Merge pull request #68 from liufang-robot/master

添加arm64的action
lebai-robotics · Mar 19, 2024 · 46a417e · 46a417e
2 parents d4fde1d + d008f3c
commit 46a417e
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Showing 10 changed files with 148 additions and 29 deletions.
diff --git a/.github/workflows/linux_python_aarch64_build.yml b/.github/workflows/linux_python_aarch64_build.yml
@@ -0,0 +1,34 @@
+name: Linux python aarch64 build
+run-name: ${{ github.actor }} Linux python aarch64 build
+on: 
+  workflow_dispatch: 
+  pull_request: 
+jobs: 
+  linux_python_aarch64_build: 
+    runs-on: [self-hosted, Linux, ARM64]
+    container: quay.io/pypa/manylinux2014_aarch64
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v1
+
+      - run: for PYBIN in /opt/python/*/bin;do "${PYBIN}/pip" install -r requirements.txt; done;
+      - run: /opt/python/cp310-cp310/bin/pip install twine==2.0.0 markdown
+
+      - name: create-whl-dir
+        run: mkdir -p whl
+
+      - name: build with python
+        run: for PY in /opt/python/*;do
+          rm -rf build;
+          cmake -S. -Bbuild -DBUILD_PYTHON=ON -DPYTHONPATH=${PY};
+          cmake --build build;
+          cp build/python/dist/*.whl whl/;
+          done;
+
+      - name: repair
+        run: for PYWHL in whl/*.whl;do
+          auditwheel repair ${PYWHL};
+          done;
+
+      - name: list Pypi
+        run: ls wheelhouse/*
diff --git a/.github/workflows/linux_python_aarch64_release.yml b/.github/workflows/linux_python_aarch64_release.yml
@@ -0,0 +1,45 @@
+name: Linux python aarch64 release
+run-name: ${{ github.actor }} Linux python aarch64 release
+on: 
+  workflow_dispatch: 
+  push:
+   tags:
+    - v1.*.*
+# Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
+permissions:
+  contents: read
+  pages: write
+  id-token: write
+  pull-requests: read
+
+jobs: 
+  linux_python_aarch64_build_and_release: 
+    runs-on: [self-hosted, Linux, ARM64]
+    container: quay.io/pypa/manylinux2014_aarch64
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v1
+      - run: ls /opt/python/
+      - run: for PYBIN in /opt/python/*/bin;do "${PYBIN}/pip" install -r requirements.txt; done;
+      - run: /opt/python/cp310-cp310/bin/pip install twine==2.0 urllib3==1.24. markdown
+      - name: configure
+        run: cmake -S. -Bbuild -DBUILD_PYTHON=ON
+      - name: build
+        run: cmake --build build
+      - name: create-whl-dir
+        run: mkdir -p whl
+      - name: build with python
+        run: for PY in /opt/python/*;do
+          rm -rf build;
+          cmake -S. -Bbuild -DBUILD_PYTHON=ON -DPYTHONPATH=${PY};
+          cmake --build build;
+          cp build/python/dist/*.whl whl/;
+          done;
+
+      - name: repair
+        run: for PYWHL in whl/*.whl;do
+          auditwheel repair ${PYWHL};
+          done;
+
+      - name: upload Pypi
+        run: /opt/python/cp310-cp310/bin/twine upload --skip-existing -u __token__ -p ${{ secrets.PYLEBAI }} wheelhouse/*.whl
diff --git a/.github/workflows/linux_python_build.yml b/.github/workflows/linux_python_build.yml
@@ -6,11 +6,10 @@ on:
 jobs: 
   linux_python_build: 
     runs-on: ubuntu-latest
-    container: quay.io/pypa/manylinux2010_x86_64
+    container: quay.io/pypa/manylinux2014_x86_64
     steps:
       - name: Checkout
         uses: actions/checkout@v1
-
       - run: for PYBIN in /opt/python/*/bin;do "${PYBIN}/pip" install -r requirements.txt; done;
       - run: /opt/python/cp310-cp310/bin/pip install twine==2.0.0 markdown
 

diff --git a/.github/workflows/linux_python_release.yml b/.github/workflows/linux_python_release.yml
@@ -15,13 +15,12 @@ permissions:
 jobs: 
   linux_python_build_and_release: 
     runs-on: ubuntu-latest
-    container: quay.io/pypa/manylinux2010_x86_64
+    container: quay.io/pypa/manylinux2014_x86_64
     steps:
       - name: Checkout
         uses: actions/checkout@v1
-      - run: ls /opt/python/
       - run: for PYBIN in /opt/python/*/bin;do "${PYBIN}/pip" install -r requirements.txt; done;
-      - run: /opt/python/cp37-cp37m/bin/pip install twine==2.0 urllib3==1.24. markdown
+      - run: /opt/python/cp310-cp310/bin/pip install twine==2.0 urllib3==1.24. markdown
       - name: configure
         run: cmake -S. -Bbuild -DBUILD_PYTHON=ON
       - name: build
@@ -42,4 +41,4 @@ jobs:
           done;
 
       - name: upload Pypi
-        run: /opt/python/cp37-cp37m/bin/twine upload --skip-existing -u __token__ -p ${{ secrets.PYLEBAI }} wheelhouse/*.whl
+        run: /opt/python/cp310-cp310/bin/twine upload --skip-existing -u __token__ -p ${{ secrets.PYLEBAI }} wheelhouse/*.whl
diff --git a/.github/workflows/windows_python_build.yml b/.github/workflows/windows_python_build.yml
@@ -15,7 +15,7 @@ jobs:
     runs-on: windows-latest 
     steps: 
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - uses: actions/setup-python@v4
         with:
           python-version: '3.10'

diff --git a/.github/workflows/windows_python_release.yml b/.github/workflows/windows_python_release.yml
@@ -12,15 +12,15 @@ permissions:
   id-token: write
   pull-requests: read
 
-jobs: 
-  windows_python310_release:
-    runs-on: windows-latest 
+jobs:
+  windows_cp38_release:
+    runs-on: windows-latest
     steps: 
       - name: Checkout
         uses: actions/checkout@v3
       - uses: actions/setup-python@v4
         with:
-          python-version: '3.10'
+          python-version: '3.8'
       - name: Check cmake
         run: cmake --version
       - name: Install python-dev-tools
@@ -32,14 +32,14 @@ jobs:
         run: cmake --build build --config release
       - name: Upload Pypi
         run: twine upload --skip-existing -u __token__ -p ${{ secrets.PYLEBAI }} build/python/dist/*.whl
-  windows_python38_release:
-    runs-on: windows-latest
+  windows_cp39_release:
+    runs-on: windows-latest 
     steps: 
       - name: Checkout
         uses: actions/checkout@v3
       - uses: actions/setup-python@v4
         with:
-          python-version: '3.8'
+          python-version: '3.9'
       - name: Check cmake
         run: cmake --version
       - name: Install python-dev-tools
@@ -51,14 +51,14 @@ jobs:
         run: cmake --build build --config release
       - name: Upload Pypi
         run: twine upload --skip-existing -u __token__ -p ${{ secrets.PYLEBAI }} build/python/dist/*.whl
-  windows_python39_release:
+  windows_cp310_release:
     runs-on: windows-latest 
     steps: 
       - name: Checkout
         uses: actions/checkout@v3
       - uses: actions/setup-python@v4
         with:
-          python-version: '3.9'
+          python-version: '3.10'
       - name: Check cmake
         run: cmake --version
       - name: Install python-dev-tools
@@ -70,7 +70,7 @@ jobs:
         run: cmake --build build --config release
       - name: Upload Pypi
         run: twine upload --skip-existing -u __token__ -p ${{ secrets.PYLEBAI }} build/python/dist/*.whl
-  windows_python311_release:
+  windows_cp311_release:
     runs-on: windows-latest 
     steps: 
       - name: Checkout
@@ -89,7 +89,27 @@ jobs:
         run: cmake --build build --config release
       - name: Upload Pypi
         run: twine upload --skip-existing -u __token__ -p ${{ secrets.PYLEBAI }} build/python/dist/*.whl
-
+  windows_cp312_release:
+    runs-on: windows-latest 
+    steps: 
+      - name: Checkout
+        uses: actions/checkout@v4
+      - uses: actions/setup-python@v4
+        with:
+          python-version: '3.12'
+      - name: Check cmake
+        run: cmake --version
+      - name: Install python-dev-tools
+        run: python.exe -m pip install python-dev-tools setuptools wheel twine markdown
+
+      - name: CMake configure
+        run: cmake -S. -Bbuild -G "Visual Studio 17 2022" -DBUILD_PYTHON=ON -DBUILD_DOCUMENTATION=OFF
+      - name: CMake build
+        run: cmake --build build --config release
+      - name: Upload Pypi
+        run: twine upload --skip-existing -u __token__ -p ${{ secrets.PYLEBAI }} build/python/dist/*.whl
+
+      # pypy3.8
       # - name: Publish package
       #   uses: pypa/gh-action-pypi-publish@release/v1
       #   with:

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -11,7 +11,7 @@ list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 option(CMAKE_EXPORT_COMPILE_COMMANDS "Export compile command" TRUE)
 
 
-project(lebai VERSION 1.1.14 LANGUAGES CXX)
+project(lebai VERSION 1.1.15 LANGUAGES CXX)
 set(PROJECT_NAMESPACE lebai)
 message(STATUS "${PROJECT_NAME} version: ${PROJECT_VERSION}")
 # message(STATUS "major: ${PROJECT_VERSION_MAJOR}")

diff --git a/Doxyfile b/Doxyfile
@@ -38,7 +38,7 @@ PROJECT_NAME           = "lebai sdk"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 1.1.14
+PROJECT_NUMBER         = 1.1.15
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

diff --git a/README.md b/README.md
@@ -4,11 +4,19 @@
 
 lebai-sdk的源代码仓库，可以用于控制乐白机械臂.
 
+## amd64架构
+
 | OS     | C++ | Python | C# | Java |
 |:-------|-----|--------|----|------| 
 | Linux  | [![Status][cpp_linux_svg]][cpp_linux_link] | [![Status][python_linux_svg]][python_linux_link] | [![Status][dotnet_linux_svg]][dotnet_linux_link] | TODO |
 | Windows | TODO | [![Status][python_windows_svg]][python_windows_link] | [![Status][dotnet_windows_svg]][dotnet_windows_link] | TODO |
 
+## aarch64架构
+| OS     | Python |
+|:-------|--------|
+| Linux  | [![Status][python_linux_aarch64_svg]][python_linux_aarch64_link] |
+
+
 **上图中显示TODO的地方表示该平台该语言的实现还存在问题，没有完全测试通过，后续会陆续完成。**
 
 [cpp_linux_svg]: https://github.com/lebai-robotics/lebai-sdk/actions/workflows/linux_cpp_release.yml/badge.svg
@@ -22,6 +30,9 @@ lebai-sdk的源代码仓库，可以用于控制乐白机械臂.
 [dotnet_windows_svg]: https://github.com/lebai-robotics/lebai-sdk/actions/workflows/windows_dotnet_release.yaml/badge.svg
 [dotnet_windows_link]: https://github.com/lebai-robotics/lebai-sdk/actions/workflows/windows_dotnet_release.yaml
 
+[python_linux_aarch64_svg]: https://github.com/lebai-robotics/lebai-sdk/actions/workflows/linux_python_aarch64_release.yml/badge.svg
+[python_linux_aarch64_link]: https://github.com/lebai-robotics/lebai-sdk/actions/workflows/linux_python_aarch64_release.yml
+
 **SDK使用需要乐白机械臂的控制器软件版本大于等于`3.1.5`，您可以在机械臂WEB界面左上方查看当前版本号.**
 
 [SDK在线文档](http://help.lebai.ltd/sdk/)中包含了lua语言的接口（本项目参考了lua语言进行接口设置，但是本项目和lua语言的接口无直接关系）
@@ -31,23 +42,30 @@ lebai-sdk的源代码仓库，可以用于控制乐白机械臂.
 ## python
 python开发可以直接从[PyPI](https://pypi.org/project/pylebai/)安装.
 
-**目前python仅支持linux平台，windows平台还存在问题.**
+python2理论上可以从源代码编译生成包（不再持续维护）
 
 ```
 pip install pylebai
 ```
-目前Linux平台支持的Python版本有
-- `3.6`
-- `3.7`
-- `3.8`
-- `3.9`
-- `3.10`
-
-目前Windows平台支持的Python版本有
+目前Linux平台(amd64, aarch64)支持的Python版本有:
+- `cp3.6`
+- `cp3.7`
+- `cp3.8`
+- `cp3.9`
+- `cp3.10`
+- `cp3.11`
+- `cp3.12`
+- `pp3.7`
+- `pp3.8`
+- `pp3.9`
+- `pp3.10`
+
+目前Windows平台支持的Python版本有:
 - `3.8`
 - `3.9`
 - `3.10`
 - `3.11`
+- `3.12`
 
 
 

diff --git a/doc/changelog.md b/doc/changelog.md
@@ -1,5 +1,9 @@
 # ChangeLog
 
+## 1.1.15
+
+完善文档，python支持更多版本，python生成aarch64的包。
+
 ## 1.1.14
 
 修正IK的bug