Merge pull request #89 from BerkeleyAutomation/feat/ci

Release: Update cibuildwheel for Python 3.14

Author: mikedh

.github/workflows/push.yml

@@ -24,11 +24,11 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        platform: [ubuntu-latest, macos-latest, windows-latest, macos-13]
+        platform: [ubuntu-latest, macos-latest, windows-latest, macos-15-intel]
     steps:
       - uses: actions/checkout@v4
       - name: Build wheels
-        uses: pypa/cibuildwheel@v2.22.0
+        uses: pypa/cibuildwheel@v3.2.1
       - uses: actions/upload-artifact@v4
         with:
           path: ./wheelhouse/*.whl

.github/workflows/release.yml

@@ -11,11 +11,11 @@ jobs:
     runs-on: ${{matrix.platform}}
     strategy:
       matrix:
-        platform: [ubuntu-latest, macos-latest, windows-latest, macos-13]
+        platform: [ubuntu-latest, macos-latest, windows-latest, macos-15-intel]
     steps:
       - uses: actions/checkout@v4
       - name: Build wheels
-        uses: pypa/cibuildwheel@v2.22.0
+        uses: pypa/cibuildwheel@v3.2.1
       - uses: actions/upload-artifact@v4
         with:
           path: ./wheelhouse/*.whl

build_dependencies/install_linux.sh

@@ -1,6 +1,13 @@
 # exit immediately on any failed step
 set -xe
 
+# get cmake from pip so we can version-lock
+pip install cmake==3.31.6
+# Set CMAKE variable to use the cmake in the same directory as python
+export CMAKE="$(dirname $(which python))/cmake"
+
+$CMAKE --version
+
 mkdir -p deps
 cd deps
 
@@ -17,28 +24,29 @@ rm -rf fcl
 git clone --depth 1 --branch v0.7.0 https://github.com/ambi-robotics/fcl.git
 
 # Install eigen
-cmake -B build -S eigen-3.3.9
-cmake --install build
+$CMAKE -B build -S eigen-3.3.9 
+$CMAKE --install build
 
 # Build and install libccd
 cd libccd
-cmake . -D ENABLE_DOUBLE_PRECISION=ON
+$CMAKE . -DENABLE_DOUBLE_PRECISION=ON
 make -j4
 make install
 cd ..
 
 # Build and install octomap
 cd octomap
-cmake . -D CMAKE_BUILD_TYPE=Release -D BUILD_OCTOVIS_SUBPROJECT=OFF -D BUILD_DYNAMICETD3D_SUBPROJECT=OFF
+$CMAKE .  -DCMAKE_BUILD_TYPE=Release -DBUILD_OCTOVIS_SUBPROJECT=OFF -DBUILD_DYNAMICETD3D_SUBPROJECT=OFF -DCMAKE_CXX_STANDARD=17 -DCMAKE_CXX_STANDARD_REQUIRED=ON -DCMAKE_CXX_FLAGS="-std=c++17 -Wno-error=template-id-cdtor"
 make -j4
 make install
 cd ..
 
 # Build and install fcl
 cd fcl
-cmake .
+$CMAKE . 
 make -j4
 make install
 cd ..
 
-cd ..
+# Update library cache so the system can find the newly installed libraries
+ldconfig

build_dependencies/install_macos.sh

@@ -1,6 +1,11 @@
 # exit immediately on any failed step
 set -xe
-pip install cmake
+pip install cmake==3.31.6
+
+# Set CMAKE variable to use the cmake in the same directory as python
+export CMAKE="$(dirname $(which python))/cmake"
+
+$CMAKE --version
 
 mkdir -p deps
 cd deps
@@ -19,26 +24,26 @@ rm -rf fcl
 git clone --depth 1 --branch v0.7.0 https://github.com/ambi-robotics/fcl.git
 
 # Install eigen
-cmake -B build -S eigen
-sudo cmake --install build
+$CMAKE -B build -S eigen
+sudo $CMAKE --install build
 
 # Build and install libccd
 cd libccd
-cmake . -D ENABLE_DOUBLE_PRECISION=ON
+$CMAKE . -D ENABLE_DOUBLE_PRECISION=ON
 make -j4
 sudo make install
 cd ..
 
 # Build and install octomap
 cd octomap
-cmake . -D CMAKE_BUILD_TYPE=Release -D BUILD_OCTOVIS_SUBPROJECT=OFF -D BUILD_DYNAMICETD3D_SUBPROJECT=OFF
+$CMAKE . -D CMAKE_BUILD_TYPE=Release -D BUILD_OCTOVIS_SUBPROJECT=OFF -D BUILD_DYNAMICETD3D_SUBPROJECT=OFF
 make -j4
 sudo make install
 cd ..
 
 # Build and install fcl
 cd fcl
-cmake .
+$CMAKE .
 make -j4
 sudo make install
 cd ..

pyproject.toml

@@ -97,12 +97,13 @@ ignore = [
 
 
 [tool.cibuildwheel]
-skip = ["pp*", "*musllinux*"]
+skip = ["*musllinux*"]
 test-requires = "pytest"
 test-command = "pytest {package}/tests"
 
 [tool.cibuildwheel.linux]
 before-all = "bash build_dependencies/install_linux.sh"
+repair-wheel-command = "LD_LIBRARY_PATH=/usr/local/lib64 auditwheel repair -w {dest_dir} {wheel}"
 archs = ["x86_64"]
 
 [tool.cibuildwheel.macos]

setup.py

@@ -43,7 +43,7 @@ def get_include_dirs():
 
 def get_libraries_dir():
     if is_nix_platform(sys.platform):
-        lib_dirs = ["/usr/lib", "/usr/local/lib"]
+        lib_dirs = ["/usr/lib", "/usr/local/lib", "/usr/lib64", "/usr/local/lib64"]
 
         if "LD_LIBRARY_PATH" in os.environ:
             lib_dirs += os.environ["LD_LIBRARY_PATH"].split(":")

src/fcl/version.py

@@ -1 +1 @@
-__version__ = "0.7.0.8"
+__version__ = "0.7.0.9"