Refactor CMake with JRL CMake Modules v2 (v2)

.gersemirc

@@ -1,4 +1,4 @@
-definitions: [./CMakeLists.txt, ./cmake, ./tests]
-line_length: 80
+definitions: [./CMakeLists.txt, ./tests]
+line_length: 100
 indent: 2
 warn_about_unknown_commands: false

.github/workflows/linux.yml

@@ -0,0 +1,113 @@
+name: CI - Linux (APT)
+
+on:
+  push:
+    branches:
+      - main
+    paths-ignore:
+      - .gitlab-ci.yml
+      - .gitignore
+      - '*.md'
+      - CITATION.*
+      - LICENSE
+      - colcon.pkg
+      - .pre-commit-config.yaml
+      - CHANGELOG.md
+      - development/*.md
+  pull_request:
+    paths-ignore:
+      - .gitlab-ci.yml
+      - .gitignore
+      - '*.md'
+      - CITATION.*
+      - LICENSE
+      - colcon.pkg
+      - .pre-commit-config.yaml
+      - CHANGELOG.md
+      - development/*.md
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  ubuntu:
+    name: CI - Ubuntu ${{ matrix.ubuntu_version }} - ${{ matrix.build_type }} (APT)
+    runs-on: ubuntu-latest
+    container:
+      image: ubuntu:${{ matrix.ubuntu_version }}
+    strategy:
+      fail-fast: false
+      matrix:
+        ubuntu_version: ["22.04", "24.04"]
+        build_type: [Release, Debug]
+    env:
+      CCACHE_BASEDIR: ${{ github.workspace }}
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+      CCACHE_COMPRESS: true
+      CCACHE_COMPRESSLEVEL: 6
+      CMAKE_C_COMPILER_LAUNCHER: ccache
+      CMAKE_CXX_COMPILER_LAUNCHER: ccache
+      DEBIAN_FRONTEND: noninteractive
+    steps:
+      - name: Install dependencies via APT
+        run: |
+          apt-get update
+          apt-get install -y \
+            git \
+            g++ \
+            cmake \
+            ninja-build \
+            ccache \
+            libeigen3-dev \
+            libsuitesparse-dev \
+            python3-dev \
+            python3-numpy \
+            python3-scipy \
+            python3-pytest \
+            python3-typing-extensions
+
+      - uses: actions/checkout@v7
+
+      - name: Setup ccache
+        uses: actions/cache@v6
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-ubuntu-${{ matrix.ubuntu_version }}-${{ matrix.build_type }}-${{ github.sha }}
+          restore-keys: ccache-ubuntu-${{ matrix.ubuntu_version }}-${{ matrix.build_type }}-
+
+      - name: Clear ccache stats
+        run: ccache --show-stats --zero-stats --verbose
+
+      - name: CMake Configure
+        run: |
+          cmake -G Ninja -B build -S . \
+            -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
+            -DBUILD_TESTING=ON \
+            -DBUILD_WITH_CHOLMOD_SUPPORT=ON
+
+      - name: CMake Build
+        run: cmake --build build --verbose --parallel 2
+
+      - name: Show ccache stats
+        run: ccache --show-stats --verbose
+
+      - name: CTest
+        run: ctest --test-dir build --output-on-failure
+
+      - name: CMake Install
+        run: cmake --install build --prefix install
+
+  check:
+    if: always()
+    name: check-linux
+
+    needs:
+      - ubuntu
+
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Decide whether the needed jobs succeeded or failed
+        uses: re-actors/alls-green@release/v1
+        with:
+          jobs: ${{ toJSON(needs) }}

.github/workflows/macos-linux-windows-pixi.yml

@@ -1,4 +1,4 @@
-name: CI - MacOS/Linux/Windows via Pixi
+name: CI - Pixi (MacOS/Linux/Windows)
 
 on:
   push:
@@ -30,12 +30,12 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
-  nanoeigenpy-pixi:
-    name: Standard - ${{ matrix.os }} - Env ${{ matrix.environment }} ${{ matrix.build_type }}
+  pixi:
+    name: Pixi - ${{ matrix.os }} - Env ${{ matrix.environment }} ${{ matrix.build_type }}
     runs-on: ${{ matrix.os }}
     env:
-      CCACHE_BASEDIR: "${GITHUB_WORKSPACE}"
-      CCACHE_DIR: "${GITHUB_WORKSPACE}/.ccache"
+      CCACHE_BASEDIR: "${{ github.workspace }}"
+      CCACHE_DIR: "${{ github.workspace }}/.ccache"
       CCACHE_COMPRESS: true
       CCACHE_COMPRESSLEVEL: 6
       # Since pixi will install a compiler, the compiler mtime will be changed.
@@ -55,43 +55,44 @@ jobs:
 
     steps:
     - uses: actions/checkout@v7
-      with:
-        submodules: recursive
 
     - uses: actions/cache@v6
       with:
-        path: .ccache
-        key: ccache-macos-linux-windows-pixi-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.environment }}-${{ github.sha }}
-        restore-keys: ccache-macos-linux-windows-pixi-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.environment }}-
+        path: ${{ env.CCACHE_DIR }}
+        key: ccache-pixi-${{ matrix.environment }}-${{ matrix.os }}-${{ matrix.build_type }}-${{ github.sha }}
+        restore-keys: ccache-pixi-${{ matrix.environment }}-${{ matrix.os }}-${{ matrix.build_type }}-
 
     - uses: prefix-dev/setup-pixi@v0.10.0
       with:
-        cache: true
         environments: ${{ matrix.environment }}
 
     - name: Clear ccache statistics [MacOS/Linux/Windows]
       run: |
-        pixi run -e ${{ matrix.environment }} ccache -z
+        pixi run -e ${{ matrix.environment }} ccache -svz
 
-    - name: Build nanoeigenpy [MacOS/Linux/Windows]
+    - name: Configure nanoeigenpy [MacOS/Linux/Windows]
       env:
         NANOEIGENPY_BUILD_TYPE: ${{ matrix.build_type }}
+      run: |
+        pixi run -e ${{ matrix.environment }} configure
+
+    - name: Build nanoeigenpy [MacOS/Linux/Windows]
       run: |
         pixi run -e ${{ matrix.environment }} build
 
     - name: Test nanoeigenpy [MacOS/Linux/Windows]
       run: |
-        pixi run -e ${{ matrix.environment }} ctest --test-dir build --output-on-failure
+        pixi run -e ${{ matrix.environment }} test
 
     - name: Install nanoeigenpy [MacOS/Linux/Windows]
       run: |
-        pixi run -e ${{ matrix.environment }} cmake --build build --target install
+        pixi run -e ${{ matrix.environment }} install
 
     - name: Show ccache statistics [MacOS/Linux/Windows]
       run: |
         pixi run -e ${{ matrix.environment }} ccache -sv
 
-  # nanoeigenpy-pixi-build:
+  # pixi-build:
   #   name: Pixi build - ${{ matrix.os }}
   #   runs-on: ${{ matrix.os }}
 
@@ -102,14 +103,11 @@ jobs:
 
   #   steps:
   #   - uses: actions/checkout@v7
-  #     with:
-  #       submodules: recursive
 
   #   - uses: prefix-dev/setup-pixi@v0.10.0
   #     env:
   #       CMAKE_BUILD_PARALLEL_LEVEL: 2
   #     with:
-  #       cache: true
   #       environments: test-pixi-build
 
   #   - name: Test package [MacOS/Linux/Windows]
@@ -121,9 +119,10 @@ jobs:
     name: check-macos-linux-windows-pixi
 
     needs:
-    - nanoeigenpy-pixi
+    - pixi
+    # - pixi-build
 
-    runs-on: Ubuntu-latest
+    runs-on: ubuntu-latest
 
     steps:
     - name: Decide whether the needed jobs succeeded or failed

.github/workflows/nix.yml

@@ -10,6 +10,9 @@ on:
 
 jobs:
   nix:
+    # ⚠️ temporarly disable the Nix job for https://github.com/Simple-Robotics/nanoeigenpy/pull/40 ⚠️
+    if: false
+
     runs-on: "${{ matrix.os }}-latest"
     strategy:
       matrix:
@@ -25,7 +28,10 @@ jobs:
       - run: nix build -L ".#nanoeigenpy${{ matrix.eigen }}"
 
   check:
-    if: always()
+    # ⚠️ temporarly disable the Nix job for https://github.com/Simple-Robotics/nanoeigenpy/pull/40 ⚠️
+    if: false
+    # if: always()
+
     name: check-macos-linux-nix
 
     needs:

.github/workflows/ros_ci.yml

@@ -20,34 +20,54 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
-  CI:
+  ros:
+    name: ROS ${{ matrix.ROS_DISTRO }} - ${{ matrix.os }}
     strategy:
+      fail-fast: false
       matrix:
-        env:
-          - {ROS_DISTRO: humble}
-          - {ROS_DISTRO: jazzy}
-          - {ROS_DISTRO: kilted}
-          - {ROS_DISTRO: rolling}
+        include:
+          # ROS2 Humble Hawksbill (May 2022 - May 2027)
+          - ROS_DISTRO: humble
+            os: Ubuntu 22.04 (Jammy)
+
+          # ROS2 Jazzy Jalisco (May 2024 - May 2029)
+          - ROS_DISTRO: jazzy
+            os: Ubuntu 24.04 (Noble)
+
+          # ROS2 Kilted Kayu (May 2025 - December 2026)
+          - ROS_DISTRO: kilted
+            os: Ubuntu 24.04 (Noble)
+
+          # ROS2 Rolling Ridley
+          - ROS_DISTRO: rolling
+            os: Ubuntu 26.04 (Resolute)
+
+          # ROS2 Lyrical Luth (May 2026 - May 2031)
+          - ROS_DISTRO: lyrical
+            os: Ubuntu 26.04 (Resolute)
     env:
-      # PRERELEASE: true  # Fails due to issues in the underlying Docker image
-      BUILDER: colcon
+      VERBOSE_OUTPUT: true
+      VERBOSE_TESTS: true
+      ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v7
+      - uses: actions/cache@v6
         with:
-          submodules: recursive
-      # Run industrial_ci
-      - uses: 'ros-industrial/industrial_ci@125164b9f1883cdf1858897a7146d1bebf2be5c6'
-        env: ${{ matrix.env }}
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-ros-${{ matrix.ROS_DISTRO }}-${{github.run_id}}
+          restore-keys: ccache-ros-${{ matrix.ROS_DISTRO }}-
+      - uses: ros-industrial/industrial_ci@125164b9f1883cdf1858897a7146d1bebf2be5c6
 
   check:
     if: always()
     name: check-ros-ci
 
     needs:
-    - CI
+    - ros
 
-    runs-on: Ubuntu-latest
+    runs-on: ubuntu-latest
 
     steps:
     - name: Decide whether the needed jobs succeeded or failed

.gitignore

@@ -1,8 +1,16 @@
 build*/
+install*/
+.pytest_cache/
 .cache/
-__pycache__
-.pytest_cache
-
-# pixi environments
-.pixi
+.pixi/
+__pycache__/
+Xcode*
+*.pyc
+*~
 *.egg-info
+.ruff_cache/
+.DS_Store
+compile_commands.json
+cmake-profiling.json
+result
+*.conda

.pre-commit-config.yaml

@@ -36,8 +36,8 @@ repos:
         args: [ --fix ]
       # Run the formatter.
       - id: ruff-format
-  - repo: https://github.com/BlankSpruce/gersemi
-    rev: 0.19.2
+  - repo: https://github.com/BlankSpruce/gersemi-pre-commit
+    rev: 0.28.0
     hooks:
       - id: gersemi
   - repo: https://github.com/Lucas-C/pre-commit-hooks

CHANGELOG.md

@@ -16,6 +16,9 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Python version update ([#25](https://github.com/Simple-Robotics/nanoeigenpy/pull/25)):
   - Project is now tested with Python 3.10 and 3.14
   - Python 3.10 is the minimal supported Python version
+- Switch to [JRL CMake modules v2](https://github.com/jrl-umi3218/jrl-cmakemodules/pull/798) ([#28](https://github.com/Simple-Robotics/nanoeigenpy/pull/28))
+  - Remove submodules: archives can now be used
+  - Migrate python tests to pytest
 
 ### Added
 - Add pixi-build support ([#25](https://github.com/Simple-Robotics/nanoeigenpy/pull/25))