macos.yml

name: MacOS CI (Build from source dependencies)

on:
  # Trigger the workflow on push on the master branch, or for any pull request
  push:
    branches:
      - master
  pull_request:

jobs:
  build-and-test-osx:
    name: >-
      (${{ matrix.OS }}) (${{ matrix.PYTHON_VERSION }}) (${{ matrix.BUILD_TYPE }})
      Build and run the unit tests. Then generate and publish the wheels on PyPi.

    strategy:
      matrix:
        OS: ['macos-15']  # 'macos-13': Intel (x86), 'macos-14+': Apple Silicon (arm64)
        PYTHON_VERSION: ['3.10', '3.11', '3.12', '3.13']  # `setup-python` does not support Python<3.10 on Apple Silicon
        BUILD_TYPE: ['Release']
        include:
          - OS: 'macos-13'
            PYTHON_VERSION: '3.10'
            BUILD_TYPE: 'Release'
          - OS: 'macos-15'
            PYTHON_VERSION: '3.12'
            BUILD_TYPE: 'Debug'
            LINKER_FLAGS: '-Wl,-ld_classic'  # New "ld_prime" linker (XCode 15+) causes build failures

    runs-on: ${{ matrix.OS }}

    defaults:
      run:
        shell: bash -ieo pipefail {0}

    env:
      C_COMPILER: "/usr/bin/clang"
      CXX_COMPILER: "/usr/bin/clang++"
      CXX_FLAGS: "-DEIGEN_MPL2_ONLY -Wno-deprecated-declarations"
      OSX_DEPLOYMENT_TARGET: "11.0"
      OSX_ARCHITECTURES: "x86_64;arm64"
      WHEEL_ARCH: "universal2"

    #####################################################################################

    steps:
    - name: Checkout jiminy
      uses: actions/checkout@v4

    #####################################################################################

    - name: Configure Python
      uses: actions/setup-python@v5
      with:
        python-version: ${{ matrix.PYTHON_VERSION }}
    - name: Setup minimal build environment
      run: |
        git config --global advice.detachedHead false

        PYTHON_EXECUTABLE="${pythonLocation}/bin/python3"

        echo "PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}" >> $GITHUB_ENV

        echo "RootDir=${GITHUB_WORKSPACE}" >> $GITHUB_ENV
        echo "InstallDir=${GITHUB_WORKSPACE}/install" >> $GITHUB_ENV

        # FIXME: Panda3d software rendering is partially broken on Apple Silicon
        if [[ "${{ matrix.OS }}" != 'macos-13' ]] ; then
          echo "JIMINY_PANDA3D_FORCE_TINYDISPLAY=" >> $GITHUB_ENV
        fi

        "${PYTHON_EXECUTABLE}" -m pip install setuptools wheel "pip>=20.3,<25.1"
        "${PYTHON_EXECUTABLE}" -m pip install delocate twine
    - name: Install pre-compiled binaries for additional gym-jiminy dependencies
      run: |
        "${PYTHON_EXECUTABLE}" -m pip install torch --index-url https://download.pytorch.org/whl/cpu
        "${PYTHON_EXECUTABLE}" -m pip install "gymnasium>=0.28,<1.1" "stable_baselines3>=2.0,<2.5"
    - name: Install latest numpy version at build-time for run-time binary compatibility
      run: |
        if [[ "${{ matrix.BUILD_TYPE }}" != 'Debug' && "${{ matrix.OS }}" != 'macos-13' ]] ; then
          "${PYTHON_EXECUTABLE}" -m pip install --upgrade "numpy>=1.24" numba torch
        else
          # FIXME: torch on MacOS x86 for Python 3.10 does not support Numpy 2.X
          # but does not enforce such restriction in requirements.
          "${PYTHON_EXECUTABLE}" -m pip install --upgrade "numpy>=1.24,<2.0" numba torch
        fi

    - name: Build jiminy dependencies
      run: |
        OSX_DEPLOYMENT_TARGET=${OSX_DEPLOYMENT_TARGET} OSX_ARCHITECTURES=${OSX_ARCHITECTURES} \
        LINKER_FLAGS="${{ matrix.LINKER_FLAGS }}" BUILD_TYPE="${{ matrix.BUILD_TYPE }}" \
          ./build_tools/build_install_deps_unix.sh

    #####################################################################################

    - name: Build and install Jiminy
      run: |
        unset Boost_ROOT

        # Build jiminy
        mkdir "${RootDir}/build"
        cd "${RootDir}/build"
        export LD_LIBRARY_PATH="${InstallDir}/lib/:/usr/local/lib"
        cmake "${RootDir}" -Wdev \
              -DCMAKE_EXE_LINKER_FLAGS="${{ matrix.LINKER_FLAGS }}" \
              -DCMAKE_SHARED_LINKER_FLAGS="${{ matrix.LINKER_FLAGS }}" \
              -DCMAKE_INSTALL_PREFIX="${InstallDir}" -DCMAKE_PREFIX_PATH="${InstallDir}" \
              -DCMAKE_C_COMPILER="${C_COMPILER}" -DCMAKE_CXX_COMPILER="${CXX_COMPILER}" \
              -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" \
              -DCMAKE_OSX_DEPLOYMENT_TARGET="${OSX_DEPLOYMENT_TARGET}" \
              -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON \
              -DBOOST_ROOT="${InstallDir}" -DBoost_INCLUDE_DIR="${InstallDir}/include" \
              -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE \
              -DBoost_USE_STATIC_LIBS=ON -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" \
              -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_PYTHON_INTERFACE=ON \
              -DCMAKE_CXX_FLAGS="${CXX_FLAGS}" -DCMAKE_BUILD_TYPE="${{ matrix.BUILD_TYPE }}"
        make -j4

        # Bundle the boost python dependencies with jiminy
        mkdir -p "${RootDir}/build/pypi/jiminy_py/src/jiminy_py"
        cp -R -H "${InstallDir}/lib/python${{ matrix.PYTHON_VERSION }}/site-packages/." \
                 "${RootDir}/build/pypi/jiminy_py/src/jiminy_py/core"

        # Install jiminy along with its dependencies
        make install

        # Strip all symbol table and relocation information from python bindings and shared libraries
        find "${RootDir}/build/pypi/" -name "*.so" -print -exec strip -x {} +
        find "${InstallDir}/lib" -name "*.dylib" -maxdepth 1 -print -exec strip -x {} +

    #####################################################################################

    - name: Generate and install Python Pip wheels
      run: |
        export LD_LIBRARY_PATH="${InstallDir}/lib:${DYLD_LIBRARY_PATH}"
        export DYLD_FALLBACK_LIBRARY_PATH="${LD_LIBRARY_PATH}"

        # Generate stubs
        if [[ "${{ matrix.BUILD_TYPE }}" != 'Debug' && "${{ matrix.OS }}" != 'macos-13' ]] ; then
          stubgen -p jiminy_py -o ${RootDir}/build/pypi/jiminy_py/src
          # FIXME: Python 3.10 and Python 3.11 crashes when generating stubs without any backtrace...
          if [[ "${{ matrix.PYTHON_VERSION }}" != '3.10' && "${{ matrix.PYTHON_VERSION }}" != '3.11' ]] ; then
            # lldb --batch -o "settings set target.process.stop-on-exec false" \
            #   -o "break set -n main" -o "run" -k "bt" -k "quit" -- \
            "${PYTHON_EXECUTABLE}" "${RootDir}/build_tools/stubgen.py" \
              -o ${RootDir}/build/stubs --ignore-invalid=all jiminy_py
            cp ${RootDir}/build/stubs/jiminy_py-stubs/core/__init__.pyi \
              ${RootDir}/build/pypi/jiminy_py/src/jiminy_py/core/core.pyi
          fi
        fi

        # Generate wheels
        cd "${RootDir}/build"
        cmake . -DCOMPONENT=pypi -P ./cmake_install.cmake

        # Bundle non-standard dependencies with the wheels
        delocate-wheel -vvv --require-archs "${WHEEL_ARCH}" \
                       -w "${RootDir}/build/wheelhouse" "${RootDir}/build/pypi/dist/jiminy_py/"*.whl
        "${PYTHON_EXECUTABLE}" "${RootDir}/build_tools/wheel_addplat_macos.py" -vvv --rm-orig --clobber \
            -p "macosx_${OSX_DEPLOYMENT_TARGET//./_}_${WHEEL_ARCH}" "${RootDir}/build/wheelhouse/"*.whl
        "${PYTHON_EXECUTABLE}" -m pip install --force-reinstall --no-deps "${RootDir}/build/wheelhouse/"*.whl
    - name: Upload the wheel for Linux of jiminy_py
      if: matrix.BUILD_TYPE != 'Debug' && matrix.OS != 'macos-13'
      uses: actions/upload-artifact@v4
      with:
        name: wheelhouse-${{ matrix.PYTHON_VERSION }}
        path: build/wheelhouse

    #####################################################################################

    - name: Build extension module
      run: |
        export DYLD_FALLBACK_LIBRARY_PATH="${InstallDir}/lib"

        "${InstallDir}/bin/jiminy_double_pendulum"

        mkdir -p "${RootDir}/core/examples/external_project/build"
        cd "${RootDir}/core/examples/external_project/build"
        cmake "${RootDir}/core/examples/external_project/" \
              -DCMAKE_EXE_LINKER_FLAGS="${{ matrix.LINKER_FLAGS }}" \
              -DCMAKE_SHARED_LINKER_FLAGS="${{ matrix.LINKER_FLAGS }}" \
              -DCMAKE_C_COMPILER="${C_COMPILER}" -DCMAKE_CXX_COMPILER="${CXX_COMPILER}" \
              -DCMAKE_INSTALL_PREFIX="${InstallDir}" -DCMAKE_PREFIX_PATH="${InstallDir}" \
              -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" \
              -DCMAKE_CXX_FLAGS="${CXX_FLAGS}" -DCMAKE_BUILD_TYPE="${{ matrix.BUILD_TYPE }}"
        make install

        "${InstallDir}/bin/pip_double_pendulum"

    #####################################################################################

    - name: Run unit tests for jiminy
      run: |
        export DYLD_FALLBACK_LIBRARY_PATH="${InstallDir}/lib"

        ctest --output-on-failure --test-dir "${RootDir}/build/core/unit"

        cd "${RootDir}/python/jiminy_py/unit_py"
        "${PYTHON_EXECUTABLE}" -m unittest discover -v

    - name: Run unit tests for gym jiminy base module
      run: |
        export LD_LIBRARY_PATH="${InstallDir}/lib/:/usr/local/lib"

        if [[ "${{ matrix.BUILD_TYPE }}" == 'Debug' ]] ; then
          export JIMINY_BUILD_DEBUG=
        fi
        "${PYTHON_EXECUTABLE}" -m unittest discover -s "${RootDir}/python/gym_jiminy/unit_py" -v

    - name: Run examples for gym jiminy add-on modules
      if: matrix.BUILD_TYPE != 'Debug' && matrix.PYTHON_VERSION != '3.13'
      run: |
        export LD_LIBRARY_PATH="${InstallDir}/lib/:/usr/local/lib"

        cd "${RootDir}/python/gym_jiminy/examples/rllib"
        "${PYTHON_EXECUTABLE}" acrobot_ppo.py

#########################################################################################

  publish-pypi-macos:
    name: (MacOS CI) Publish on PyPi the wheel for OS X of jiminy_py
    runs-on: ubuntu-24.04
    permissions:
      id-token: write

    needs: build-and-test-osx
    if: github.repository == 'duburcqa/jiminy' && github.event_name == 'push' && github.ref == 'refs/heads/master'

    steps:
    - name: Download the wheel previously generated
      uses: actions/download-artifact@v4
      with:
        pattern: wheelhouse-*
        merge-multiple: true
        path: wheelhouse
    - name: Publish the wheel
      uses: pypa/gh-action-pypi-publish@v1.10.3
      with:
        packages-dir: wheelhouse
        verify-metadata: false