python-package.yml

name: Python Package Build and Release

##on tag creation
on:
  push:
    tags:
      - 'v*'  # Run on any tag starting with 'v' (e.g., v1.0.0)

jobs:
  build:
    name: Build Package
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        os: [ubuntu-latest, macos-latest]
        python-version: ['3.9', '3.10', '3.11']
        exclude:
          # Exclude combinations that might not be compatible
          - os: macos-latest
            python-version: '3.9'

    steps:
    - uses: actions/checkout@v4
      with:
        fetch-depth: 0  # Fetch all history for proper versioning

    - name: Set up Python ${{ matrix.python-version }}
      uses: actions/setup-python@v5
      with:
        python-version: ${{ matrix.python-version }}

    - name: Install dependencies
      run: |
        python -m pip install --upgrade pip
        python -m pip install build wheel setuptools twine

    - name: Install package dependencies
      run: |
        python -m pip install numpy==1.26.4 genesis-world==0.2.1 numba==0.60.0 'robot_descriptions>=1.12' pytest pytest-cov
        # Install PyTorch based on OS
        if [[ "${{ matrix.os }}" == "ubuntu-latest" ]]; then
          # For Linux, use CPU-only PyTorch from specific URL
          python -m pip install torch==2.0.1+cpu torchvision==0.15.2+cpu -f https://download.pytorch.org/whl/cpu/torch_stable.html
        else
          # For macOS, use standard PyTorch package
          python -m pip install torch==2.0.1 torchvision==0.15.2
        fi
        # Verify numpy is installed
        python -c "import numpy; print(f'NumPy version: {numpy.__version__}')"

    - name: Install package in development mode
      run: |
        python -m pip install -e .

    - name: Run tests
      run: |
        python -m pytest tests/test_commands_mock.py tests/test_robot_state.py -v

    - name: Build package
      run: python -m build --sdist --wheel
      env:
        # Force setuptools_scm to use the tag version
        SETUPTOOLS_SCM_PRETEND_VERSION: ${{ github.ref_name }}

    - name: Get package version
      id: get_version
      run: |
        # Extract the version from the git tag (e.g., refs/tags/v1.0.0 -> 1.0.0)
        VERSION=$(echo ${{ github.ref }} | sed 's/refs\/tags\/v//')
        echo "VERSION=$VERSION" >> $GITHUB_ENV
        echo "version=$VERSION" >> $GITHUB_OUTPUT
      shell: bash

    - name: Rename wheel for architecture and Python version
      run: |
        mkdir -p dist_renamed
        cd dist
        for wheel in *.whl; do
          # Extract Python version tag (e.g., py3 -> cp39, cp310, etc.)
          PY_SHORT="${{ matrix.python-version }}"
          # Remove the dot (e.g., 3.9 -> 39, 3.10 -> 310)
          PY_VER_NO_DOT="${PY_SHORT//./}"
          # Create Python tag (e.g., cp39)
          PY_TAG="cp${PY_VER_NO_DOT}"

          # Extract the platform tag
          if [[ "${{ matrix.os }}" == "ubuntu-latest" ]]; then
            PLATFORM_TAG="manylinux2014_x86_64"
          elif [[ "${{ matrix.os }}" == "macos-latest" ]]; then
            PLATFORM_TAG="macosx_11_0_universal2"
          # Windows platform tag removed since it's not supported
          fi

          # Rename wheel with correct platform tag and Python version
          NEW_NAME=$(echo $wheel | sed -E "s/-py3-none-any.whl/-${PY_TAG}-${PY_TAG}-$PLATFORM_TAG.whl/")
          cp $wheel ../dist_renamed/$NEW_NAME
        done
      shell: bash

    - name: Upload built packages as artifacts
      uses: actions/upload-artifact@v4
      with:
        name: python-package-${{ matrix.os }}-${{ matrix.python-version }}
        path: |
          dist_renamed/*.whl
          dist/*.tar.gz

  publish:
    name: Publish Release
    needs: build
    runs-on: ubuntu-latest
    permissions:
      contents: write  # Needed to create releases
      id-token: write  # Needed for trusted publishing to PyPI

    steps:
    - uses: actions/checkout@v4

    - name: Download all artifacts
      uses: actions/download-artifact@v4
      with:
        path: artifacts

    - name: Prepare packages for release
      run: |
        mkdir -p release_packages
        find artifacts -name "*.whl" -o -name "*.tar.gz" | xargs -I{} cp {} release_packages/

    - name: Get release info
      id: get_release_info
      run: |
        # Extract tag name from GITHUB_REF (e.g., refs/tags/v1.0.0 -> v1.0.0)
        TAG=${GITHUB_REF#refs/tags/}
        echo "tag=$TAG" >> $GITHUB_OUTPUT
        # Extract version without 'v' prefix (e.g., v1.0.0 -> 1.0.0)
        VERSION=${TAG#v}
        echo "version=$VERSION" >> $GITHUB_OUTPUT
      shell: bash

    - name: Create GitHub Release
      uses: softprops/action-gh-release@v1
      with:
        tag_name: ${{ steps.get_release_info.outputs.tag }}
        name: Release ${{ steps.get_release_info.outputs.tag }}
        draft: false
        prerelease: false
        files: release_packages/*
        body: |
          # franka-sim ${{ steps.get_release_info.outputs.version }}

          A high-fidelity Genesis simulation server that communicates with the Franka robot's network protocol, enabling seamless switching between simulation and hardware.

          ## Installation

          ```bash
          pip install franka-sim==${{ steps.get_release_info.outputs.version }}
          ```

          ## Documentation

          See the [README](https://github.com/BarisYazici/libfranka-sim#readme) for more information.

  pypi:
    name: Publish to PyPI
    needs: [build, publish]
    runs-on: ubuntu-latest
    permissions:
      contents: read

    steps:
    - uses: actions/checkout@v4

    - name: Download all artifacts
      uses: actions/download-artifact@v4
      with:
        path: artifacts

    - name: Prepare packages for PyPI
      run: |
        mkdir -p dist
        find artifacts -name "*.whl" -o -name "*.tar.gz" | xargs -I{} cp {} dist/

    - name: Publish package to PyPI
      uses: pypa/gh-action-pypi-publish@release/v1
      with:
        password: ${{ secrets.PYPI_API_TOKEN }}
        skip-existing: true