Merge pull request #1037 from luxonis/rvc3_stereo_rewrite #3142

Workflow file for this run

	name: Depthai Python CI/CD

	# Controls when the action will run. Triggers the workflow on push

	###################################
	# WARNING #########################
	# as self-hosted runners are used, and security policy for them has not been yet determined by GitHub
	# pay close attention to not enable workflows on pull_request events
	# TLDR: do NOT add 'pull_request' here for the time being
	on:
	workflow_dispatch:
	push:
	branches:
	- main
	- develop
	- rvc3_support
	- rvc3_develop
	tags:
	- 'v*'

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

	env:
	CMAKE_WINDOWS_SDK_VERSION: '10.0.18362.0'

	# A workflow run is made up of one or more jobs that can run sequentially or in parallel
	jobs:

	# Job which builds docstrings for the rest of the wheel builds
	build-docstrings:
	runs-on: ubuntu-latest
	steps:
	- name: Cache .hunter folder
	uses: actions/cache@v3
	with:
	path: ~/.hunter
	key: hunter-ubuntu-latest
	- name: List .hunter cache directory
	run: ls -a -l ~/.hunter/_Base/ \|\| true
	- uses: actions/checkout@v3
	with:
	submodules: 'recursive'
	- name: Set up Python
	uses: actions/setup-python@v4
	with:
	python-version: 3.8
	- name: Install dependencies
	run: \|
	python -m pip install --upgrade pip
	sudo apt install libusb-1.0-0-dev
	python -m pip install -r docs/requirements_mkdoc.txt
	- name: Configure project
	run: cmake -S . -B build -DDEPTHAI_PYTHON_FORCE_DOCSTRINGS=ON -DDEPTHAI_PYTHON_DOCSTRINGS_OUTPUT="$PWD/docstrings/depthai_python_docstring.hpp"
	- name: Build target 'pybind11_mkdoc'
	run: cmake --build build --target pybind11_mkdoc --parallel 4
	- name: Upload docstring artifacts
	uses: actions/upload-artifact@v3
	with:
	name: docstrings
	path: docstrings/
	retention-days: 1


	# Build and test bindings
	pytest:
	needs: build-docstrings
	strategy:
	matrix:
	os: [ubuntu-latest, windows-latest, macos-latest]
	runs-on: ${{ matrix.os }}
	steps:
	- name: Print home directory
	run: echo Home directory inside container $HOME

	- name: Cache .hunter folder
	if: matrix.os != 'windows-latest'
	uses: actions/cache@v3
	with:
	path: ~/.hunter/
	key: hunter-pytest-${{ matrix.os }}
	- name: Cache .hunter folder
	if: matrix.os == 'windows-latest'
	uses: actions/cache@v3
	with:
	path: C:/.hunter/
	key: hunter-pytest-${{ matrix.os }}

	- uses: actions/checkout@v3
	with:
	submodules: 'recursive'

	- uses: actions/download-artifact@v3
	with:
	name: 'docstrings'
	path: docstrings
	- name: Specify docstring to use while building the wheel
	run: echo "DEPTHAI_PYTHON_DOCSTRINGS_INPUT=$PWD/docstrings/depthai_python_docstring.hpp" >> $GITHUB_ENV

	- name: Set up Python ${{ matrix.python-version }}
	uses: actions/setup-python@v4
	with:
	python-version: "3.10"

	- name: Install dependencies (Ubuntu)
	if: matrix.os == 'ubuntu-latest'
	run: \|
	python -m pip install --upgrade pip
	sudo apt install libusb-1.0-0-dev

	- name: Install dependencies (MacOS)
	if: matrix.os == 'macos-latest'
	run: \|
	python -m pip install --upgrade pip
	brew install libusb

	- name: Install pytest
	run: \|
	python -m pip install pytest numpy

	- name: Compile
	run: \|
	cmake -S . -B build -D CMAKE_BUILD_TYPE=Release -D DEPTHAI_PYTHON_DOCSTRINGS_INPUT=$PWD/docstrings/depthai_python_docstring.hpp -D DEPTHAI_PYTHON_ENABLE_TESTS=ON
	cmake --build build --parallel 4
	- name: Test
	run: \|
	cmake --build build --target pytest --config Release


	# This job builds wheels for armhf arch (RPi)
	build-linux-armhf:
	needs: build-docstrings
	strategy:
	matrix:
	rpi-os: [rpi-buster, rpi-bullseye]
	runs-on: ${{ matrix.rpi-os }}
	steps:
	- name: Print home directory
	run: echo Home directory inside container $HOME
	- uses: actions/checkout@v3
	with:
	submodules: 'recursive'

	- uses: actions/download-artifact@v3
	with:
	name: 'docstrings'
	path: docstrings
	- name: Specify docstring to use while building the wheel
	run: echo "DEPTHAI_PYTHON_DOCSTRINGS_INPUT=$PWD/docstrings/depthai_python_docstring.hpp" >> $GITHUB_ENV

	- name: Append build hash if not a tagged commit
	if: startsWith(github.ref, 'refs/tags/v') != true
	run: echo "BUILD_COMMIT_HASH=${{github.sha}}" >> $GITHUB_ENV
	- name: Building wheel
	run: python3 -m pip wheel . -w ./wheelhouse/ --verbose
	- name: Auditing wheels and adding armv6l tag (Running on RPi, binaries compiled as armv6l)
	run: \|
	python3 -m pip install -U wheel auditwheel
	for whl in wheelhouse/*.whl; do auditwheel repair "$whl" --plat linux_armv7l -w wheelhouse/preaudited/; done
	for whl in wheelhouse/preaudited/*.whl; do python3 -m wheel tags --platform-tag +linux_armv6l "$whl"; done
	mkdir -p wheelhouse/audited/
	for whl in wheelhouse/preaudited/linux_armv6l.whl; do cp "$whl" wheelhouse/audited/$(basename $whl); done
	- name: Archive wheel artifacts
	uses: actions/upload-artifact@v3
	with:
	name: audited-wheels
	path: wheelhouse/audited/
	- name: Deploy wheels to artifactory (if not a release)
	if: startsWith(github.ref, 'refs/tags/v') != true
	run: bash ./ci/upload-artifactory.sh
	env:
	ARTIFACTORY_URL: ${{ secrets.ARTIFACTORY_URL }}
	ARTIFACTORY_USER: ${{ secrets.ARTIFACTORY_USER }}
	ARTIFACTORY_PASS: ${{ secrets.ARTIFACTORY_PASS }}


	# This job builds wheels for Windows x86_64 arch
	build-windows-x86_64:
	needs: build-docstrings
	runs-on: windows-latest
	strategy:
	matrix:
	python-version: [3.6, 3.7, 3.8, 3.9, '3.10', '3.11']
	python-architecture: [x64, x86]
	fail-fast: false
	steps:
	- name: Cache .hunter folder
	uses: actions/cache@v3
	with:
	path: C:/.hunter
	key: hunter-msvc
	- uses: actions/checkout@v3
	with:
	submodules: 'recursive'

	- uses: actions/download-artifact@v3
	with:
	name: 'docstrings'
	path: docstrings
	- name: Specify docstring to use while building the wheel
	run: echo "DEPTHAI_PYTHON_DOCSTRINGS_INPUT=$PWD/docstrings/depthai_python_docstring.hpp" \| Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append

	- name: Select Windows SDK
	run: echo "CMAKE_ARGS=-DCMAKE_SYSTEM_VERSION=${{ env.CMAKE_WINDOWS_SDK_VERSION }}" \| Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append

	- name: Set up Python ${{ matrix.python-version }}
	uses: actions/setup-python@v4
	with:
	python-version: ${{ matrix.python-version }}
	architecture: ${{ matrix.python-architecture }}
	- name: Append build hash if not a tagged commit
	if: startsWith(github.ref, 'refs/tags/v') != true
	run: echo "BUILD_COMMIT_HASH=${{github.sha}}" \| Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
	- name: Install dependencies
	run: \|
	python -m pip install --upgrade pip
	- name: Building wheels
	run: python -m pip wheel . -w ./wheelhouse/audited/ --verbose
	- name: Archive wheel artifacts
	uses: actions/upload-artifact@v3
	with:
	name: audited-wheels
	path: wheelhouse/audited/
	- name: Deploy wheels to artifactory (if not a release)
	if: startsWith(github.ref, 'refs/tags/v') != true
	run: bash ./ci/upload-artifactory.sh
	env:
	ARTIFACTORY_URL: ${{ secrets.ARTIFACTORY_URL }}
	ARTIFACTORY_USER: ${{ secrets.ARTIFACTORY_USER }}
	ARTIFACTORY_PASS: ${{ secrets.ARTIFACTORY_PASS }}

	# This job builds wheels for macOS x86_64 arch
	build-macos-x86_64:
	needs: build-docstrings
	runs-on: macos-latest
	strategy:
	matrix:
	python-version: [3.6, 3.7, 3.8, 3.9, '3.10', '3.11']
	fail-fast: false
	steps:
	- name: Cache .hunter folder
	uses: actions/cache@v3
	with:
	path: ~/.hunter
	key: hunter-macos-latest
	- name: List .hunter cache directory
	run: \|
	ls -a -l ~/.hunter/_Base/ \|\| true
	echo "PATH=$PATH"

	- uses: actions/checkout@v3
	with:
	submodules: 'recursive'

	- uses: actions/download-artifact@v3
	with:
	name: 'docstrings'
	path: docstrings
	- name: Specify docstring to use while building the wheel
	run: echo "DEPTHAI_PYTHON_DOCSTRINGS_INPUT=$PWD/docstrings/depthai_python_docstring.hpp" >> $GITHUB_ENV

	- name: Set up Python ${{ matrix.python-version }}
	uses: actions/setup-python@v4
	with:
	python-version: ${{ matrix.python-version }}
	- name: Append build hash if not a tagged commit
	if: startsWith(github.ref, 'refs/tags/v') != true
	run: echo "BUILD_COMMIT_HASH=${{github.sha}}" >> $GITHUB_ENV
	- name: Install dependencies
	run: \|
	python -m pip install --upgrade pip
	brew install libusb
	python -m pip install delocate
	- name: Set macos deployment target
	run: echo "MACOSX_DEPLOYMENT_TARGET=10.9" >> $GITHUB_ENV
	- name: Building wheels
	run: python -m pip wheel . -w ./wheelhouse/ --verbose
	- name: Auditing wheels
	run: ci/repair-whl-macos.sh `pwd`/wheelhouse/* `pwd`/wheelhouse/audited
	- name: Archive wheel artifacts
	uses: actions/upload-artifact@v3
	with:
	name: audited-wheels
	path: wheelhouse/audited/
	- name: Deploy wheels to artifactory (if not a release)
	if: startsWith(github.ref, 'refs/tags/v') != true
	run: bash ./ci/upload-artifactory.sh
	env:
	ARTIFACTORY_URL: ${{ secrets.ARTIFACTORY_URL }}
	ARTIFACTORY_USER: ${{ secrets.ARTIFACTORY_USER }}
	ARTIFACTORY_PASS: ${{ secrets.ARTIFACTORY_PASS }}

	# This job builds wheels for macOS arm64 arch
	build-macos-arm64:
	needs: build-docstrings
	runs-on: [self-hosted, macOS, ARM64]
	steps:
	# Cached locally on runner
	# - name: Cache .hunter folder
	# uses: actions/cache@v3
	# with:
	# path: ~/.hunter
	# key: hunter-macos-latest
	- name: List .hunter cache directory
	run: \|
	ls -a -l ~/.hunter/_Base/ \|\| true
	echo "PATH=$PATH"

	- uses: actions/checkout@v3
	with:
	submodules: 'recursive'

	- uses: actions/download-artifact@v3
	with:
	name: 'docstrings'
	path: docstrings
	- name: Specify docstring to use while building the wheel
	run: echo "DEPTHAI_PYTHON_DOCSTRINGS_INPUT=$PWD/docstrings/depthai_python_docstring.hpp" >> $GITHUB_ENV

	- name: Append build hash if not a tagged commit
	if: startsWith(github.ref, 'refs/tags/v') != true
	run: echo "BUILD_COMMIT_HASH=${{github.sha}}" >> $GITHUB_ENV

	# - name: Build and install depthai-core
	# run: \|
	# echo "MACOSX_DEPLOYMENT_TARGET=11.0" >> $GITHUB_ENV
	# cmake -S depthai-core/ -B build_core -D CMAKE_BUILD_TYPE=Release -D CMAKE_TOOLCHAIN_FILE=$PWD/cmake/toolchain/pic.cmake
	# cmake --build build_core --target install --parallel 4
	# echo "DEPTHAI_INSTALLATION_DIR=$PWD/build_core/install/" >> $GITHUB_ENV

	- name: Build wheels
	run: for PYBIN in {9..11}; do "python3.${PYBIN}" -m pip wheel . -w wheelhouse/ --verbose; done

	- name: Auditing wheels
	run: delocate-wheel -v -w wheelhouse/audited wheelhouse/*.whl

	- name: Archive wheel artifacts
	uses: actions/upload-artifact@v3
	with:
	name: audited-wheels
	path: wheelhouse/audited/
	- name: Deploy wheels to artifactory (if not a release)
	if: startsWith(github.ref, 'refs/tags/v') != true
	run: bash ./ci/upload-artifactory.sh
	env:
	ARTIFACTORY_URL: ${{ secrets.ARTIFACTORY_URL }}
	ARTIFACTORY_USER: ${{ secrets.ARTIFACTORY_USER }}
	ARTIFACTORY_PASS: ${{ secrets.ARTIFACTORY_PASS }}

	# This job builds wheels for x86_64 arch
	build-linux-x86_64:
	needs: build-docstrings
	runs-on: ubuntu-latest
	container:
	image: quay.io/pypa/manylinux2014_x86_64:2022-10-30-402504a
	env:
	PLAT: manylinux2014_x86_64
	steps:
	- name: Cache .hunter folder
	uses: actions/cache@v3
	with:
	path: ~/.hunter
	key: hunter-x86_64
	- uses: actions/checkout@v3
	with:
	submodules: 'recursive'
	- name: Installing libusb1-devel dependency
	run: yum install -y --disableplugin=fastestmirror libusb1-devel
	- name: Installing cmake dependency
	run: \|
	/opt/python/cp38-cp38/bin/python3.8 -m pip install cmake
	ln -s /opt/python/cp38-cp38/bin/cmake /bin/
	- name: Create folder structure
	run: mkdir -p wheelhouse/audited/

	- uses: actions/download-artifact@v3
	with:
	name: 'docstrings'
	path: docstrings
	- name: Specify docstring to use while building the wheel
	run: echo "DEPTHAI_PYTHON_DOCSTRINGS_INPUT=$PWD/docstrings/depthai_python_docstring.hpp" >> $GITHUB_ENV

	- name: Build and install depthai-core
	run: \|
	cmake -S depthai-core/ -B build_core -D CMAKE_BUILD_TYPE=Release -D CMAKE_TOOLCHAIN_FILE=$PWD/cmake/toolchain/pic.cmake
	cmake --build build_core --target install --parallel 4
	echo "DEPTHAI_INSTALLATION_DIR=$PWD/build_core/install/" >> $GITHUB_ENV

	- name: Append build hash if not a tagged commit
	if: startsWith(github.ref, 'refs/tags/v') != true
	run: echo "BUILD_COMMIT_HASH=${{github.sha}}" >> $GITHUB_ENV

	- name: Building source distribution
	run: \|
	/opt/python/cp38-cp38/bin/python3.8 setup.py sdist --formats=gztar
	mv dist/* wheelhouse/audited/
	- name: Build wheels
	run: for PYBIN in /opt/python/cp3{6..11}*/bin; do "${PYBIN}/pip" wheel . -w ./wheelhouse/ --verbose; done
	- name: Audit wheels
	run: for whl in wheelhouse/*.whl; do auditwheel repair "$whl" --plat $PLAT -w wheelhouse/audited/; done
	- name: Archive wheel artifacts
	uses: actions/upload-artifact@v3
	with:
	name: audited-wheels
	path: wheelhouse/audited/
	- name: Deploy wheels to artifactory (if not a release)
	if: startsWith(github.ref, 'refs/tags/v') != true
	run: bash ./ci/upload-artifactory.sh
	env:
	ARTIFACTORY_URL: ${{ secrets.ARTIFACTORY_URL }}
	ARTIFACTORY_USER: ${{ secrets.ARTIFACTORY_USER }}
	ARTIFACTORY_PASS: ${{ secrets.ARTIFACTORY_PASS }}

	# This job builds wheels for ARM64 arch
	build-linux-arm64:
	needs: build-docstrings
	runs-on: [self-hosted, linux, ARM64]
	container:
	image: quay.io/pypa/manylinux2014_aarch64:2022-10-30-402504a
	env:
	PLAT: manylinux2014_aarch64
	# Mount local hunter cache directory, instead of transfering to Github and back
	volumes:
	- /.hunter:/github/home/.hunter
	steps:
	- uses: actions/checkout@v3
	with:
	submodules: 'recursive'
	- name: Installing libusb1-devel dependency
	run: yum install -y --disableplugin=fastestmirror libusb1-devel
	- name: Installing cmake dependency
	run: \|
	/opt/python/cp38-cp38/bin/python3.8 -m pip install cmake
	ln -s /opt/python/cp38-cp38/bin/cmake /bin/
	- name: Create folder structure
	run: mkdir -p wheelhouse/audited/

	- uses: actions/download-artifact@v3
	with:
	name: 'docstrings'
	path: docstrings
	- name: Specify docstring to use while building the wheel
	run: echo "DEPTHAI_PYTHON_DOCSTRINGS_INPUT=$PWD/docstrings/depthai_python_docstring.hpp" >> $GITHUB_ENV

	- name: Build and install depthai-core
	run: \|
	cmake -S depthai-core/ -B build_core -D CMAKE_BUILD_TYPE=Release -D CMAKE_TOOLCHAIN_FILE=$PWD/cmake/toolchain/pic.cmake
	cmake --build build_core --target install --parallel 4
	echo "DEPTHAI_INSTALLATION_DIR=$PWD/build_core/install/" >> $GITHUB_ENV

	- name: Append build hash if not a tagged commit
	if: startsWith(github.ref, 'refs/tags/v') != true
	run: echo "BUILD_COMMIT_HASH=${{github.sha}}" >> $GITHUB_ENV
	- name: Building wheels
	run: for PYBIN in /opt/python/cp3{6..11}*/bin; do "${PYBIN}/pip" wheel . -w ./wheelhouse/ --verbose; done
	- name: Auditing wheels
	run: for whl in wheelhouse/*.whl; do auditwheel repair "$whl" --plat $PLAT -w wheelhouse/audited/; done
	- name: Archive wheel artifacts
	uses: actions/upload-artifact@v3
	with:
	name: audited-wheels
	path: wheelhouse/audited/
	- name: Deploy wheels to artifactory (if not a release)
	if: startsWith(github.ref, 'refs/tags/v') != true
	run: bash ./ci/upload-artifactory.sh
	env:
	ARTIFACTORY_URL: ${{ secrets.ARTIFACTORY_URL }}
	ARTIFACTORY_USER: ${{ secrets.ARTIFACTORY_USER }}
	ARTIFACTORY_PASS: ${{ secrets.ARTIFACTORY_PASS }}

	release:
	if: startsWith(github.ref, 'refs/tags/v')
	needs: [pytest, build-linux-armhf, build-windows-x86_64, build-macos-x86_64, build-macos-arm64, build-linux-x86_64, build-linux-arm64]
	runs-on: ubuntu-latest

	steps:
	- uses: actions/checkout@v3
	with:
	submodules: 'recursive'

	- uses: actions/setup-python@v4
	with:
	python-version: '3.8'

	- name: Check if version matches
	run: python3.8 -c 'import find_version as v; exit(0) if "${{ github.ref_name }}" == f"v{v.get_package_version()}" else exit(1)'

	# Create GitHub release
	- uses: actions/create-release@master
	id: createRelease
	name: Create ${{ github.ref_name }} depthai-python release
	env:
	GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
	with:
	tag_name: ${{ github.ref }}
	release_name: Release ${{ github.ref }}
	body: \|
	## Features

	## Bug fixes

	## Misc

	draft: true

	# Deploy to PyPi and Artifactory. Only when a commit is tagged
	deploy:
	if: startsWith(github.ref, 'refs/tags/v')
	needs: [release]
	runs-on: ubuntu-latest
	steps:
	- uses: actions/checkout@v3
	with:
	submodules: 'recursive'
	- uses: actions/download-artifact@v3
	with:
	name: audited-wheels
	path: wheelhouse/audited/
	- name: List files
	run: ls -lah
	- name: Run deploy to PyPi
	run: bash ./ci/upload-pypi.sh
	env:
	PYPI_SERVER: ${{ secrets.PYPI_SERVER }}
	PYPI_USER: ${{ secrets.PYPI_USER }}
	PYPI_PASSWORD: ${{ secrets.PYPI_PASSWORD }}
	- name: Run deploy to Artifactory
	run: bash ./ci/upload-artifactory-release.sh
	env:
	ARTIFACTORY_URL: ${{ secrets.ARTIFACTORY_URL }}
	ARTIFACTORY_USER: ${{ secrets.ARTIFACTORY_USER }}
	ARTIFACTORY_PASS: ${{ secrets.ARTIFACTORY_PASS }}

	notify_robothub:
	if: startsWith(github.ref, 'refs/tags/v')
	needs: [release]
	runs-on: ubuntu-latest
	steps:
	- name: Repository Dispatch
	uses: peter-evans/repository-dispatch@v2
	with:
	token: ${{ secrets.REPO_ACCESS_TOKEN }}
	repository: luxonis/robothub-apps
	event-type: depthai-python-release
	client-payload: '{"ref": "${{ github.ref }}", "sha": "${{ github.sha }}"}'

	# notify_hil_workflow_linux_x86_64:
	# needs: [build-linux-x86_64]
	# runs-on: ubuntu-latest
	# steps:
	# - name: Repository Dispatch
	# uses: peter-evans/repository-dispatch@v2
	# with:
	# token: ${{ secrets.HIL_CORE_DISPATCH_TOKEN }}
	# repository: luxonis/depthai-core-hil-tests
	# event-type: python-hil-event
	# client-payload: '{"ref": "${{ github.ref }}", "sha": "${{ github.sha }}"}'

	notify_hil_workflow_linux_x86_64:
	needs: [build-linux-armhf, build-linux-x86_64]
	runs-on: ubuntu-latest
	steps:
	- name: Dispatch an action and get the run ID
	uses: codex-/return-dispatch@v1
	id: return_dispatch
	with:
	token: ${{ secrets.HIL_CORE_DISPATCH_TOKEN }} # Note this is NOT GITHUB_TOKEN but a PAT
	ref: main # or refs/heads/target_branch
	repo: depthai-core-hil-tests
	owner: luxonis
	workflow: regression_test.yml
	workflow_inputs: '{"commit": "${{ github.ref }}", "parent_url": "https://github.com/${{ github.repository }}/actions/runs/${{ github.run_id }}"}'
	workflow_timeout_seconds: 300 # was 120 Default: 300

	- name: Release
	run: echo "https://github.com/luxonis/depthai-core-hil-tests/actions/runs/${{steps.return_dispatch.outputs.run_id}}" >> $GITHUB_STEP_SUMMARY

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Merge pull request #1037 from luxonis/rvc3_stereo_rewrite #3142

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Merge pull request #1037 from luxonis/rvc3_stereo_rewrite #3142

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