Refactor GitHub workflows and use composite actions

.github/actions/build/action.yml

@@ -0,0 +1,112 @@
+name: build
+description: >
+  Sets up a cross-platform build environment for Basilisk and performs
+  either a Conan-based build or a pip-based build.
+inputs:
+  python-version:
+    description: Python version
+    required: true
+  conan-args:
+    required: false
+    default: ""
+  is-canary:
+    description: If a canary build is being performed.
+    required: false
+    default: false
+  skip-build:
+    description: Used to do all build related setup, while skipping the actual build
+    required: false
+    default: false
+
+runs:
+  using: "composite"
+  steps:
+    - uses: actions/setup-python@v5
+      with:
+        python-version: ${{ inputs.python-version }}
+        cache: "pip"
+        cache-dependency-path: |
+          requirements_dev.txt
+          requirements_doc.txt
+          requirements.txt
+
+    - name: Install Linux System Deps.
+      if: runner.os == 'Linux'
+      shell: bash
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y build-essential python3-setuptools python3-tk libgtk2.0
+
+    - name: SWIG Install (Linux)
+      if: runner.os == 'Linux'
+      uses: mmomtchev/setup-swig@v4
+      with:
+        version: v4.2.1
+
+    - name: SWIG Install (macOS)
+      if: runner.os == 'macOS'
+      shell: bash
+      env:
+        HOMEBREW_NO_AUTO_UPDATE: 1
+        HOMEBREW_NO_INSTALL_UPGRADE: 1
+        HOMEBREW_NO_ANALYTICS: 1
+      run: brew install swig || true
+
+    - name: SWIG Install (Windows)
+      if: runner.os == 'Windows'
+      shell: pwsh
+      run: |
+        $swigDir = "C:\Program Files\SWIG"
+        if (!(Test-Path $swigDir)) {New-Item -ItemType Directory -Path $swigDir | Out-Null}
+        $swigZip = "$swigDir\swigwin-4.2.1.zip"
+        $swigUrl = "https://sourceforge.net/projects/swig/files/swigwin/swigwin-4.2.1/swigwin-4.2.1.zip/download"
+        Start-Process -NoNewWindow -Wait -FilePath "curl.exe" -ArgumentList "-L -o `"$swigZip`" `"$swigUrl`""
+        if (!(Test-Path $swigZip) -or ((Get-Item $swigZip).Length -lt 500KB)) { Write-Host "Download failed or file is corrupted." }
+        Expand-Archive -Path $swigZip -DestinationPath $swigDir -Force
+
+    - name: "Add Basilisk and SWIG paths"
+      if: runner.os == 'Windows'
+      shell: pwsh
+      run: |
+        $oldpath = (Get-ItemProperty -Path 'Registry::HKEY_LOCAL_MACHINE\System\CurrentControlSet\Control\Session Manager\Environment' -Name PATH).path
+        $newPath = “C:\Program Files\SWIG\swigwin-4.2.1;$oldpath;${{ env.GITHUB_WORKSPACE }}\dist3\Basilisk”
+        echo "PATH=$newPath" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
+
+    - name: Install requirements
+      shell: bash
+      run: |
+        if [[ "${{ inputs.is-canary }}" == 'true' ]]; then
+          pip install -r .github/workflows/requirements.txt -r .github/workflows/requirements_dev.txt
+        else
+          pip install -r requirements.txt -r requirements_dev.txt
+        fi
+
+    - name: Cache Conan
+      uses: actions/cache@v4
+      with:
+        path: ${{ env.HOME }}/.conan2
+        key: >-
+          conan-${{ runner.os }}-py${{ inputs.python-version }}-
+          ${{ hashFiles('conan.lock','conanfile.*','**/conanfile.*','CMakeLists.txt','**/*.cmake') }}
+        restore-keys: |
+          conan-${{ runner.os }}-py${{ inputs.python-version }}-
+
+    - name: Configure Conan profile
+      shell: bash
+      run: |
+        python -m conans.conan profile detect --exist-ok
+        prof_path="$(python -m conans.conan profile path default)"
+        grep -q '^\[conf\]' "$prof_path" || printf "\n[conf]\n" >> "$prof_path"
+        grep -q '^tools.system.package_manager:mode=install$' "$prof_path" || \
+           printf "tools.system.package_manager:mode=install\n" >> "$prof_path"
+        grep -q '^tools.system.package_manager:sudo=True$' "$prof_path" || \
+          printf "tools.system.package_manager:sudo=True\n" >> "$prof_path"
+
+    - name: Build Basilisk
+      shell: bash
+      if: ${{ inputs.skip-build == 'false' }}
+      env:
+        CONAN_ARGS: ${{ inputs.conan-args }}
+      run: |
+        pip install --no-build-isolation -e . -v
+        bskLargeData

.github/actions/docs/action.yml

@@ -0,0 +1,33 @@
+name: docs
+description: Build Sphinx docs
+
+inputs:
+  html-dir: { required: false, default: "docs/build/html" }
+  is-canary:
+    description: If a canary build is being performed.
+    required: false
+    default: false
+
+runs:
+  using: composite
+  steps:
+    - name: Install doc requirements
+      shell: bash
+      run: |
+        brew install doxygen
+        if [[ "${{ inputs.is-canary }}" == 'true' ]]; then
+          pip install -r .github/workflows/requirements_doc.txt
+        else
+          pip install -r requirements_doc.txt
+        fi
+    - name: Generate doc artifacts
+      shell: bash
+      env:
+        MPLBACKEND: agg
+      working-directory: src
+      run: pytest -n auto -m "not ciSkip" -rs --dist=loadscope -v
+    - name: Compile docs
+      shell: bash
+      run: |
+        make -C docs html SPHINXOPTS="-W"
+        echo "DOCS_HTML=${{ inputs.html-dir }}" >> "$GITHUB_ENV"

.github/actions/pre-commit/action.yml

@@ -0,0 +1,15 @@
+name: pre-commit
+description: Run pre-commit on changed files with Python 3.11
+
+runs:
+  using: composite
+  steps:
+    - uses: actions/setup-python@v5
+      with:
+        python-version: 3.11
+
+    - id: file_changes
+      uses: tj-actions/changed-files@v44
+    - uses: pre-commit/action@v3.0.1
+      with:
+        extra_args: --files ${{ steps.file_changes.outputs.all_changed_files }}

.github/workflows/canary.yml

@@ -1,8 +1,6 @@
 name: "Canary Build"
 
 on:
-  schedule:
-    - cron: '0 0 * * 0'  # Run weekly on Sunday at midnight
   workflow_dispatch:
   pull_request:
     branches:
@@ -19,70 +17,46 @@ jobs:
     timeout-minutes: 75
     strategy:
       matrix:
-        python-version: [ "3.13" ]
+        python-version: ["3.13"]
     steps:
       - name: Checkout code
         uses: actions/checkout@v4
       - name: Set up Python ${{ matrix.python-version }}
         uses: actions/setup-python@v5
         with:
           python-version: ${{ matrix.python-version }}
-
-      - name: Install Homebrew
-        run: |
-          /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
-          brew install swig doxygen
-
-      - name: "Create virtual Environment"
-        run: python3 -m venv .venv
-      - name: "Capture initial package versions"
+      - name: Capture initial package versions
         run: |
-          source .venv/bin/activate
           pip freeze > initial_versions.txt
           echo "Initial package versions:" >> $GITHUB_STEP_SUMMARY
           cat initial_versions.txt >> $GITHUB_STEP_SUMMARY
           echo "\n" >> $GITHUB_STEP_SUMMARY
-
-      - name: "Install canary requirements"
-        run: |
-          source .venv/bin/activate
-          pip3 install -r .github/workflows/requirements.txt
-          pip3 install -r .github/workflows/requirements_dev.txt
-          pip3 install -r .github/workflows/requirements_doc.txt
-          pip3 install pytest-error-for-skips
-
-      - name: "Capture final package versions"
+      - name: Build Basilisk
+        uses: ./.github/actions/build
+        with:
+          python-version: ${{ matrix.python-version }}
+          conan-args: --opNav True --allOptPkg --mujoco True --mujocoReplay True --pyPkgCanary True
+          is-canary: true
+      - name: Capture final package versions
         run: |
-          source .venv/bin/activate
           pip freeze > final_versions.txt
           echo "Final package versions:" >> $GITHUB_STEP_SUMMARY
           cat final_versions.txt >> $GITHUB_STEP_SUMMARY
           echo "\n" >> $GITHUB_STEP_SUMMARY
           echo "Package version changes:" >> $GITHUB_STEP_SUMMARY
           diff -u initial_versions.txt final_versions.txt | grep -E '^[+-]' | grep -v '^+++' | grep -v '^---' >> $GITHUB_STEP_SUMMARY
-
-      - name: "Build basilisk with latest dependencies"
-        run: source .venv/bin/activate && python3 conanfile.py --opNav True --allOptPkg --mujoco True --mujocoReplay True --pyPkgCanary True
-
-      - name: "Run Python Tests"
-        run: |
-          source .venv/bin/activate
-          cd src
-          pytest -n auto -m "not ciSkip" -rs --error-for-skips --dist=loadscope -v
-        if: ${{ always() }}
-      - name: "Run C/C++ Tests"
+      # NOTE: The documentation depends on images generated by executing the
+      # Python tests successfully. As such, the "Build docs" action below
+      # handles running the Python tests internally
+      - name: Run C/C++ Tests
         working-directory: ./dist3
         run: ctest -C Release
         if: ${{ always() }}
-
-      - name: "Build Documentation"
-        run: |
-          source .venv/bin/activate
-          cd docs
-          make html SPHINXOPTS="-W"
-        if: ${{ always() }}
-
-      - name: "Upload package version logs"
+      - name: Build docs
+        uses: ./.github/actions/docs
+        with:
+          is-canary: true
+      - name: Upload package version logs
         if: always()
         uses: actions/upload-artifact@v4
         with:

.github/workflows/merge.yml

@@ -0,0 +1,87 @@
+name: Merge to develop
+
+on:
+  push:
+    branches: [develop]
+  workflow_dispatch:
+
+permissions:
+  contents: write
+  actions: read
+
+concurrency:
+  group: merge-develop
+  cancel-in-progress: false
+
+jobs:
+  bump_version:
+    name: Bump version (skip if already bumped)
+    runs-on: ubuntu-latest
+    if: ${{ github.actor != 'AVSlabBot' }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          ref: develop
+          fetch-depth: 0
+          token: ${{ secrets.BOT_ACCESS_TOKEN }}
+
+      - name: Bump version
+        run: ./.github/workflows/version-bumper.sh ./docs/source/bskVersion.txt
+
+      - name: Commit and push
+        run: |
+          git config user.name "AVSlabBot"
+          git config user.email "cuavslab@gmail.com"
+          git commit -a -m "[AUTO] Bump version number" || echo "No changes"
+          git push || true
+
+  build-ubuntu-latest-wheels:
+    name: Build ubuntu-latest wheels
+    needs: bump_version
+    # Allow for manual runs to generate new wheels
+    if: ${{ always() }}
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version: ["3.9", "3.10", "3.11"]
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      # The 'Build wheel' step will perform the actual build. However, we want
+      # all pre build setup to still be performed
+      - uses: ./.github/actions/build
+        with:
+          python-version: ${{ matrix.python-version }}
+          extra-apt: "cmake"
+          skip-build: true
+
+      - name: Build wheel
+        run: |
+          python -m pip wheel . -v --wheel-dir /tmp/wheelhouse
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: basilisk-wheels_ubuntu-22.04_python${{ matrix['python-version'] }}
+          path: /tmp/wheelhouse/**/*asilisk*.whl
+
+  build_documentation:
+    name: macOS Docs Deployment
+    needs: bump_version
+    runs-on: macos-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Build Basilisk
+        uses: ./.github/actions/build
+        with:
+          python-version: 3.13
+          conan-args: --opNav True --allOptPkg --mujoco True --mujocoReplay True --recorderPropertyRollback True
+      - name: Build docs
+        uses: ./.github/actions/docs
+      - name: Deploy
+        if: ${{ success() }} # deploy only if prior steps ok
+        uses: peaceiris/actions-gh-pages@v3
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          publish_dir: ./docs/build/html
+          force_orphan: true

.github/workflows/pre-commit.yml

@@ -0,0 +1,10 @@
+name: Pre-commit
+on:
+  workflow_dispatch:
+
+jobs:
+  pre-commit:
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v4
+      - uses: ./.github/actions/pre-commit