[misc] Move to macos-14 on Github Action (forcing panda3d tinydisplay…

… driver).
duburcqa · Nov 16, 2024 · 188e48a · 188e48a
1 parent ba556b7
commit 188e48a
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Showing 2 changed files with 27 additions and 11 deletions.
diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml
@@ -15,8 +15,7 @@ jobs:
 
     strategy:
       matrix:
-        # FIXME: Panda3d software rendering is partially broken on Apple Silicon
-        OS: ['macos-13']  # 'macos-13': Intel (x86), 'macos-14+': Apple Silicon (arm64)
+        OS: ['macos-14']  # 'macos-13': Intel (x86), 'macos-14+': Apple Silicon (arm64)
         PYTHON_VERSION: ['3.10', '3.11', '3.12']  # `setup-python` does not support Python<3.10 on Apple Silicon
         BUILD_TYPE: ['Release']
         include:
@@ -183,12 +182,20 @@ jobs:
         ctest --output-on-failure --test-dir "${RootDir}/build/core/unit"
 
         cd "${RootDir}/python/jiminy_py/unit_py"
+        # FIXME: Panda3d software rendering is partially broken on Apple Silicon
+        if [[ "${{ matrix.OS }}" != 'macos-13' ]] ; then
+          export JIMINY_PANDA3D_FORCE_TINYDISPLAY=
+        fi
         "${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"
 
+        # FIXME: Panda3d software rendering is partially broken on Apple Silicon
+        if [[ "${{ matrix.OS }}" != 'macos-13' ]] ; then
+          export JIMINY_PANDA3D_FORCE_TINYDISPLAY=
+        fi
         # FIXME: Disabling `test_pipeline_control.py` on MacOS because `test_pid_standing` is
         # failing for 'panda3d-sync' backend due to meshes still loading at screenshot time.
         if [[ "${{ matrix.BUILD_TYPE }}" == 'Debug' ]] ; then
@@ -202,6 +209,10 @@ jobs:
         export LD_LIBRARY_PATH="${InstallDir}/lib/:/usr/local/lib"
 
         cd "${RootDir}/python/gym_jiminy/examples/rllib"
+        # FIXME: Panda3d software rendering is partially broken on Apple Silicon
+        if [[ "${{ matrix.OS }}" != 'macos-13' ]] ; then
+          export JIMINY_PANDA3D_FORCE_TINYDISPLAY=
+        fi
         "${PYTHON_EXECUTABLE}" acrobot_ppo.py
 
 #########################################################################################

diff --git a/python/jiminy_py/src/jiminy_py/viewer/panda3d/panda3d_visualizer.py b/python/jiminy_py/src/jiminy_py/viewer/panda3d/panda3d_visualizer.py
@@ -69,8 +69,10 @@
 CLOCK_SCALE = 0.1
 WIDGET_MARGIN_REL = 0.02
 
-PANDA3D_FRAMERATE_MAX = 40
-PANDA3D_REQUEST_TIMEOUT = 30.0
+FRAMERATE_MAX = 40
+REQUEST_TIMEOUT = 30.0
+
+FORCE_TINYDISPLAY_DRIVER = "JIMINY_PANDA3D_FORCE_TINYDISPLAY" in os.environ
 
 
 Tuple3FType = Union[Tuple[float, float, float], np.ndarray]
@@ -411,11 +413,14 @@ def __init__(self,  # pylint: disable=super-init-not-called
         # config.set_value('want-pstats', True)
         config.set_value('framebuffer-software', False)
         config.set_value('framebuffer-hardware', False)
-        config.set_value('load-display', 'pandagl')
-        config.set_value('aux-display',
-                         'p3headlessgl'
-                         '\naux-display pandadx9'
-                         '\naux-display p3tinydisplay')
+        if FORCE_TINYDISPLAY_DRIVER:
+            config.set_value('load-display', 'p3tinydisplay')
+        else:
+            config.set_value('load-display', 'pandagl')
+            config.set_value('aux-display',
+                             'p3headlessgl'
+                             '\naux-display pandadx9'
+                             '\naux-display p3tinydisplay')
         config.set_value('window-type', 'offscreen')
         config.set_value('sync-video', False)
         config.set_value('default-near', 0.1)
@@ -652,7 +657,7 @@ def open_window(self) -> None:
             self.picker_traverser.addCollider(picker_np, self.picker_queue)
 
             # Limit framerate to reduce computation cost
-            self.set_framerate(PANDA3D_FRAMERATE_MAX)
+            self.set_framerate(FRAMERATE_MAX)
 
         # Create resizeable offscreen buffer
         self._open_offscreen_window(size)
@@ -2054,7 +2059,7 @@ def _send(*args: Any, **kwargs: Any) -> Any:
             self._host_conn.send((name, args, kwargs, self._is_async))
             if self._is_async:
                 return None
-            if self._host_conn.poll(PANDA3D_REQUEST_TIMEOUT):
+            if self._host_conn.poll(REQUEST_TIMEOUT):
                 reply = self._host_conn.recv()
             else:
                 # Something is wrong... aborting to prevent potential deadlock