feat(planning): support parameters as action cost #393
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| name: Aries | |
| on: push | |
| env: | |
| CARGO_TERM_COLOR: always | |
| jobs: | |
| unit-tests: | |
| name: Unit tests | |
| runs-on: ubuntu-22.04 | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| fetch-depth: 0 | |
| - uses: dtolnay/rust-toolchain@stable | |
| - run: cargo test | |
| lints: | |
| name: Rustfmt and Clippy | |
| runs-on: ubuntu-22.04 | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| fetch-depth: 0 | |
| - uses: dtolnay/[email protected] # fixed version to avoid failures on rust version releases | |
| with: | |
| components: clippy, rustfmt | |
| - run: cargo fmt --all -- --check | |
| - run: cargo clippy -- -D warnings | |
| integration-tests: | |
| name: Solving | |
| runs-on: ubuntu-22.04 | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| fetch-depth: 0 | |
| - uses: dtolnay/rust-toolchain@stable | |
| - name: Install GNU parallel | |
| run: sudo apt-get update && sudo apt-get install parallel | |
| - name: Get problems from LFS | |
| run: git lfs pull | |
| - name: SAT solving | |
| run: ./ci/sat.py debug | |
| - name: Scheduler testing | |
| run: ./ci/scheduling.py | |
| - name: GG solving | |
| run: ./ci/gg.py | |
| - name: LCP Solving (PDDL & HDDL) | |
| run: ./ci/lcp.sh | |
| unified-planning-api: | |
| name: Unified Planning API | |
| runs-on: ubuntu-22.04 | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| fetch-depth: 0 | |
| - uses: dtolnay/rust-toolchain@stable | |
| - name: Check for new protobuf definitions | |
| run: | | |
| # Download the latest protobuf definitions | |
| printf "Checking for new protobuf definitions...\n" | |
| git submodule update --init # get our own copy of unified-planning library | |
| cd planning | |
| rm grpc/api/src/unified_planning.proto | |
| cp unified/deps/unified-planning/unified_planning/grpc/unified_planning.proto grpc/api/src/ | |
| git diff --exit-code | |
| - name: Install Protobuf | |
| run: sudo apt-get update && sudo apt-get install -y libprotobuf-dev protobuf-compiler | |
| - name: Check if generated bindings are up to date | |
| run: | | |
| printf "Checking if the API is up to date...\n" | |
| cd planning/grpc/api | |
| cargo build --features=generate_bindings | |
| cd ../../.. | |
| git diff --exit-code | |
| unified-planning-integration: | |
| name: UP Integration Tests | |
| runs-on: ubuntu-22.04 | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - uses: dtolnay/rust-toolchain@stable | |
| - name: Submodules initialization | |
| run: git submodule update --init # get our own copy of unified-planing repos | |
| - name: Install python dependencies | |
| run: python3 -m pip install -r planning/unified/requirements.txt "numpy<2" | |
| - name: Install just | |
| run: curl --proto '=https' --tlsv1.2 -sSf https://just.systems/install.sh | bash -s -- --to . | |
| - name: Solver tests | |
| run: ./just ci-up-solve | |
| - name: Validator tests | |
| run: ./just ci-up-val | |
| tests: # Meta-job that only requires all test-jobs to pass | |
| needs: [ lints, unit-tests, integration-tests, unified-planning-api, unified-planning-integration ] | |
| runs-on: ubuntu-latest | |
| steps: | |
| - run: true | |
| # ================ Building & Releasing binaries. | |
| # Only active on the master branch and when the previous validation steps passed | |
| build: # Build release binaries for all architecture and save them as artifacts | |
| strategy: | |
| matrix: | |
| os: [ ubuntu-latest, macos-latest, windows-latest ] | |
| target: [ amd64, arm64 ] | |
| exclude: | |
| - os: ubuntu-latest | |
| target: arm64 # linux-arm64 build has linker issues, done in a distinct job | |
| fail-fast: false | |
| name: Build - ${{ matrix.os }} - ${{ matrix.target }} | |
| runs-on: ${{ matrix.os }} | |
| if: (github.ref == 'refs/heads/master') || startsWith(github.ref, 'refs/tags/v') | |
| defaults: | |
| run: | |
| shell: bash | |
| steps: | |
| - name: Checkout repo | |
| uses: actions/checkout@master | |
| with: | |
| fetch-depth: 0 | |
| - uses: dtolnay/rust-toolchain@stable | |
| - name: Setup python | |
| uses: actions/setup-python@v2 | |
| with: | |
| python-version: "3.8" | |
| - name: Set Environment Variables | |
| run: | | |
| if [ "${{ matrix.os }}" == "ubuntu-latest" ] && [ "${{ matrix.target }}" == "amd64" ]; then | |
| echo "TARGET=x86_64-unknown-linux-musl" >> $GITHUB_ENV | |
| echo "BINARY=up-aries_linux_amd64" >> $GITHUB_ENV | |
| elif [ "${{ matrix.os }}" == "macos-latest" ] && [ "${{ matrix.target }}" == "amd64" ]; then | |
| echo "TARGET=x86_64-apple-darwin" >> $GITHUB_ENV | |
| echo "BINARY=up-aries_macos_amd64" >> $GITHUB_ENV | |
| elif [ "${{ matrix.os }}" == "windows-latest" ] && [ "${{ matrix.target }}" == "amd64" ]; then | |
| echo "TARGET=x86_64-pc-windows-msvc" >> $GITHUB_ENV | |
| echo "BINARY=up-aries_windows_amd64.exe" >> $GITHUB_ENV | |
| elif [ "${{ matrix.os }}" == "macos-latest" ] && [ "${{ matrix.target }}" == "arm64" ]; then | |
| echo "TARGET=aarch64-apple-darwin" >> $GITHUB_ENV | |
| echo "BINARY=up-aries_macos_arm64" >> $GITHUB_ENV | |
| elif [ "${{ matrix.os }}" == "windows-latest" ] && [ "${{ matrix.target }}" == "arm64" ]; then | |
| echo "TARGET=aarch64-pc-windows-msvc" >> $GITHUB_ENV | |
| echo "BINARY=up-aries_windows_arm64.exe" >> $GITHUB_ENV | |
| fi | |
| - name: Install toolchain | |
| run: rustup target add ${{ env.TARGET }} | |
| - name: Build release binary | |
| run: | | |
| cargo build --release --target ${{ env.TARGET }} --bin up-server | |
| mkdir -p bins/ | |
| cp target/${{ env.TARGET }}/release/up-server bins/${{ env.BINARY }} | |
| - name: Upload artifact | |
| uses: actions/upload-artifact@v2 | |
| with: | |
| name: ${{ env.BINARY }} | |
| path: bins/${{ env.BINARY }} | |
| retention-days: 1 | |
| # Deactivated as induces very long CI times | |
| # # Build linux-aarch64 binaries in a dedicated container. | |
| # build-linux-arm64: | |
| # runs-on: ubuntu-latest | |
| # name: Build - ubuntu-latest - arm64 | |
| # if: github.ref == 'refs/heads/master' | |
| # needs: [lints, unit-tests, integration-tests, unified-planning-api] | |
| # steps: | |
| # - uses: actions/checkout@v3 | |
| # with: | |
| # fetch-depth: 0 | |
| # - uses: uraimo/run-on-arch-action@v2 | |
| # name: Build on ubuntu-latest targetting ARM64 | |
| # id: build | |
| # with: | |
| # arch: aarch64 | |
| # distro: ubuntu20.04 | |
| # | |
| # githubToken: ${{ secrets.GITHUB_TOKEN }} | |
| # | |
| # dockerRunArgs: | | |
| # --privileged --volume "${PWD}:/workdir" --workdir /workdir | |
| # | |
| # shell: /bin/bash | |
| # setup: mkdir -p bins/ | |
| # install: | | |
| # apt-get update | |
| # apt-get -y upgrade | |
| # apt-get install -y libssl-dev libudev-dev pkg-config curl git | |
| # apt-get install -y build-essential gcc-aarch64-linux-gnu python3.8 | |
| # curl https://sh.rustup.rs -sSf | sh -s -- -y | |
| # echo $HOME/.cargo/bin >> ~/.bashrc | |
| # source $HOME/.cargo/env | |
| # rustup target add aarch64-unknown-linux-gnu | |
| # run: | | |
| # source $HOME/.cargo/env | |
| # cargo build --release --target aarch64-unknown-linux-gnu --bin up-server | |
| # cp target/aarch64-unknown-linux-gnu/release/up-server bins/up-aries_linux_arm64 | |
| # python3.8 ./ci/grpc.py --executable bins/up-aries_linux_arm64 | |
| # | |
| # - name: Upload artifact | |
| # uses: actions/upload-artifact@v2 | |
| # with: | |
| # name: up-aries_linux_arm64 | |
| # path: bins/up-aries_linux_arm64 | |
| # retention-days: 1 | |
| package-python: | |
| name: Python Package (up_aries) | |
| needs: [ build ] | |
| runs-on: ubuntu-latest | |
| if: (github.ref == 'refs/heads/master') || startsWith(github.ref, 'refs/tags/v') | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - name: Retrieve git tags # need full git history to determine version number when packaging | |
| run: git fetch --prune --unshallow | |
| - name: Available tags | |
| run: | | |
| git tag | |
| git describe --tags --match v[0-9]* | |
| - uses: actions/setup-python@v4 | |
| with: | |
| python-version: '3.8' | |
| - name: Install build tools | |
| run: pip install build | |
| - uses: actions/download-artifact@v3 | |
| with: | |
| path: planning/unified/plugin/artifacts | |
| - name: Unpack artifacts | |
| run: | | |
| cd planning/unified/plugin/ | |
| ls -lR | |
| mkdir -p up_aries/bin | |
| cp artifacts/*/* up_aries/bin/ | |
| chmod +x up_aries/bin/* | |
| ls -lR | |
| python -m build --sdist | |
| cp dist/up_aries-*.tar.gz up_aries.tar.gz | |
| - uses: actions/upload-artifact@v3 | |
| with: | |
| name: up_aries.tar.gz | |
| path: planning/unified/plugin/up_aries.tar.gz | |
| retention-days: 1 | |
| pre-release: # If on master branch, Upload all artifacts as a pre-release "latest" | |
| name: Pre Release | |
| runs-on: ubuntu-latest | |
| if: github.ref == 'refs/heads/master' | |
| needs: [ tests, build, package-python ] | |
| steps: | |
| - name: Download artifact | |
| uses: actions/download-artifact@v2 | |
| - name: Display artifacts | |
| run: ls -R | |
| - uses: marvinpinto/action-automatic-releases@latest | |
| with: | |
| repo_token: "${{ secrets.GITHUB_TOKEN }}" | |
| automatic_release_tag: "latest" | |
| prerelease: true | |
| title: "Development Build" | |
| files: | | |
| up-aries_linux_amd64 | |
| up-aries_macos_amd64 | |
| up-aries_macos_arm64 | |
| up-aries_windows_amd64.exe | |
| up-aries_windows_arm64.exe | |
| up_aries.tar.gz | |
| release: # If on a "v*" tag, cut a new non-draft release | |
| name: Release | |
| runs-on: ubuntu-latest | |
| if: startsWith(github.ref, 'refs/tags/v') | |
| needs: [ tests, build, package-python ] | |
| steps: | |
| - name: Download artifact | |
| uses: actions/download-artifact@v2 | |
| - name: Download TAR artifact for python package | |
| uses: actions/download-artifact@v2 | |
| with: | |
| name: up_aries.tar.gz | |
| path: dist/ | |
| - name: Rename python package with version | |
| run: mv dist/up_aries.tar.gz dist/up_aries-${{github.ref_name}}.tar.gz | |
| - name: Display artifacts | |
| run: ls -R | |
| - name: Publish package to PyPI | |
| uses: pypa/gh-action-pypi-publish@release/v1.6 | |
| with: | |
| password: ${{ secrets.PYPI_TOKEN }} | |
| packages_dir: dist | |
| - uses: marvinpinto/action-automatic-releases@latest | |
| with: | |
| repo_token: "${{ secrets.GITHUB_TOKEN }}" | |
| prerelease: false | |
| title: "${{ github.ref_name }}" | |
| files: | | |
| up-aries_linux_amd64 | |
| up-aries_macos_amd64 | |
| up-aries_macos_arm64 | |
| up-aries_windows_amd64.exe | |
| up-aries_windows_arm64.exe | |
| up_aries.tar.gz |