Build wheels across Python 3.9–3.11 for Linux, macOS, and Windows

.github/actions/build/action.yml

@@ -30,47 +30,8 @@ runs:
           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: Setup system dependencies
+      uses: ./.github/actions/setup
 
     - name: Install requirements
       shell: bash

.github/actions/setup/action.yml

@@ -0,0 +1,48 @@
+name: setup
+description: >
+  Sets up the required system dependencies to perform a Basilisk build
+
+runs:
+  using: "composite"
+  steps:
+    - 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

.github/workflows/merge.yml

@@ -26,6 +26,7 @@ jobs:
           token: ${{ secrets.BOT_ACCESS_TOKEN }}
 
       - name: Bump version
+        id: bump
         run: ./.github/workflows/version-bumper.sh ./docs/source/bskVersion.txt
 
       - name: Commit and push
@@ -35,35 +36,12 @@ jobs:
           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
+      - name: Create tag
+        if: ${{ steps.bump.outputs.updated_version != '' }}
         run: |
-          python -m pip wheel . -v --wheel-dir /tmp/wheelhouse
-
-      - uses: actions/upload-artifact@v4
-        with:
-          name: basilisk-wheels_ubuntu-22.04_python${{ matrix['python-version'] }}
-          path: /tmp/wheelhouse/**/*asilisk*.whl
+          git tag -a "v${{ steps.bump.outputs.updated_version }}" \
+            -m "Release v${{ steps.bump.outputs.updated_version }}"
+          git push --tags
 
   build_documentation:
     name: macOS Docs Deployment

.github/workflows/publish-wheels.yml

@@ -0,0 +1,144 @@
+name: Publish Wheels
+
+on:
+  push:
+    tags:
+      - "v[0-9]*"
+      - "test*"
+
+jobs:
+  build-wheels:
+    name: Build Basilisk Wheels
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os:
+          - macos-13 # x86_64
+          - macos-latest # ARM64
+          - ubuntu-latest # x86_64
+          - ubuntu-22.04-arm # ARM64
+          - windows-latest # x86_64
+
+    steps:
+      - name: Checkout Code
+        uses: actions/checkout@v5
+        with:
+          ref: ${{ github.ref }}
+      # Workaround for macos-13 (Intel). Ensures the conan build uses the right
+      # SSL cert.
+      - name: Set CA bundle (macos-13 only)
+        if: ${{ matrix.os == 'macos-13' }}
+        shell: bash
+        run: |
+          python -m pip install -U certifi
+          CA="$(python -c 'import certifi; print(certifi.where())')"
+          {
+          echo "REQUESTS_CA_BUNDLE=$CA"   # Python requests / Conan
+          echo "PIP_CERT=$CA"             # pip
+          echo "SSL_CERT_FILE=$CA"        # OpenSSL consumers
+          echo "CURL_CA_BUNDLE=$CA"       # curl / CMake file(DOWNLOAD)
+          echo "CMAKE_TLS_CAINFO=$CA"     # CMake
+          } >> "$GITHUB_ENV"
+          echo "Using CA: $CA"
+
+      - name: Setup system dependencies
+        uses: ./.github/actions/setup
+
+      - name: Build wheels
+        uses: pypa/[email protected]
+        env:
+          CONAN_ARGS: "--opNav True --mujoco True --mujocoReplay True --recorderPropertyRollback True"
+          CIBW_TEST_REQUIRES_WINDOWS: "numpy>=2.1"
+
+      - name: Upload wheels
+        uses: actions/upload-artifact@v4
+        with:
+          name: cibw-wheels-${{ matrix.os }}-${{ strategy.job-index }}
+          path: ./wheelhouse/*.whl
+
+  make_sdist:
+    name: Make SDist
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v5
+        with:
+          ref: ${{ github.ref }}
+
+      - uses: actions/setup-python@v5
+        with:
+          python-version: 3.13
+
+      - name: Build SDist
+        run: pipx run build --sdist
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: cibw-sdist
+          path: dist/*.tar.gz
+
+  publish:
+    name: Publish to PyPI
+    needs: [build-wheels, make_sdist]
+    runs-on: ubuntu-latest
+    permissions:
+      id-token: write
+      contents: read
+    steps:
+      - name: Checkout tagged source
+        uses: actions/checkout@v5
+        with:
+          ref: ${{ github.ref }}
+          fetch-depth: 0
+
+      - name: Download wheels
+        uses: actions/download-artifact@v4
+        with:
+          pattern: cibw-wheels-*
+          merge-multiple: true
+          path: dist
+
+      - name: Download sdist
+        uses: actions/download-artifact@v4
+        with:
+          name: cibw-sdist
+          path: dist
+
+      - name: Verify versions match tag
+        shell: bash
+        if: startsWith(github.ref, 'refs/tags/v')
+        run: |
+          TAG="${GITHUB_REF##*/}"
+          VER="${TAG#v}"
+          echo "Tag: $TAG  Version: $VER"
+          shopt -s nullglob
+          [[ -e dist/*"$VER"*.whl ]] || { echo "No wheel with $VER"; exit 1; }
+          [[ -e dist/*"$VER"*.tar.gz ]] || { echo "No sdist with $VER"; exit 1; }
+          echo "OK — artifacts match $VER"
+
+      - name: Show release info
+        shell: bash
+        run: |
+          echo "Release Info:"
+          TAG="${GITHUB_REF##*/}"
+          VER="${TAG#v}"
+          echo "Release tag: $TAG"
+          echo "Release ver: $VER"
+          echo
+          echo "Artifacts in dist/:"
+          ls -lh dist || true
+
+      - name: Publish to TestPyPI (test tags)
+        if: startsWith(github.ref, 'refs/tags/test')
+        uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          repository-url: https://test.pypi.org/legacy/
+          packages-dir: dist
+          skip-existing: true
+          verbose: true
+
+      - name: Publish to PyPI (real releases)
+        if: startsWith(github.ref, 'refs/tags/v')
+        uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          packages-dir: dist

.github/workflows/version-bumper.sh

@@ -17,4 +17,12 @@ while IFS= read -r version || [[ -n "$version" ]]; do
     fi
 done < $1
 
-echo "$updated_version" > $1
+echo "$updated_version" > $1
+
+# Expose the update versions to GitHub Actions
+if [[ -n "${GITHUB_OUTPUT:-}" ]]; then
+  {
+    echo "version=$version"
+    echo "updated_version=$updated_version"
+  } >> "$GITHUB_OUTPUT"
+fi

MANIFEST.in

@@ -0,0 +1,13 @@
+prune examples
+prune docs
+prune src/tests
+prune **/_UnitTest
+prune **/_Documentation
+
+global-exclude *.pdf *.png *.jpg *.jpeg *.gif *.JPG *.svg *.psd
+global-exclude *.ipynb *.bib *.tex
+global-exclude *.mex* *.o *.a *.so *.dylib *.dll
+global-exclude build/** CMakeFiles/** .git/** .github/** .venv/**
+
+# This file is used by SWIG
+include src/fswAlgorithms/effectorInterfaces/thrForceMapping/_UnitTest/Support/Results_thrForceMapping.py

conanfile.py

@@ -7,6 +7,7 @@
 import sys
 from datetime import datetime
 from typing import Optional, Callable
+from glob import glob
 
 import importlib.metadata
 from packaging.requirements import Requirement
@@ -252,6 +253,14 @@ def layout(self):
         self.folders.build = str(self.options.get_safe("buildFolder"))
 
     def generate(self):
+        if self.settings.os == "Windows":
+            # Ensure dependent DLLs are copied into the Basilisk package
+            # directory inside the build folder so they can be discovered by
+            # packaging tools (delvewheel) and included in wheels.
+            basilisk_dst = os.path.join(self.build_folder, "Basilisk")
+            for dep in self.dependencies.values():
+                for bindir in dep.cpp_info.bindirs:
+                    copy(self, "*.dll", bindir, basilisk_dst)
         if self.settings.os == "Windows":
             for dep in self.dependencies.values():
                 for libdir in dep.cpp_info.bindirs:
@@ -309,6 +318,8 @@ def generate(self):
         # Set the minimum buildable MacOS version.
         # tc.cache_variables["CMAKE_OSX_DEPLOYMENT_TARGET"] = "10.13"
         tc.parallel = True
+        if self.options.get_safe("pyLimitedAPI"):
+            tc.cache_variables["PY_LIMITED_API"] = str(self.options.pyLimitedAPI)
 
         # Generate!
         tc.generate()
@@ -329,6 +340,41 @@ def build(self):
             cmake.build()
             print("Total Build Time: " + str(datetime.now() - start))
             print(f"{statusColor}The Basilisk build is successful and the scripts are ready to run{endColor}")
+            # On Windows, copy project-built DLLs next to the Python extension modules
+            # so they are bundled in the wheel and resolvable at runtime without PATH tweaks.
+            if self.settings.os == "Windows":
+                basilisk_dst_root = os.path.join(self.build_folder, "Basilisk")
+                common_srcs = [
+                    os.path.join(self.build_folder, "bin"),
+                    os.path.join(self.build_folder, "Release"),
+                    os.path.join(self.build_folder, "Debug"),
+                ]
+                for src in common_srcs:
+                    if os.path.isdir(src):
+                        try:
+                            copy(self, "*.dll", src, basilisk_dst_root)
+                        except Exception as e:
+                            self.output.warning(f"Failed to copy DLLs from {src}: {e}")
+
+                # As a fallback, scan the build tree for any remaining DLLs.
+                for root, _dirs, files in os.walk(self.build_folder):
+                    # Skip the destination to avoid self-copy
+                    if os.path.commonpath([root, basilisk_dst_root]) == basilisk_dst_root:
+                        continue
+                    if any(f.lower().endswith(".dll") for f in files):
+                        try:
+                            copy(self, "*.dll", root, basilisk_dst_root)
+                        except Exception as e:
+                            self.output.warning(f"Failed to copy DLLs from {root}: {e}")
+
+                # Rename DLLs to lowercase
+                for path in glob(os.path.join(basilisk_dst_root, "*.dll")):
+                    base = os.path.basename(path)
+                    lower = base.lower()
+                    if base != lower:
+                        tmp = os.path.join(basilisk_dst_root, f".{lower}.tmp")
+                        os.replace(path, tmp)
+                        os.replace(tmp, os.path.join(basilisk_dst_root, lower))
         else:
             print(f"{statusColor}Finished configuring the Basilisk project.{endColor}")
             if self.settings.os != "Linux":