DEBUG_CFLAGS +unset DEBUG_CPPFLAGS +unset DEBUG_CXXFLAGS +unset LDFLAGS + +if [[ $host_alias == *"apple"* ]]; +then + # On OSX setting the rpath and -L it's important to use the conda libc++ instead of the system one. + # If conda-forge use install_name_tool to package some libs, -headerpad_max_install_names is then mandatory + export LDFLAGS="-Wl,-headerpad_max_install_names -Wl,-rpath,$CONDA_PREFIX/lib -L$CONDA_PREFIX/lib" +elif [[ $host_alias == *"linux"* ]]; +then + # On GNU/Linux, I don't know if these flags are mandatory with g++ but + # it allow to use clang++ as compiler + export LDFLAGS="-Wl,-rpath,$CONDA_PREFIX/lib -Wl,-rpath-link,$CONDA_PREFIX/lib -L$CONDA_PREFIX/lib" +fi + +# Setup ccache +export CMAKE_CXX_COMPILER_LAUNCHER=ccache + +# Create compile_commands.json for language server +export CMAKE_EXPORT_COMPILE_COMMANDS=1 + +# Activate color output with Ninja +export CMAKE_COLOR_DIAGNOSTICS=1 + +# Set default build value only if not previously set +export ALIGATOR_BUILD_TYPE=${ALIGATOR_BUILD_TYPE:=Release} +export ALIGATOR_PINOCCHIO_SUPPORT=${ALIGATOR_PINOCCHIO_SUPPORT:=OFF} +export ALIGATOR_CROCODDYL_COMPAT=${ALIGATOR_CROCODDYL_COMPAT:=OFF} +export ALIGATOR_OPENMP_SUPPORT=${ALIGATOR_OPENMP_SUPPORT:=OFF} +export ALIGATOR_CHOLMOD_SUPPORT=${ALIGATOR_CHOLMOD_SUPPORT:=OFF} +export ALIGATOR_BENCHMARK=${ALIGATOR_BENCHMARK:=ON} +export ALIGATOR_EXAMPLES=${ALIGATOR_EXAMPLES:=ON} +export ALIGATOR_PYTHON_STUBS=${ALIGATOR_PYTHON_STUBS:=ON} diff --git a/build_scripts/pixi/activation_clang.sh b/build_scripts/pixi/activation_clang.sh new file mode 100644 index 000000000..10f91fe3c --- /dev/null +++ b/build_scripts/pixi/activation_clang.sh @@ -0,0 +1,5 @@ +#! /bin/bash +# Clang activation script + +export CC=clang +export CXX=clang++ diff --git a/pixi.lock b/pixi.lock new file mode 100644 index 000000000..f3eb3e62d --- /dev/null +++ b/pixi.lock @@ -0,0 +1,15308 @@ +version: 5 +environments: + all: + channels: + - url: https://conda.anaconda.org/conda-forge/ + packages: + linux-64: + - conda: https://conda.anaconda.org/conda-forge/linux-64/_libgcc_mutex-0.1-conda_forge.tar.bz2 + - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-2_gnu.tar.bz2 + - conda: https://conda.anaconda.org/conda-forge/noarch/_x86_64-microarch-level-1-2_x86_64.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/ampl-mp-3.1.0-h2cc385e_1006.tar.bz2 + - conda: https://conda.anaconda.org/conda-forge/linux-64/assimp-5.4.3-h8943939_0.conda + - conda: 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license_family: BSD + size: 554846 + timestamp: 1714722996770 +- kind: conda + name: zstd + version: 1.5.6 + build: hb46c0d2_0 + subdir: osx-arm64 + url: https://conda.anaconda.org/conda-forge/osx-arm64/zstd-1.5.6-hb46c0d2_0.conda + sha256: 2d4fd1ff7ee79cd954ca8e81abf11d9d49954dd1fef80f27289e2402ae9c2e09 + md5: d96942c06c3e84bfcc5efb038724a7fd + depends: + - __osx >=11.0 + - libzlib >=1.2.13,<2.0.0a0 + license: BSD-3-Clause + license_family: BSD + size: 405089 + timestamp: 1714723101397 diff --git a/pixi.toml b/pixi.toml new file mode 100644 index 000000000..7084e953c --- /dev/null +++ b/pixi.toml @@ -0,0 +1,133 @@ +[project] +name = "aligator" +version = "0.9.0" +channels = ["conda-forge"] +description = "A primal-dual augmented Lagrangian-type solver for trajectory optimization" +platforms = ["linux-64", "osx-64", "osx-arm64"] +license = "BSD-2-Clause" +license-file = "LICENSE" + +[build-dependencies] +ccache = ">=4.9.1" +cmake = ">=3.10" +cxx-compiler = ">=1.7.0" +ninja = ">=1.11" +pkg-config = ">=0.29.2" + +[dependencies] +libboost-devel = ">=1.80.0" +libboost-python-devel = ">=1.80.0" +eigen = ">=3.4.0" +python = ">=3.9.0" +eigenpy = ">=3.8.0" +proxsuite-nlp = ">=0.8.0" +fmt = ">=10.0.0" +benchmark = ">=1.8.0" +pytest = ">=8.3.0" +matplotlib-base = ">=3.9.0" +typed-argument-parser = ">=1.10.0" +meshcat-python = ">=0.3" + +[activation] +scripts = ["build_scripts/pixi/activation.sh"] + +[tasks] +# We must avoid to set CMAKE_CXX_FLAGS because of WIN32 +# https://discourse.cmake.org/t/strictly-appending-to-cmake-lang-flags/6478 +configure = { cmd = [ + "CXXFLAGS=$ALIGATOR_CXX_FLAGS", + "cmake", + "-G", + "Ninja", + "-B", + "build", + "-S", + ".", + "-DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX", + "-DCMAKE_BUILD_TYPE=$ALIGATOR_BUILD_TYPE", + "-DBUILD_WITH_PINOCCHIO_SUPPORT=$ALIGATOR_PINOCCHIO_SUPPORT", + "-DBUILD_WITH_CROCODDYL_COMPAT=$ALIGATOR_CROCODDYL_COMPAT", + "-DBUILD_WITH_OPENMP_SUPPORT=$ALIGATOR_OPENMP_SUPPORT", + "-DBUILD_WITH_CHOLMOD_SUPPORT=$ALIGATOR_CHOLMOD_SUPPORT", + "-DBUILD_BENCHMARK=$ALIGATOR_BENCHMARK", + "-DBUILD_EXAMPLES=$ALIGATOR_EXAMPLES", + "-DGENERATE_PYTHON_STUBS=$ALIGATOR_PYTHON_STUBS", +] } +build = { cmd = "cmake --build build --target all", depends_on = ["configure"] } +clean = { cmd = "rm -rf build" } +test = { cmd = "ctest --test-dir build --output-on-failure", depends_on = [ + "build", +] } + +[feature.lint] +dependencies = { pre-commit = ">=3.6.2" } +tasks = { lint = { cmd = "pre-commit run --all" } } + +# tracy-client is not built on osx-arm64 +[feature.tracy] +[feature.tracy.target.linux-64] +dependencies = { tracy-client = ">=0.11.1" } +activation = { env = { ALIGATOR_TRACY_ENABLE = "ON" } } +[feature.tracy.target.osx-64] +dependencies = { tracy-client = ">=0.11.1" } +activation = { env = { ALIGATOR_TRACY_ENABLE = "ON" } } + +[feature.pinocchio] +dependencies = { pinocchio = ">=3.1", example-robot-data = ">=4.1.0" } +activation = { env = { ALIGATOR_PINOCCHIO_SUPPORT = "ON" } } + +[feature.crocoddyl] +dependencies = { crocoddyl = ">=2.1" } +activation = { env = { ALIGATOR_CROCODDYL_COMPAT = "ON" } } + +[feature.cholmod] +dependencies = { suitesparse = ">=5" } +activation = { env = { ALIGATOR_CHOLMOD_SUPPORT = "ON" } } + +# Not supported by Windows (because of conda-forge issue) +[feature.openmp] +[feature.openmp.target.linux] +dependencies = { libgomp = ">=14.2" } +activation = { env = { ALIGATOR_OPENMP_SUPPORT = "ON" } } +[feature.openmp.target.osx] +dependencies = { llvm-openmp = ">=19.1" } +activation = { env = { ALIGATOR_OPENMP_SUPPORT = "ON" } } + +[feature.py312.dependencies] +python = "3.12.*" + +[feature.py39.dependencies] +python = "3.9.*" + +# Use clang on GNU/Linux. +# We must use scripts instead of env to setup CC and CXX +# to avoid cxx-compiler to overwrite them. +[feature.clang] +platforms = ["linux-64"] +activation = { scripts = ["build_scripts/pixi/activation_clang.sh"] } +dependencies = { clangxx = "*" } + +[environments] +default = { features = ["py312"], solve-group = "py312" } +clang = { features = ["clang", "py312"] } +lint = { features = ["lint"], solve-group = "py312" } +pinocchio = { features = ["pinocchio", "py312"], solve-group = "py312" } +crocoddyl = { features = ["crocoddyl", "py312"], solve-group = "py312" } +openmp = { features = ["openmp", "py312"], solve-group = "py312" } +cholmod = { features = ["cholmod", "py312"], solve-group = "py312" } +tracy = { features = ["tracy", "py312"], solve-group = "py312" } +py39 = { features = ["py39"], solve-group = "py39" } +all = { features = [ + "pinocchio", + "crocoddyl", + "openmp", + "cholmod", + "py312", +], solve-group = "py312" } +all-py39 = { features = [ + "pinocchio", + "crocoddyl", + "openmp", + "cholmod", + "py39", +], solve-group = "py39" } From b1128276cd11e2722e902c97c8680c31f8a9650c Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Wed, 30 Oct 2024 14:05:16 +0100 Subject: [PATCH 2/8] pixi: Forbid EigenPy 3.10.0 --- pixi.lock | 1444 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sha256: ca19a905a53cc3e1615598b2e2ea431f23961ce1c105d849adfe0a992296d5bd + md5: 30727ba9ef2319c79662ea0855505476 depends: - __osx >=10.13 - eigen - - eigenpy >=3.10.0,<3.10.1.0a0 + - eigenpy >=3.8.0,<3.8.1.0a0 - fmt >=11.0.2,<12.0a0 - libboost >=1.86.0,<1.87.0a0 - libboost-python >=1.86.0,<1.87.0a0 - libcxx >=17 - llvm-openmp >=17.0.6 - - llvm-openmp >=19.1.2 + - llvm-openmp >=19.1.1 - matplotlib-base - meshcat-python - - numpy >=1.19,<3 + - numpy >=1.26.4,<2.0a0 - pinocchio >=3.2.0,<3.2.1.0a0 - python >=3.12,<3.13.0a0 - python_abi 3.12.* *_cp312 @@ -12895,53 +12816,52 @@ packages: - typed-argument-parser license: BSD-2-Clause license_family: BSD - size: 918140 - timestamp: 1729862807578 + size: 920540 + timestamp: 1728963731107 - kind: conda name: proxsuite-nlp version: 0.9.0 - build: py39h5fd8fa8_2 - build_number: 2 - subdir: osx-64 - url: https://conda.anaconda.org/conda-forge/osx-64/proxsuite-nlp-0.9.0-py39h5fd8fa8_2.conda - sha256: 05fc7cd3a6bc47b132a4fa5267e98fa8fae4e604665279393fd579bb078dad38 - md5: 6ab520b88006c1066ed4ac29710500c5 + build: py39h1c34034_0 + subdir: osx-arm64 + url: https://conda.anaconda.org/conda-forge/osx-arm64/proxsuite-nlp-0.9.0-py39h1c34034_0.conda + sha256: 0d243ba153b988951ed5157d40d06e2c75a038896a1789f525d5d7a9975dd66c + md5: 801fb47bb11896a48c33de4ab0844579 depends: - - __osx >=10.13 + - __osx >=11.0 - eigen - - eigenpy >=3.10.0,<3.10.1.0a0 + - eigenpy >=3.8.0,<3.8.1.0a0 - fmt >=11.0.2,<12.0a0 - libboost >=1.86.0,<1.87.0a0 - libboost-python >=1.86.0,<1.87.0a0 - libcxx >=17 - llvm-openmp >=17.0.6 - - llvm-openmp >=19.1.2 + - llvm-openmp >=19.1.1 - matplotlib-base - meshcat-python - - numpy >=1.19,<3 + - numpy >=1.22.4,<2.0a0 - pinocchio >=3.2.0,<3.2.1.0a0 - python >=3.9,<3.10.0a0 + - python >=3.9,<3.10.0a0 *_cpython - python_abi 3.9.* *_cp39 - tqdm - typed-argument-parser license: BSD-2-Clause license_family: BSD - size: 915666 - timestamp: 1729862649319 + size: 830562 + timestamp: 1728963494793 - kind: conda name: proxsuite-nlp version: 0.9.0 - build: py39hc9fa1b4_2 - build_number: 2 + build: py39h8ce26ad_0 subdir: linux-64 - url: https://conda.anaconda.org/conda-forge/linux-64/proxsuite-nlp-0.9.0-py39hc9fa1b4_2.conda - sha256: ac4cc475a66b4773c5e025b54b4278067a3e216cb9a627934e1fdf92aed42aca - md5: 5346919c4946d44cc4ac79465f1f4ac8 + url: https://conda.anaconda.org/conda-forge/linux-64/proxsuite-nlp-0.9.0-py39h8ce26ad_0.conda + sha256: 6c28dfc6d1a0143ed6b41b104f8ba8ab95ebe10ea5623d00134b1020d904fe76 + md5: 4746c02b1293fdfedb98721976d526c0 depends: - __glibc >=2.17,<3.0.a0 - _openmp_mutex >=4.5 - eigen - - eigenpy >=3.10.0,<3.10.1.0a0 + - eigenpy >=3.8.0,<3.8.1.0a0 - fmt >=11.0.2,<12.0a0 - libboost >=1.86.0,<1.87.0a0 - libboost-python >=1.86.0,<1.87.0a0 @@ -12949,7 +12869,7 @@ packages: - libstdcxx >=13 - matplotlib-base - meshcat-python - - numpy >=1.19,<3 + - numpy >=1.22.4,<2.0a0 - pinocchio >=3.2.0,<3.2.1.0a0 - python >=3.9,<3.10.0a0 - python_abi 3.9.* *_cp39 @@ -12957,40 +12877,38 @@ packages: - typed-argument-parser license: BSD-2-Clause license_family: BSD - size: 1100071 - timestamp: 1729862389727 + size: 1098973 + timestamp: 1728963092897 - kind: conda name: proxsuite-nlp version: 0.9.0 - build: py39hd9aacf5_2 - build_number: 2 - subdir: osx-arm64 - url: https://conda.anaconda.org/conda-forge/osx-arm64/proxsuite-nlp-0.9.0-py39hd9aacf5_2.conda - sha256: 2ab4bfcef52a0177903d98b6eca6bbc41825215b5c1ef0d3fd03ab65d9dd94c6 - md5: ec8de007e9233139bcdb54735b1ac01c + build: py39hbe741d6_0 + subdir: osx-64 + url: https://conda.anaconda.org/conda-forge/osx-64/proxsuite-nlp-0.9.0-py39hbe741d6_0.conda + sha256: 1cd2a1814af118ab115bfcfdcf55660a10ebd913b7c3e662a21536d57a1974fb + md5: dfe68f48a8a54c9b3f0998d6c640cf3f depends: - - __osx >=11.0 + - __osx >=10.13 - eigen - - eigenpy >=3.10.0,<3.10.1.0a0 + - eigenpy >=3.8.0,<3.8.1.0a0 - fmt >=11.0.2,<12.0a0 - libboost >=1.86.0,<1.87.0a0 - libboost-python >=1.86.0,<1.87.0a0 - libcxx >=17 - llvm-openmp >=17.0.6 - - llvm-openmp >=19.1.2 + - llvm-openmp >=19.1.1 - matplotlib-base - meshcat-python - - numpy >=1.19,<3 + - numpy >=1.22.4,<2.0a0 - pinocchio >=3.2.0,<3.2.1.0a0 - python >=3.9,<3.10.0a0 - - python >=3.9,<3.10.0a0 *_cpython - python_abi 3.9.* *_cp39 - tqdm - typed-argument-parser license: BSD-2-Clause license_family: BSD - size: 834374 - timestamp: 1729862565829 + size: 913562 + timestamp: 1728963357028 - kind: conda name: pthread-stubs version: '0.4' diff --git a/pixi.toml b/pixi.toml index 7084e953c..59a06d17a 100644 --- a/pixi.toml +++ b/pixi.toml @@ -19,7 +19,7 @@ libboost-devel = ">=1.80.0" libboost-python-devel = ">=1.80.0" eigen = ">=3.4.0" python = ">=3.9.0" -eigenpy = ">=3.8.0" +eigenpy = ">=3.8.0,!=3.10.0" proxsuite-nlp = ">=0.8.0" fmt = ">=10.0.0" benchmark = ">=1.8.0" From a15d08455db39f4c419dee68a095d1589a5968ce Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Wed, 30 Oct 2024 14:14:21 +0100 Subject: [PATCH 3/8] ci: Add a workflow that use Pixi and remove conda workflow --- .github/workflows/conda/conda-env.yml | 22 ----- .github/workflows/macos-linux-conda.yml | 109 ------------------------ .github/workflows/macos-linux-pixi.yml | 83 ++++++++++++++++++ 3 files changed, 83 insertions(+), 131 deletions(-) delete mode 100644 .github/workflows/conda/conda-env.yml delete mode 100644 .github/workflows/macos-linux-conda.yml create mode 100644 .github/workflows/macos-linux-pixi.yml diff --git a/.github/workflows/conda/conda-env.yml b/.github/workflows/conda/conda-env.yml deleted file mode 100644 index 810f8f990..000000000 --- a/.github/workflows/conda/conda-env.yml +++ /dev/null @@ -1,22 +0,0 @@ -name: aligator -channels: - - simple-robotics - - conda-forge -dependencies: - - python - - cmake - - ninja - - cxx-compiler - - ccache - - suitesparse - - eigenpy - - pinocchio>=3.0.0 - - eigen - - fmt - - proxsuite-nlp>=0.8.0 - - benchmark - - crocoddyl - - example-robot-data - - llvm-openmp - - matplotlib - - pytest diff --git a/.github/workflows/macos-linux-conda.yml b/.github/workflows/macos-linux-conda.yml deleted file mode 100644 index 9a2ba0ccb..000000000 --- a/.github/workflows/macos-linux-conda.yml +++ /dev/null @@ -1,109 +0,0 @@ -name: CI - OSX/Linux via Conda - -on: - push: - paths-ignore: - - 'doc/**' - - 'scripts/**' - - '.gitlab-ci.yml' - - '.gitignore' - - '*.md' - - 'CHANGELOG.md' - - 'CITATION.cff' - - 'CITATIONS.bib' - pull_request: - paths-ignore: - - 'doc/' - - 'scripts/' - - '.gitlab-ci.yml' - - '.gitignore' - - '*.md' - - 'CHANGELOG.md' - - 'CITATION.cff' - - 'CITATIONS.bib' -concurrency: - group: ${{ github.workflow }}-${{ github.ref }} - cancel-in-progress: true - -jobs: - aligator-conda: - name: ${{ matrix.os }} - Python ${{ matrix.python-version }} ${{ matrix.build_type }} - runs-on: ${{ matrix.os }} - env: - CCACHE_BASEDIR: "${GITHUB_WORKSPACE}" - CCACHE_DIR: "${GITHUB_WORKSPACE}/.ccache" - CCACHE_COMPRESS: true - CCACHE_COMPRESSLEVEL: 6 - - strategy: - fail-fast: false - matrix: - os: ["ubuntu-latest", "macos-latest"] - build_type: [Release, Debug] - python-version: ["3.10", "3.11", "3.12"] - - steps: - - uses: actions/checkout@v4 - with: - submodules: recursive - - - uses: actions/cache@v3 - with: - path: .ccache - key: ccache-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ github.sha }} - restore-keys: ccache-conda-${{ matrix.os }}-${{ matrix.build_type }}- - - - uses: conda-incubator/setup-miniconda@v3 - with: - activate-environment: aligator - auto-update-conda: true - environment-file: .github/workflows/conda/conda-env.yml - python-version: ${{ matrix.python-version }} - - - name: Build aligator - shell: bash -l {0} - run: | - conda activate aligator - echo $CONDA_PREFIX - - mkdir build - cd build - - cmake .. \ - -GNinja \ - -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \ - -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \ - -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ - -DPYTHON_EXECUTABLE=$(which python3) \ - -DBUILD_PYTHON_INTERFACE=ON \ - -DGENERATE_PYTHON_STUBS=ON \ - -DBUILD_WITH_CHOLMOD_SUPPORT=ON \ - -DBUILD_WITH_OPENMP_SUPPORT=ON \ - -DBUILD_CROCODDYL_COMPAT=ON \ - -DBUILD_BENCHMARKS=ON \ - -DBUILD_EXAMPLES=ON - cmake --build . -j2 - ctest --output-on-failure - cmake --install . - - - name: Uninstall aligator - shell: bash -l {0} - run: | - conda activate aligator - cd build - cmake --build . --target uninstall - - check: - if: always() - name: check-macos-linux-conda - - needs: - - aligator-conda - - runs-on: ubuntu-latest - - steps: - - name: Decide whether the needed jobs succeeded or failed - uses: re-actors/alls-green@release/v1 - with: - jobs: ${{ toJSON(needs) }} diff --git a/.github/workflows/macos-linux-pixi.yml b/.github/workflows/macos-linux-pixi.yml new file mode 100644 index 000000000..d6e4ba6df --- /dev/null +++ b/.github/workflows/macos-linux-pixi.yml @@ -0,0 +1,83 @@ +name: CI - OSX/Linux via Pixi + +on: + push: + paths-ignore: + - 'doc/**' + - 'scripts/**' + - '.gitlab-ci.yml' + - '.gitignore' + - '*.md' + - 'CHANGELOG.md' + - 'CITATION.cff' + - 'CITATIONS.bib' + pull_request: + paths-ignore: + - 'doc/' + - 'scripts/' + - '.gitlab-ci.yml' + - '.gitignore' + - '*.md' + - 'CHANGELOG.md' + - 'CITATION.cff' + - 'CITATIONS.bib' +concurrency: + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: true + +jobs: + aligator-pixi: + name: ${{ matrix.os }} - Env ${{ matrix.environment }} ${{ matrix.build_type }} + runs-on: ${{ matrix.os }} + env: + CCACHE_BASEDIR: "${GITHUB_WORKSPACE}" + CCACHE_DIR: "${GITHUB_WORKSPACE}/.ccache" + CCACHE_COMPRESS: true + CCACHE_COMPRESSLEVEL: 6 + + strategy: + fail-fast: false + matrix: + os: [ubuntu-latest, macos-latest, macos-13] + environment: [all, all-py39] + build_type: [Release, Debug] + + steps: + - uses: actions/checkout@v4 + with: + submodules: recursive + + - uses: actions/cache@v4 + with: + path: .ccache + key: ccache-macos-linux-pixi-${{ matrix.os }}-${{ matrix.build_type }}-${{ github.sha }} + restore-keys: ccache-macos-linux-pixi-${{ matrix.os }}-${{ matrix.build_type }}- + + - uses: prefix-dev/setup-pixi@v0.8.1 + with: + pixi-version: v0.34.0 + cache: true + environments: ${{ matrix.environment }} + + - name: Build aligator + shell: bash -l {0} + env: + CMAKE_BUILD_PARALLEL_LEVEL: 4 + ALIGATOR_BUILD_TYPE: ${{ matrix.build_type }} + run: | + pixi run -e ${{ matrix.environment }} test + + check: + if: always() + name: check-macos-linux-pixi + + needs: + - aligator-pixi + + runs-on: ubuntu-latest + + steps: + - name: Decide whether the needed jobs succeeded or failed + uses: re-actors/alls-green@release/v1 + with: + jobs: ${{ toJSON(needs) }} From 9abf9c84172b0ab0f6170389ebf29fa4776c59ba Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Wed, 30 Oct 2024 14:17:24 +0100 Subject: [PATCH 4/8] readme: Add Pixi build instruction --- README.md | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) diff --git a/README.md b/README.md index addecfeb9..cbf17d3d4 100644 --- a/README.md +++ b/README.md @@ -37,6 +37,23 @@ From either conda-forge or [our channel](https://anaconda.org/simple-robotics/al conda install -c conda-forge aligator ``` +### From source with Pixi + +To build **aligator** from source the easiest way is to use [Pixi](https://pixi.sh/latest/#installation). + +[Pixi](https://pixi.sh/latest/) is a cross-platform package management tool for developers that +will install all required dependencies in `.pixi` directory. +It's used by our CI agent so you have the guarantee to get the right dependencies. + +Run the following command to install dependencies, configure, build and test the project: + +```bash +pixi run test +``` + +The project will be built in the `build` directory. +You can run `pixi shell` and build the project with `cmake` and `ninja` manually. + ### Build from source ```bash From 7fb225148c44a5a0116cf4331f0379f86314701f Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Wed, 30 Oct 2024 14:19:55 +0100 Subject: [PATCH 5/8] ci: Add auto lockfile update workflow --- .github/workflows/update_pixi_lockfile.yml | 50 ++++++++++++++++++++++ 1 file changed, 50 insertions(+) create mode 100644 .github/workflows/update_pixi_lockfile.yml diff --git a/.github/workflows/update_pixi_lockfile.yml b/.github/workflows/update_pixi_lockfile.yml new file mode 100644 index 000000000..bc6a19275 --- /dev/null +++ b/.github/workflows/update_pixi_lockfile.yml @@ -0,0 +1,50 @@ +name: CI - Update Pixi lockfile +permissions: + contents: write + pull-requests: write + +on: + workflow_dispatch: + schedule: + - cron: 0 5 1 * * + +jobs: + pixi-update: + runs-on: ubuntu-latest + + steps: + - uses: actions/create-github-app-token@v1 + id: generate-token + with: + app-id: ${{ secrets.APP_ID }} + private-key: ${{ secrets.APP_PRIVATE_KEY }} + + - uses: actions/checkout@v4 + with: + token: ${{ steps.generate-token.outputs.token }} + ref: devel + # Make sure the value of GITHUB_TOKEN will not be persisted in repo's config + persist-credentials: false + + - name: Set up pixi + uses: prefix-dev/setup-pixi@v0.8.1 + with: + run-install: false + + - name: Update lockfile + run: | + set -o pipefail + pixi update --json | pixi exec pixi-diff-to-markdown >> diff.md + + - name: Create pull request + uses: peter-evans/create-pull-request@v7 + with: + token: ${{ steps.generate-token.outputs.token }} + commit-message: 'pixi: Update pixi lockfile' + title: Update pixi lockfile + body-path: diff.md + branch: topic/update-pixi + base: devel + labels: pixi + delete-branch: true + add-paths: pixi.lock From bf07644c8ef61ff33e4f15d559f5aee652339b92 Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Wed, 30 Oct 2024 14:20:55 +0100 Subject: [PATCH 6/8] changelog: Add entry --- CHANGELOG.md | 1 + 1 file changed, 1 insertion(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index 3ad810914..792b0a463 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -11,6 +11,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0 - Add a multibody friction cone cost ([#234](https://github.com/Simple-Robotics/aligator/pull/234)) - Add a `GravityCompensationResidual`, modelling $r(x,u) = Bu - G(q)$ ([#235](https://github.com/Simple-Robotics/aligator/pull/235)) +- Add Pixi support ([#240](https://github.com/Simple-Robotics/aligator/pull/240)) ### Changed From 3a6b1208d81b7dfed3a9d78613e318999bc8ca06 Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Wed, 30 Oct 2024 14:32:49 +0100 Subject: [PATCH 7/8] cmake: Update rules to use custom OpenMP module --- CMakeLists.txt | 17 ++++++++--------- 1 file changed, 8 insertions(+), 9 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index ad8b15ae7..c5f994b26 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -82,16 +82,15 @@ include(${JRL_CMAKE_MODULES}/ide.cmake) include(${JRL_CMAKE_MODULES}/python.cmake) include(${JRL_CMAKE_MODULES}/apple.cmake) if(APPLE) # Use the handmade approach - set( - CMAKE_MODULE_PATH - ${JRL_CMAKE_MODULES}/find-external/OpenMP - ${CMAKE_MODULE_PATH} - ) + if(${CMAKE_VERSION} VERSION_LESS "3.18.0") # Need to find the right version + set( + CMAKE_MODULE_PATH + ${JRL_CMAKE_MODULES}/find-external/OpenMP + ${CMAKE_MODULE_PATH} + ) + endif() elseif(UNIX) - if( - ${CMAKE_VERSION} VERSION_GREATER "3.20.0" - OR ${CMAKE_VERSION} VERSION_EQUAL "3.20.0" - ) + if(${CMAKE_VERSION} VERSION_EQUAL "3.20.0") set( CMAKE_MODULE_PATH ${JRL_CMAKE_MODULES}/find-external/OpenMP From 472fdbb3bf14805794482e321b13dae5b7982519 Mon Sep 17 00:00:00 2001 From: Joris Vaillant Date: Wed, 30 Oct 2024 14:59:26 +0100 Subject: [PATCH 8/8] ci: Delete publish workflow --- .github/workflows/publish.yml | 86 ---------------------- packaging/conda/aligator-release/bld.bat | 36 --------- packaging/conda/aligator-release/build.sh | 22 ------ packaging/conda/aligator-release/meta.yaml | 66 ----------------- 4 files changed, 210 deletions(-) delete mode 100644 .github/workflows/publish.yml delete mode 100644 packaging/conda/aligator-release/bld.bat delete mode 100644 packaging/conda/aligator-release/build.sh delete mode 100644 packaging/conda/aligator-release/meta.yaml diff --git a/.github/workflows/publish.yml b/.github/workflows/publish.yml deleted file mode 100644 index 0b51a66c4..000000000 --- a/.github/workflows/publish.yml +++ /dev/null @@ -1,86 +0,0 @@ -name: Publish on anaconda - -on: - workflow_dispatch: - inputs: - publish: - description: "Publish conda packages" - required: false - default: false - type: boolean - pull_request: - release: - types: published -env: - FROM_TAG: ${{ inputs.publish && '1' || '' }} -concurrency: - group: ${{ github.workflow }}-${{ github.ref }} - cancel-in-progress: true - -jobs: - upload-on-anaconda: - runs-on: ${{ matrix.os }} - strategy: - fail-fast: false - matrix: - os: ["ubuntu-latest", "macos-latest"] - build_type: [Release] - python-version: ["3.10", "3.11", "3.12"] - include: - - python-version: "3.10" - numpy-version: "1.22" - - python-version: "3.11" - numpy-version: "1.24" - - python-version: "3.12" - numpy-version: "1.26" - steps: - - uses: actions/checkout@v4 - with: - submodules: recursive - - - uses: conda-incubator/setup-miniconda@v3 - with: - auto-update-conda: true - channels: conda-forge - # Python version will be inputed in conda build - # command line - python-version: "3.10" - - - name: Install conda-build and anaconda-client - shell: bash -el {0} - run: conda install conda-build anaconda-client - - - name: Set version - run: | - VER=$(grep "" package.xml | sed 's/ //g' | sed 's/<\/version>//g') - echo "VERSION=$VER" >> $GITHUB_ENV - - - name: Build the recipe - shell: bash -el {0} - run: | - conda build -c simple-robotics \ - -c conda-forge \ - --no-error-overlinking \ - --py ${{ matrix.python-version }} \ - --numpy ${{ matrix.numpy-version }} \ - packaging/conda/aligator-release - - - name: upload on conda - if: github.event_name == 'release' || inputs.publish - shell: bash -el {0} - run: anaconda -t ${{ secrets.SIMPLE_ROBOTICS_ANACONDA_TOKEN }} upload --force $CONDA_PREFIX/conda-bld/*/aligator-*.tar.bz2 - - check: - if: always() - name: check-upload-on-anaconda - - needs: - - upload-on-anaconda - - runs-on: ubuntu-latest - - steps: - - name: Decide whether the needed jobs succeeded or failed - uses: re-actors/alls-green@release/v1 - with: - jobs: ${{ toJSON(needs) }} diff --git a/packaging/conda/aligator-release/bld.bat b/packaging/conda/aligator-release/bld.bat deleted file mode 100644 index c07dac995..000000000 --- a/packaging/conda/aligator-release/bld.bat +++ /dev/null @@ -1,36 +0,0 @@ -setlocal EnableDelayedExpansion - -rd /q /s build - -mkdir build -cd build - -set "CC=clang-cl.exe" -set "CXX=clang-cl.exe" -set "CL=/MP" - -::Configure -cmake ^ - -G Ninja ^ - -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^ - -DCMAKE_BUILD_TYPE=Release ^ - -DPYTHON_SITELIB=%SP_DIR% ^ - -DPYTHON_EXECUTABLE=%PYTHON% ^ - -DBUILD_PYTHON_INTERFACE=ON ^ - -DGENERATE_PYTHON_STUBS=ON ^ - -DBUILD_WITH_PINOCCHIO_SUPPORT=ON ^ - -DBUILD_CROCODDYL_COMPAT=OFF ^ - -DBUILD_WITH_OPENMP_SUPPORT=ON ^ - -DBUILD_BENCHMARKS=OFF ^ - -DBUILD_EXAMPLES=OFF ^ - -DBUILD_TESTING=OFF ^ - %SRC_DIR% -if errorlevel 1 exit 1 - -:: Build. -cmake --build . --config Release -if errorlevel 1 exit 1 - -:: Install. -cmake --build . --config Release --target install -if errorlevel 1 exit 1 diff --git a/packaging/conda/aligator-release/build.sh b/packaging/conda/aligator-release/build.sh deleted file mode 100644 index 336bb7eb7..000000000 --- a/packaging/conda/aligator-release/build.sh +++ /dev/null @@ -1,22 +0,0 @@ -#! /bin/sh - -rm -rf build - -mkdir build -cd build - -cmake ${CMAKE_ARGS} .. \ - -GNinja \ - -DCMAKE_BUILD_TYPE=Release \ - -DPYTHON_EXECUTABLE=$PYTHON \ - -DBUILD_PYTHON_INTERFACE=ON \ - -DGENERATE_PYTHON_STUBS=ON \ - -DBUILD_WITH_PINOCCHIO_SUPPORT=ON \ - -DBUILD_CROCODDYL_COMPAT=ON \ - -DBUILD_WITH_OPENMP_SUPPORT=ON \ - -DBUILD_BENCHMARKS=OFF \ - -DBUILD_EXAMPLES=ON \ - -DBUILD_TESTING=OFF - -ninja -ninja install diff --git a/packaging/conda/aligator-release/meta.yaml b/packaging/conda/aligator-release/meta.yaml deleted file mode 100644 index 719eb266f..000000000 --- a/packaging/conda/aligator-release/meta.yaml +++ /dev/null @@ -1,66 +0,0 @@ -{% set name = "aligator" %} -{% set version = environ.get('VERSION', '') %} -{% set from_tag = environ.get('FROM_TAG', '') %} - -package: - name: {{ name }} - version: {{ version }} - -source: -{% if from_tag %} - git_url: https://github.com/Simple-Robotics/aligator - git_rev: v{{ version }} -{% else %} - path: ../../.. -{% endif %} - -build: - number: 0 - run_exports: - - {{ pin_subpackage("aligator", max_pin='x.x.x') }} - -requirements: - build: - - {{ compiler('cxx') }} - - cmake - - clang # [win] - - ninja - host: - - eigen - - eigenpy - - libboost-devel - - libboost-python-devel - - fmt - - pinocchio - - proxsuite-nlp>=0.8.0 - - crocoddyl # [not win] - - python - - matplotlib - - llvm-openmp - - example-robot-data - run: - - eigen - - python - - matplotlib - - proxsuite-nlp>=0.8.0 - - typed-argument-parser - -test: - requires: - - pkg-config - commands: - - pkg-config --modversion {{ name }} - - test -f $PREFIX/lib/lib{{ name }}${SHLIB_EXT} # [not win] - imports: - - aligator - -about: - home: https://github.com/Simple-Robotics/aligator - summary: A trajectory optimization library for robotics and beyond. - license: BSD-2-Clause - license_family: BSD - -extra: - recipe-maintainers: - - "olivier.roussel@inria.fr" - - "joris.vaillant@inria.fr"