Merge pull request #35 from ami-iit/update_ci

Update supported Python versions and update CI/CD

.github/workflows/ci_cd.yml

@@ -20,12 +20,12 @@ jobs:
 
     steps:
 
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           fetch-depth: 0
 
       - name: Set up Python
-        uses: actions/setup-python@v4
+        uses: actions/setup-python@v5
         with:
           python-version: "3.*"
 
@@ -50,7 +50,7 @@ jobs:
           python -c "import packaging.version as v; v.Version(\"$(python -m setuptools_scm)\")"
 
       - name: Upload artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
           path: dist/*
           name: dist
@@ -73,10 +73,9 @@ jobs:
           - apt
           - conda
         python:
-          - "3.8"
-          - "3.9"
           - "3.10"
           - "3.11"
+          - "3.12"
         exclude:
           - os: macos-latest
             type: apt
@@ -87,15 +86,14 @@ jobs:
 
       - name: Set up Python
         if: matrix.type == 'apt'
-        uses: actions/setup-python@v4
+        uses: actions/setup-python@v5
         with:
           python-version: ${{ matrix.python }}
 
-      - uses: conda-incubator/setup-miniconda@v2
+      - uses: conda-incubator/setup-miniconda@v3
         if: matrix.type == 'conda'
         with:
           python-version: ${{ matrix.python }}
-          miniforge-variant: Mambaforge
           miniforge-version: latest
           channels: conda-forge
           channel-priority: true
@@ -112,27 +110,28 @@ jobs:
 
       - name: Install conda dependencies
         if: matrix.type == 'conda'
+        # Note: pytest-icdiff creates problems on macOS.
         run: |
-          mamba install -y \
+          conda install -y \
             coloredlogs \
             mashumaro \
             numpy \
             packaging \
             resolve-robotics-uri-py \
             scipy \
+            trimesh \
             xmltodict \
             black \
             isort \
             pptree \
             idyntree \
             pytest \
             robot_descriptions \
-            trimesh
-            # pytest-icdiff \  # creates problems on macOS
-          mamba install -y gz-sim7 idyntree
+            libgz-tools2 \
+            libsdformat13
 
       - name: Download Python packages
-        uses: actions/download-artifact@v3
+        uses: actions/download-artifact@v4
         with:
           path: dist
           name: dist
@@ -150,13 +149,15 @@ jobs:
 
       - name: Import the package
         run: python -c "import rod"
+        env:
+          ROD_LOGGING_LEVEL: DEBUG
 
-      - uses: actions/checkout@v3
-        if: matrix.os != 'windows-latest'
+      - uses: actions/checkout@v4
 
       - name: Run tests
-        if: matrix.os != 'windows-latest'
         run: pytest
+        env:
+          ROD_LOGGING_LEVEL: DEBUG
 
   publish:
     name: Publish to PyPI
@@ -166,7 +167,7 @@ jobs:
     steps:
 
       - name: Download Python packages
-        uses: actions/download-artifact@v3
+        uses: actions/download-artifact@v4
         with:
           path: dist
           name: dist

setup.cfg

@@ -40,10 +40,9 @@ classifiers =
     Operating System :: MacOS
     Operating System :: Microsoft :: Windows
     Programming Language :: Python :: 3
-    Programming Language :: Python :: 3.8
-    Programming Language :: Python :: 3.9
     Programming Language :: Python :: 3.10
     Programming Language :: Python :: 3.11
+    Programming Language :: Python :: 3.12
     Programming Language :: Python :: 3 :: Only
     Programming Language :: Python :: Implementation :: CPython
     Topic :: Games/Entertainment :: Simulation
@@ -53,7 +52,7 @@ zip_safe = False
 packages = find:
 package_dir =
     =src
-python_requires = >=3.8
+python_requires = >=3.10
 install_requires =
     coloredlogs
     mashumaro

src/rod/__init__.py

@@ -28,7 +28,7 @@
 # ===============================
 
 
-def _is_editable():
+def installation_is_editable():
     """
     Check if the rod package is installed in editable mode.
     """
@@ -51,12 +51,41 @@ def _is_editable():
     return rod_package_dir not in site.getsitepackages()
 
 
-# Initialize the logging verbosity depending on the installation mode.
-logging.configure(
-    level=logging.LoggingLevel.DEBUG if _is_editable() else logging.LoggingLevel.WARNING
-)
+def get_default_logging_level(env_var: str) -> logging.LoggingLevel:
+    """
+    Get the default logging level.
+
+    Args:
+        env_var: The environment variable to check.
+
+    Returns:
+        The logging level to set.
+    """
+
+    import os
+
+    # Define the default logging level depending on the installation mode.
+    default_logging_level = (
+        logging.LoggingLevel.DEBUG
+        if installation_is_editable()
+        else logging.LoggingLevel.WARNING
+    )
+
+    # Allow to override the default logging level with an environment variable.
+    try:
+        return logging.LoggingLevel[
+            os.environ.get(env_var, default_logging_level.name).upper()
+        ]
+    except KeyError as exc:
+        msg = f"Invalid logging level defined in {env_var}='{os.environ[env_var]}'"
+        raise RuntimeError(msg) from exc
+
+
+# Configure the logger with the default logging level.
+logging.configure(level=get_default_logging_level(env_var="ROD_LOGGING_LEVEL"))
 
-del _is_editable
+del installation_is_editable
+del get_default_logging_level
 
 # =====================================
 # Check for compatible sdformat version

tests/test_meshbuilder.py

@@ -1,5 +1,3 @@
-import os
-import pathlib
 import tempfile
 
 import numpy as np
@@ -9,53 +7,70 @@
 
 
 def test_builder_creation():
+
+    # Create a mesh of a box primitive.
     mesh = trimesh.creation.box([1, 1, 1])
 
-    # Temporary write to file because rod Mesh works with uri
-    with tempfile.NamedTemporaryFile(suffix=".stl") as fp:
-        mesh.export(fp.name, file_type="stl")
+    # Temporary write to file because rod Mesh works with uri.
+    with tempfile.TemporaryDirectory() as tmp:
+        with tempfile.NamedTemporaryFile(suffix=".stl", dir=tmp, delete=False) as fp:
+
+            mesh.export(fp.name, file_type="stl")
+            fp.close()
+
+            builder = MeshBuilder(
+                name="test_mesh",
+                mesh_path=fp.name,
+                mass=1.0,
+                scale=np.array([1.0, 1.0, 1.0]),
+            )
 
-        builder = MeshBuilder(
-            name="test_mesh",
-            mesh_path=fp.name,
-            mass=1.0,
-            scale=np.array([1.0, 1.0, 1.0]),
-        )
     assert (
         builder.mesh.vertices.shape == mesh.vertices.shape
     ), f"{builder.mesh.vertices.shape} != {mesh.vertices.shape}"
+
     assert (
         builder.mesh.faces.shape == mesh.faces.shape
     ), f"{builder.mesh.faces.shape} != {mesh.faces.shape}"
+
     assert (
         builder.mesh.moment_inertia.all() == mesh.moment_inertia.all()
     ), f"{builder.mesh.moment_inertia} != {mesh.moment_inertia}"
+
     assert builder.mesh.volume == mesh.volume, f"{builder.mesh.volume} != {mesh.volume}"
 
 
 def test_builder_creation_custom_mesh():
+
     # Create a custom mesh
     vertices = np.array([[0, 0, 0], [1, 0, 0], [0, 1, 0], [0, 0, 1]])
     faces = np.array([[0, 1, 2], [0, 2, 3]])
     mesh = trimesh.Trimesh(vertices=vertices, faces=faces)
 
-    # Temporary write to file because rod Mesh works with uri
-    with tempfile.NamedTemporaryFile(suffix=".stl") as fp:
-        mesh.export(fp.name, file_type="stl")
+    # Temporary write to file because rod Mesh works with uri.
+    with tempfile.TemporaryDirectory() as tmp:
+        with tempfile.NamedTemporaryFile(suffix=".stl", dir=tmp, delete=False) as fp:
+
+            mesh.export(fp.name, file_type="stl")
+            fp.close()
+
+            builder = MeshBuilder(
+                name="test_mesh",
+                mesh_path=fp.name,
+                mass=1.0,
+                scale=np.array([1.0, 1.0, 1.0]),
+            )
 
-        builder = MeshBuilder(
-            name="test_mesh",
-            mesh_path=fp.name,
-            mass=1.0,
-            scale=np.array([1.0, 1.0, 1.0]),
-        )
     assert (
         builder.mesh.vertices.shape == mesh.vertices.shape
     ), f"{builder.mesh.vertices.shape} != {mesh.vertices.shape}"
+
     assert (
         builder.mesh.faces.shape == mesh.faces.shape
     ), f"{builder.mesh.faces.shape} != {mesh.faces.shape}"
+
     assert (
         builder.mesh.moment_inertia.all() == mesh.moment_inertia.all()
     ), f"{builder.mesh.moment_inertia} != {mesh.moment_inertia}"
+
     assert builder.mesh.volume == mesh.volume, f"{builder.mesh.volume} != {mesh.volume}"