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December 2024 update (#79)
* Work on Python update Dec 2024 * Use actions/upload-artifact@v4 * Update dep links * dev * apt-get libfcl-dev * vcpkg use latest release * Fix mesh geometry constructors * Use ubuntu 22.04 and windows-2022 * Update tesseract_task_composer module * Fix library anchors on Windows * Bump version to 0.5.0 * Use macos-13 to build x64 wheel * Use MSVC 2022 vsdevcmd * Use MSVC 2022 vsdevcmd * Include boost-stacktrace vcpkg package * Fix CompoundMesh * Add support for CompoundMesh to tesseract_viewer_python * Update examples * Bump tesseract_viewer_python version to 0.3.0 * Update readme * Include boost-format boost-algorithm vcpkg package * Use vcpkg-action github-binarycache * brew install swig on macos * Use actions/download-artifact@v4 * Add macos builds * Use tesseract commit sha * Add macos builds * Add macos builds * Add macos builds * Add macos builds * Add macos builds * Use tesseract master branch * Update dependencies * Update to upstream changes * Use master for macos vcpkg * Update dependency versions * Update examples * Bump package versions * Update generated docs * Update readme example
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‎.github/workflows/vcpkg_triplets/arm64-osx-dynamic-release.cmake‎

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@@ -0,0 +1,9 @@
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set(VCPKG_TARGET_ARCHITECTURE arm64)
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set(VCPKG_CRT_LINKAGE dynamic)
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set(VCPKG_LIBRARY_LINKAGE dynamic)
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set(VCPKG_CMAKE_SYSTEM_NAME Darwin)
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set(VCPKG_OSX_ARCHITECTURES arm64)
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set(VCPKG_BUILD_TYPE release)
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set(VCPKG_OSX_DEPLOYMENT_TARGET 12.0)

‎.github/workflows/wheels.yml‎

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@@ -14,6 +14,8 @@ env:
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VCPKG_PKGS: >-
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boost-dll boost-program-options
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boost-serialization boost-filesystem
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boost-stacktrace boost-algorithm
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boost-format
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tinyxml2 console-bridge assimp
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urdfdom octomap orocos-kdl pcl
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gtest benchmark flann jsoncpp
@@ -30,48 +32,48 @@ jobs:
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fail-fast: false
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matrix:
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config:
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- os: ubuntu-20.04
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runs_on: ubuntu-20.04
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container: ubuntu:20.04
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py_platform: manylinux_2_31_x86_64
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python_version: "3.7"
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docs: false
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docs_cmake: OFF
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- os: ubuntu-20.04
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runs_on: ubuntu-20.04
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container: ubuntu:20.04
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py_platform: manylinux_2_31_x86_64
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- os: ubuntu-22.04
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runs_on: ubuntu-22.04
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container: ubuntu:22.04
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py_platform: manylinux_2_35_x86_64
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python_version: "3.8"
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docs: true
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docs_cmake: ON
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- os: ubuntu-20.04
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runs_on: ubuntu-20.04
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container: ubuntu:20.04
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py_platform: manylinux_2_31_x86_64
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- os: ubuntu-22.04
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runs_on: ubuntu-22.04
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container: ubuntu:22.04
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py_platform: manylinux_2_35_x86_64
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python_version: "3.9"
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docs: true
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docs_cmake: ON
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- os: ubuntu-20.04
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runs_on: ubuntu-20.04
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container: ubuntu:20.04
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py_platform: manylinux_2_31_x86_64
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- os: ubuntu-22.04
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runs_on: ubuntu-22.04
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container: ubuntu:22.04
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py_platform: manylinux_2_35_x86_64
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python_version: "3.10"
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docs: true
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docs_cmake: ON
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- os: ubuntu-20.04
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runs_on: ubuntu-20.04
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container: ubuntu:20.04
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py_platform: manylinux_2_31_x86_64
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- os: ubuntu-22.04
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runs_on: ubuntu-22.04
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container: ubuntu:22.04
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py_platform: manylinux_2_35_x86_64
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python_version: "3.11.0"
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docs: true
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docs_cmake: ON
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- os: ubuntu-20.04
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runs_on: ubuntu-20.04
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container: ubuntu:20.04
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py_platform: manylinux_2_31_x86_64
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- os: ubuntu-22.04
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runs_on: ubuntu-22.04
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container: ubuntu:22.04
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py_platform: manylinux_2_35_x86_64
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python_version: "3.12.0"
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docs: true
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docs_cmake: ON
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- os: ubuntu-22.04
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runs_on: ubuntu-22.04
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container: ubuntu:22.04
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py_platform: manylinux_2_35_x86_64
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python_version: "3.13.0"
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docs: true
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docs_cmake: ON
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env:
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DEBIAN_FRONTEND: noninteractive
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steps:
@@ -93,7 +95,7 @@ jobs:
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liburdfdom-dev liboctomap-dev liborocos-kdl-dev libpcl-dev
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libflann-dev libjsoncpp-dev libyaml-cpp-dev git cmake ninja-build
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build-essential autoconf automake libtool bison libpcre2-dev libpcre3-dev
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lcov libbullet-dev libbullet-extras-dev python3-venv curl -y -qq
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lcov libbullet-dev libbullet-extras-dev python3-venv curl libfcl-dev -y -qq
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- name: build-swig
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uses: johnwason/swig-build-action@v1
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with:
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export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$GITHUB_WORKSPACE/ws/install/lib
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cmake --build . --config Release --target tesseract_python_doc
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- name: archive wheels
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uses: actions/upload-artifact@v2
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uses: actions/upload-artifact@v4
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with:
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name: 'python-wheels-${{ matrix.config.os }}-${{ matrix.config.python_version }}'
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path: ws/build/tesseract_python/python/*
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- name: archive docs
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uses: actions/upload-artifact@v2
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uses: actions/upload-artifact@v4
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with:
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name: 'python-docs-${{ matrix.config.os }}-${{ matrix.config.python_version }}'
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path: ws/build/tesseract_python/docs/*
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build-win:
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runs-on: windows-2019
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runs-on: windows-2022
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strategy:
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fail-fast: false
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matrix:
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vcpkg_triplet: x64-windows-release
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cmake_arch: x64
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python_version: "3.12.0"
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- arch: x64
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vcpkg_triplet: x64-windows-release
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cmake_arch: x64
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python_version: "3.13.0"
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steps:
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- uses: actions/checkout@v2
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with:
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python-version: '${{ matrix.config.python_version }}'
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architecture: ${{ matrix.config.arch }}
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- name: vcpkg build
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uses: johnwason/vcpkg-action@v5
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uses: johnwason/vcpkg-action@v6
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with:
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pkgs: >-
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${{ env.VCPKG_PKGS }}
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triplet: ${{ matrix.config.vcpkg_triplet }}
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extra-args: --clean-after-build
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token: ${{ github.token }}
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cache-key: win-${{ matrix.config.arch }}-python-${{ matrix.config.python_version }}
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revision: master
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github-binarycache: true
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- name: pip3
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run: |
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python -m pip install numpy setuptools wheel pytest delvewheel colcon-common-extensions vcstool
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working-directory: ws
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shell: cmd
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run: |
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call "C:\Program Files (x86)\Microsoft Visual Studio\2019\Enterprise\Common7\Tools\VsDevCmd.bat" -arch=amd64 -host_arch=amd64
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call "C:\Program Files\Microsoft Visual Studio\2022\Enterprise\Common7\Tools\VsDevCmd.bat" -arch=amd64 -host_arch=amd64
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set CXXFLAGS=%CXXFLAGS% -DEIGEN_DONT_ALIGN=1 -DEIGEN_DONT_VECTORIZE=1
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set CMAKE_PREFIX_PATH=%GITHUB_WORKSPACE%\vcpkg\installed\${{ matrix.config.vcpkg_triplet }}
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set PATH=%PATH%;%GITHUB_WORKSPACE%\vcpkg\installed\${{ matrix.config.vcpkg_triplet }}\bin
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if %errorlevel% neq 0 exit /b %errorlevel%
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- name: archive wheels
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if: always()
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uses: actions/upload-artifact@v2
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uses: actions/upload-artifact@v4
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with:
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name: 'python-wheels-win-${{matrix.config.python_version}}'
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path: ws/build/tesseract_python/python
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- name: archive logs
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if: failure()
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uses: actions/upload-artifact@v2
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uses: actions/upload-artifact@v4
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with:
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name: 'build-logs-win-${{ matrix.config.arch }}-python-${{ matrix.config.python_version }}'
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path: "**/*.log"
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retention-days: 2
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build-macos:
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runs-on: macos-latest
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runs-on: ${{ matrix.config.runner }}
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strategy:
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fail-fast: false
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matrix:
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config:
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- py_platform: macosx-10.9-x86_64
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- py_platform: macosx-12.0-x86_64
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python_version: "3.12"
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arch: x64
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runner: macos-13
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brew_prefix: /usr/local
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- py_platform: macosx-12.0-x86_64
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python_version: "3.13"
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arch: x64
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runner: macos-13
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brew_prefix: /usr/local
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- py_platform: macosx-12.0-arm64
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python_version: "3.12"
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arch: arm64
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runner: macos-14
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brew_prefix: /opt/homebrew
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- py_platform: macosx-12.0-arm64
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python_version: "3.13"
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arch: arm64
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runner: macos-14
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brew_prefix: /opt/homebrew
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steps:
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- uses: actions/checkout@v2
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with:
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python-version: '${{ matrix.config.python_version }}'
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- name: brew
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run: |
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brew install libomp cmake automake autoconf libtool gcc ninja
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brew install libomp cmake automake autoconf libtool gcc ninja swig
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- name: vcpkg build
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uses: johnwason/vcpkg-action@v5
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uses: johnwason/vcpkg-action@v6
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with:
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pkgs: >-
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${{ env.VCPKG_PKGS }}
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triplet: x64-osx-dynamic-release
326+
triplet: ${{ matrix.config.arch }}-osx-dynamic-release
302327
extra-args: --clean-after-build --overlay-triplets=${{ github.workspace }}/ws/src/tesseract_python/.github/workflows/vcpkg_triplets
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token: ${{ github.token }}
304-
cache-key: osx-x64-vcpkg
329+
cache-key: osx-${{ matrix.config.arch }}-vcpkg
330+
github-binarycache: true
305331
revision: master
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- name: pip3
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run: |
@@ -312,8 +338,8 @@ jobs:
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- name: colcon build
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working-directory: ws
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run: |
315-
export DYLD_LIBRARY_PATH=$DYLD_LIBRARY_PATH:$GITHUB_WORKSPACE/vcpkg/installed/x64-osx-dynamic-release/lib:$GITHUB_WORKSPACE/ws/install/lib
316-
export CMAKE_PREFIX_PATH=$GITHUB_WORKSPACE/vcpkg/installed/x64-osx-dynamic-release
341+
export DYLD_LIBRARY_PATH=$DYLD_LIBRARY_PATH:$GITHUB_WORKSPACE/vcpkg/installed/${{ matrix.config.arch }}-osx-dynamic-release/lib:$GITHUB_WORKSPACE/ws/install/lib
342+
export CMAKE_PREFIX_PATH=$GITHUB_WORKSPACE/vcpkg/installed/${{ matrix.config.arch }}-osx-dynamic-release
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colcon build --merge-install \
319345
--packages-ignore tesseract_examples trajopt_ifopt trajopt_sqp ifopt vhacd \
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-DBUILD_SHARED_LIBS=ON -DTESSERACT_ENABLE_EXAMPLES=OFF -DTESSERACT_BUILD_TRAJOPT_IFOPT=OFF \
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-DVCPKG_APPLOCAL_DEPS=OFF -DTESSERACT_ENABLE_TESTING=ON \
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-DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 \
327-
-DOpenMP_CXX_INCLUDE_DIR=/usr/local/opt/libomp/include \
328-
-DOpenMP_C_INCLUDE_DIR=/usr/local/opt/libomp/include \
353+
-DOpenMP_CXX_INCLUDE_DIR=${{ matrix.config.brew_prefix }}/opt/libomp/include \
354+
-DOpenMP_C_INCLUDE_DIR=${{ matrix.config.brew_prefix }}/opt/libomp/include \
329355
-DOpenMP_CXX_LIB_NAMES=libomp -DOpenMP_CXX_FLAGS="-Xpreprocessor -fopenmp" \
330356
-DOpenMP_C_LIB_NAMES=libomp -DOpenMP_C_FLAGS="-Xpreprocessor -fopenmp" \
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-DOpenMP_libomp_LIBRARY=/usr/local/opt/libomp/lib/libomp.dylib \
332-
-Dtcmalloc_minimal_LIBRARY=${{ github.workspace }}/vcpkg/installed/x64-osx-dynamic-release/lib/libtcmalloc_minimal.dylib \
357+
-DOpenMP_libomp_LIBRARY=${{ matrix.config.brew_prefix }}/opt/libomp/lib/libomp.dylib \
358+
-Dtcmalloc_minimal_LIBRARY=${{ github.workspace }}/vcpkg/installed/${{ matrix.config.arch }}-osx-dynamic-release/lib/libtcmalloc_minimal.dylib \
333359
-DPYTHON_EXECUTABLE="${{ steps.setup-python.outputs.python-path }}" \
334360
-DTESSERACT_PYTHON_WHEEL_PLATFORM=${{ matrix.config.py_platform }} \
335361
-DTESSERACT_PYTHON_BUILD_WHEEL=ON
@@ -347,13 +373,13 @@ jobs:
347373
pytest -s
348374
- name: archive wheels
349375
if: always()
350-
uses: actions/upload-artifact@v2
376+
uses: actions/upload-artifact@v4
351377
with:
352-
name: 'python-macos-win-${{matrix.config.python_version}}'
378+
name: 'python-macos-${{ matrix.config.arch }}-python-${{matrix.config.python_version}}'
353379
path: ws/build/tesseract_python/python
354380
- name: archive logs
355381
if: failure()
356-
uses: actions/upload-artifact@v2
382+
uses: actions/upload-artifact@v4
357383
with:
358384
name: 'build-logs-macos-${{ matrix.config.arch }}-python-${{ matrix.config.python_version }}'
359385
path: "**/*.log"
@@ -363,17 +389,17 @@ jobs:
363389
- build-win
364390
- build-ubuntu
365391
- build-macos
366-
runs-on: ubuntu-20.04
392+
runs-on: ubuntu-22.04
367393
steps:
368394
- uses: actions/checkout@v2
369395
with:
370396
path: robotraconteur
371397
- name: Download CI artifacts
372-
uses: actions/download-artifact@v2
398+
uses: actions/download-artifact@v4
373399
with:
374400
path: artifacts/main
375401
- name: archive wheels
376-
uses: actions/upload-artifact@v2
402+
uses: actions/upload-artifact@v4
377403
with:
378404
name: 'python-wheels-all'
379405
path: artifacts/**/wheelhouse/*.whl

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