Add Mac OS wheel build action (#69)

* Update to tesseract 0.21.4 * Fix LD_LIBRARY_PATH during docs build for wheels workflow * Bump version to 0.3.0 * Add python 3.12 build * Update generated api docs * Update docs requirements * Update docs requirements * Add macos action * run ci * Add macos action * Add macos action * Add macos action * Add macos action * Add macos action * Add macos action * Use setup-python output python-path on mac * Fix delocate-wheel command arguments * Wheels workflow branch trigger * Only build Python 3.12 on macos * DYLD_LIBRARY_PATH during macos build
tesseract-robotics · Jan 19, 2024 · 0f8b83a · 0f8b83a
1 parent 59a3529
commit 0f8b83a
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diff --git a/.github/workflows/vcpkg_triplets/x64-osx-dynamic-release.cmake b/.github/workflows/vcpkg_triplets/x64-osx-dynamic-release.cmake
@@ -0,0 +1,9 @@
+set(VCPKG_TARGET_ARCHITECTURE x64)
+set(VCPKG_CRT_LINKAGE dynamic)
+set(VCPKG_LIBRARY_LINKAGE dynamic)
+
+set(VCPKG_CMAKE_SYSTEM_NAME Darwin)
+set(VCPKG_OSX_ARCHITECTURES x86_64)
+
+set(VCPKG_BUILD_TYPE release)
+set(VCPKG_OSX_DEPLOYMENT_TARGET 12.0)
diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
@@ -4,7 +4,7 @@ on:
   push:
     branches:
       - master
-      - dev
+      - 'dev**'
   pull_request:
   release:
     types:
@@ -17,11 +17,11 @@ env:
     tinyxml2 console-bridge assimp
     urdfdom octomap orocos-kdl pcl
     gtest benchmark flann jsoncpp
-    yaml-cpp
-    blas lapack
+    yaml-cpp eigen3
+    openblas
     fcl ompl taskflow
     bullet3[multithreading,double-precision,rtti]
-    ccd[double-precision]
+    ccd[double-precision] gperftools
 jobs:
   build-ubuntu:
     runs-on: ${{ matrix.config.runs_on }}
@@ -274,10 +274,95 @@ jobs:
         name: 'build-logs-win-${{ matrix.config.arch }}-python-${{ matrix.config.python_version }}'
         path: "**/*.log"
         retention-days: 2
+  build-macos:
+    runs-on: macos-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        config:
+        - py_platform: macosx-10.9-x86_64
+          python_version: "3.12"
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        path: ws/src/tesseract_python
+    - uses: actions/setup-python@v4
+      id: setup-python
+      with:
+        python-version: '${{ matrix.config.python_version }}'
+    - name: brew
+      run: |
+        brew install libomp cmake automake autoconf libtool gcc ninja
+    - name: vcpkg build
+      uses: johnwason/vcpkg-action@v5
+      with:
+        pkgs: >-
+          ${{ env.VCPKG_PKGS }}
+        triplet: x64-osx-dynamic-release
+        extra-args: --clean-after-build --overlay-triplets=${{ github.workspace }}/ws/src/tesseract_python/.github/workflows/vcpkg_triplets
+        token: ${{ github.token }}
+        cache-key: osx-x64-vcpkg
+        revision: master
+    - name: pip3
+      run: |
+        python3 -m pip install numpy setuptools wheel pytest delvewheel colcon-common-extensions vcstool delocate
+    - name: vcs import
+      working-directory: ws/src
+      run: vcs import --input tesseract_python/dependencies.rosinstall
+    - name: colcon build
+      working-directory: ws
+      run: |
+        export DYLD_LIBRARY_PATH=$DYLD_LIBRARY_PATH:$GITHUB_WORKSPACE/vcpkg/installed/x64-osx-dynamic-release/lib:$GITHUB_WORKSPACE/ws/install/lib
+        export CMAKE_PREFIX_PATH=$GITHUB_WORKSPACE/vcpkg/installed/x64-osx-dynamic-release
+
+        colcon build --merge-install \
+            --packages-ignore tesseract_examples trajopt_ifopt trajopt_sqp ifopt vhacd \
+            --event-handlers console_cohesion+ \
+            --cmake-force-configure \
+            --cmake-args -GNinja -DCMAKE_BUILD_TYPE=Release \
+            -DINSTALL_OMPL=OFF -DINSTALL_OMPL_TAG=master -DBUILD_IPOPT=OFF -DBUILD_SNOPT=OFF \
+            -DBUILD_SHARED_LIBS=ON -DTESSERACT_ENABLE_EXAMPLES=OFF -DTESSERACT_BUILD_TRAJOPT_IFOPT=OFF \
+            -DVCPKG_APPLOCAL_DEPS=OFF -DTESSERACT_ENABLE_TESTING=ON \
+            -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 \
+            -DOpenMP_CXX_INCLUDE_DIR=/usr/local/opt/libomp/include \
+            -DOpenMP_C_INCLUDE_DIR=/usr/local/opt/libomp/include \
+            -DOpenMP_CXX_LIB_NAMES=libomp -DOpenMP_CXX_FLAGS="-Xpreprocessor -fopenmp" \
+            -DOpenMP_C_LIB_NAMES=libomp -DOpenMP_C_FLAGS="-Xpreprocessor -fopenmp" \
+            -DOpenMP_libomp_LIBRARY=/usr/local/opt/libomp/lib/libomp.dylib \
+            -Dtcmalloc_minimal_LIBRARY=${{ github.workspace }}/vcpkg/installed/x64-osx-dynamic-release/lib/libtcmalloc_minimal.dylib \
+            -DPYTHON_EXECUTABLE="${{ steps.setup-python.outputs.python-path }}" \
+            -DTESSERACT_PYTHON_WHEEL_PLATFORM=${{ matrix.config.py_platform }} \
+            -DTESSERACT_PYTHON_BUILD_WHEEL=ON
+    - name: test
+      shell: bash
+      run: |
+        ${{ steps.setup-python.outputs.python-path }} -m venv venv
+        source venv/bin/activate
+        python -m pip install --upgrade pip
+        python -m pip install ws/build/tesseract_python/python/wheelhouse/*
+        python -m pip install pytest        
+        export TESSERACT_SUPPORT_DIR=$GITHUB_WORKSPACE/ws/src/tesseract/tesseract_support
+        export TESSERACT_TASK_COMPOSER_DIR=$GITHUB_WORKSPACE/ws/src/tesseract_planning/tesseract_task_composer
+        cd ws/src/tesseract_python/tesseract_python
+        pytest -s    
+    - name: archive wheels
+      if: always()
+      uses: actions/upload-artifact@v2
+      with:
+        name: 'python-macos-win-${{matrix.config.python_version}}'
+        path: ws/build/tesseract_python/python
+    - name: archive logs
+      if: failure()
+      uses: actions/upload-artifact@v2
+      with:
+        name: 'build-logs-macos-${{ matrix.config.arch }}-python-${{ matrix.config.python_version }}'
+        path: "**/*.log"
+        retention-days: 2
   collect-wheels:
     needs:
       - build-win
       - build-ubuntu
+      - build-macos
     runs-on: ubuntu-20.04
     steps:
     - uses: actions/checkout@v2

diff --git a/tesseract_python/cmake/install_build_wheel.cmake.in b/tesseract_python/cmake/install_build_wheel.cmake.in
@@ -14,6 +14,18 @@ if(STATUS AND NOT STATUS EQUAL 0)
 endif()
 endforeach()
 
+elseif(APPLE)
+execute_process(COMMAND @PYTHON_EXECUTABLE@ setup.py bdist_wheel WORKING_DIRECTORY python RESULT_VARIABLE STATUS)
+if(STATUS AND NOT STATUS EQUAL 0)
+  message(FATAL_ERROR "Python Build Wheel Failed: ${STATUS}")
+endif()
+file(GLOB wheel_files "${CMAKE_CURRENT_LIST_DIR}/python/dist/*.whl")
+foreach(wheel_file ${wheel_files})
+execute_process(COMMAND delocate-wheel --sanitize-rpaths -d -w ${CMAKE_CURRENT_LIST_DIR}/python/wheelhouse ${wheel_file} WORKING_DIRECTORY python RESULT_VARIABLE STATUS)
+if(STATUS AND NOT STATUS EQUAL 0)
+  message(FATAL_ERROR "Python Build Wheel Failed: ${STATUS}")
+endif()
+endforeach()
 else()
 execute_process(COMMAND @PYTHON_EXECUTABLE@ setup.py bdist_wheel --plat-name=@TESSERACT_PYTHON_WHEEL_PLATFORM@ WORKING_DIRECTORY python RESULT_VARIABLE STATUS)
 if(STATUS AND NOT STATUS EQUAL 0)