main.yml

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
    - gen2
    - gen2_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@v4
        with:
          path: ~/.hunter
          key: hunter-ubuntu-latest
      - name: List .hunter cache directory
        run: ls -a -l ~/.hunter/_Base/ || true
      - uses: actions/checkout@v4
        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@v4
        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 $HOME
      - name: Setup cmake
        if: matrix.os == 'macos-latest'
        uses: jwlawson/actions-setup-cmake@v1.13
        with:
          cmake-version: '3.29.x'
      - name: Cache .hunter folder
        if: matrix.os != 'windows-latest'
        uses: actions/cache@v4
        with:
          path: ~/.hunter/
          key: hunter-pytest-${{ matrix.os }}
      - name: Cache .hunter folder
        if: matrix.os == 'windows-latest'
        uses: actions/cache@v4
        with:
          path: C:/.hunter/
          key: hunter-pytest-${{ matrix.os }}

      - uses: actions/checkout@v4
        with:
          submodules: 'recursive'

      - uses: actions/download-artifact@v4
        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-bullseye, rpi-bookworm]
    runs-on: ${{ matrix.rpi-os }}
    steps:
      - name: Print home directory
        run: echo Home directory inside container $HOME
      - uses: actions/checkout@v4
        with:
          submodules: 'recursive'

      - uses: actions/download-artifact@v4
        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}}" >> $GITHUB_ENV
      - name: Building wheel
        run: CMAKE_ARGS='-DDEPTHAI_ENABLE_CURL=OFF' python3 -m pip wheel . -w ./wheelhouse/ --verbose
      - name: Auditing wheels and adding armv6l tag (Running on RPi, binaries compiled as armv6l)
        run: |
          # python3 -m pip install -U wheel auditwheel # Called once when setting up the runner
          for whl in wheelhouse/*.whl; do auditwheel repair "$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 $whl); done
      - name: Archive wheel artifacts
        uses: actions/upload-artifact@v4
        with:
          name: audited-wheels-${{ github.run_id }}
          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: [3.7, 3.8, 3.9, '3.10', '3.11', '3.12', '3.13']
        python-architecture: [x64, x86]
      fail-fast: false
    steps:
      - name: Cache .hunter folder
        uses: actions/cache@v4
        with:
          path: C:/.hunter
          key: hunter-msvc
      - uses: actions/checkout@v4
        with:
          submodules: 'recursive'

      - uses: actions/download-artifact@v4
        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: Install dependencies
        run: choco install strawberryperl
      - 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 $env:GITHUB_ENV -Encoding utf8 -Append
      - name: Install dependencies
        run: |
          python -m pip install --upgrade pip
      - name: Building wheels
        run: python -m pip wheel . -w ./wheelhouse/audited/ --verbose
      - name: Archive wheel artifacts
        uses: actions/upload-artifact@v4
        with:
          name: audited-wheels-${{ github.run_id }}
          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:
    needs: build-docstrings
    strategy:
      matrix:
        python-version: [3.8, 3.9, '3.10', '3.11', '3.12', '3.13']
        os: [macos-13, macos-14] # macos-13 is x64, macos-14 is arm64
    runs-on: ${{ matrix.os }}
    steps:
      - name: Cache .hunter folder
        uses: actions/cache@v4
        with:
          path: ~/.hunter
          key: hunter-macos-latest
      - name: List .hunter cache directory
        run: |
          ls -a -l ~/.hunter/_Base/ || true
          echo "PATH=$PATH"

      - uses: actions/checkout@v4
        with:
          submodules: 'recursive'

      - uses: actions/download-artifact@v4
        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" >> $GITHUB_ENV
      - name: Building wheels
        run: python -m pip wheel . -w ./wheelhouse/ --verbose
      - name: Auditing wheels
        run: ci/repair-whl-macos.sh `pwd`/wheelhouse/* `pwd`/wheelhouse/audited
      - name: Archive wheel artifacts
        uses: actions/upload-artifact@v4
        with:
          name: audited-wheels-${{ github.run_id }}
          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/manylinux_2_28_x86_64:latest
      env:
        PLAT: manylinux_2_28_x86_64
    steps:
      - name: Cache .hunter folder
        uses: actions/cache@v4
        with:
          path: ~/.hunter
          key: hunter-x86_64
      - uses: actions/checkout@v4
        with:
          submodules: 'recursive'
      - name: Installing libusb1-devel dependency
        run: yum install -y --disableplugin=fastestmirror libusb1-devel perl-core
      - 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@v4
        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{7..13}*/bin; do "${PYBIN}/pip" wheel . -w ./wheelhouse/ --verbose; done
      - name: Audit wheels
        run: for whl in wheelhouse/*.whl; do auditwheel repair "$whl" --plat $PLAT -w wheelhouse/audited/; done
      - name: Archive wheel artifacts
        uses: actions/upload-artifact@v4
        with:
          name: audited-wheels-${{ github.run_id }}
          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/manylinux_2_28_aarch64:latest
      env:
        PLAT: manylinux_2_28_aarch64
      # Mount local hunter cache directory, instead of transfering to Github and back
      volumes:
        - /.hunter:/github/home/.hunter
    steps:
      - uses: actions/checkout@v4
        with:
          submodules: 'recursive'
      - name: Installing libusb1-devel dependency
        run: yum install -y --disableplugin=fastestmirror libusb1-devel perl-core
      - 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@v4
        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}}" >> $GITHUB_ENV
      - name: Building wheels
        run: for PYBIN in /opt/python/cp3{7..13}*/bin; do "${PYBIN}/pip" wheel . -w ./wheelhouse/ --verbose; done
      - name: Auditing wheels
        run: for whl in wheelhouse/*.whl; do auditwheel repair "$whl" --plat $PLAT -w wheelhouse/audited/; done
      - name: Archive wheel artifacts
        uses: actions/upload-artifact@v4
        with:
          name: audited-wheels-${{ github.run_id }}
          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, build-linux-x86_64, build-linux-arm64]
    runs-on: ubuntu-latest

    steps:
    - uses: actions/checkout@v4
      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@v4
        with:
          submodules: 'recursive'
      - uses: actions/download-artifact@v4
        with:
          name: audited-wheels-${{ github.run_id }}
          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_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:
    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