Merge pull request #341 from nim65s/devel

test python 2/3 ubuntu 18/20/22

.github/workflows/jrl-cmakemodules.yml

@@ -6,7 +6,7 @@ jobs:
     name: Check configuration with git submodules
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           submodules: true
       - run: sudo apt install libboost-all-dev libeigen3-dev python3-numpy
@@ -17,7 +17,7 @@ jobs:
     name: Check configuration without git submodules
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           submodules: false
       - run: sudo apt install libboost-all-dev libeigen3-dev python3-numpy

.github/workflows/linux.yml

+name: Check build on linux
+
+on: ["push", "pull_request"]
+
+jobs:
+  test:
+    name: "Test python ${{ matrix.python }} on ${{ matrix.ubuntu }}.04"
+    runs-on: "ubuntu-${{ matrix.ubuntu }}.04"
+    strategy:
+      matrix:
+        python: [3]
+        ubuntu: [18, 20, 22]
+        include:
+          - ubuntu: 18
+            python: 2
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          submodules: 'true'
+      - run: |
+          sudo apt-get update
+          sudo apt-get install cmake libboost-all-dev libeigen3-dev python*-numpy python*-dev
+      - run: cmake -DPYTHON_EXECUTABLE=$(which python${{ matrix.python }}) .
+      - run: make -j2
+      - run: make test

.github/workflows/macos-linux-conda.yml

@@ -26,7 +26,7 @@ jobs:
             os: macos-latest
 
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         submodules: recursive
 
@@ -37,7 +37,7 @@ jobs:
         environment-file: .github/workflows/conda/environment.yml
         python-version: '3.10'
 
-    - uses: actions/cache@v2
+    - uses: actions/cache@v3
       with:
         path: ${{ env.CCACHE_DIR }}
         key: ccache-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.cxx_options }}

.github/workflows/ros_ci.yml

@@ -22,14 +22,23 @@ jobs:
       BUILDER: colcon
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
         with:
           submodules: recursive
       # This step will fetch/store the directory used by ccache before/after the ci run
-      - uses: actions/cache@v2
+      - uses: actions/cache@v3
         with:
           path: ${{ env.CCACHE_DIR }}
           key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+      - name: Echo CCACHE_DIR
+        shell: bash -l {0}
+        env: ${{ matrix.env }}
+        run: |
+          echo CCACHE_DIR=${CCACHE_DIR}
+      - name: Echo CCACHE_DIR
+        shell: bash -l {0}
+        run: |
+          echo CCACHE_DIR=${CCACHE_DIR}
       # Run industrial_ci
-      - uses: 'ros-industrial/industrial_ci@master'
+      - uses: 'ros-industrial/industrial_ci@6a8f546cbd31fbd5c9f77e3409265c8b39abc3d6'
         env: ${{ matrix.env }}

.github/workflows/windows-conda.yml

@@ -9,7 +9,7 @@ jobs:
       matrix:
           os: [windows-latest]
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
     - name: Checkout submodules
       run: |
         git submodule update --init

CMakeLists.txt

@@ -82,6 +82,10 @@ endif()
 set(PYTHON_EXPORT_DEPENDENCY ON)
 findpython(REQUIRED)
 
+if(${NUMPY_VERSION} VERSION_LESS "1.16.0")
+  set(NUMPY_WITH_BROKEN_UFUNC_SUPPORT TRUE)
+endif()
+
 if(WIN32)
   link_directories(${PYTHON_LIBRARY_DIRS})
   # # Set default Windows build paths SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY

cmake @ 74c1e60e

-Subproject commit 9403226002b930d592ca83b50d3cd714a1c2dc01
+Subproject commit 74c1e60e72c449b242c524d8406b1f4bf549f498

unittest/CMakeLists.txt

@@ -32,7 +32,10 @@ add_lib_unit_test(include)
 if(NOT ${EIGEN3_VERSION} VERSION_LESS "3.2.0")
   add_lib_unit_test(eigen_ref)
 endif()
-add_lib_unit_test(user_type)
+
+if(NOT NUMPY_WITH_BROKEN_UFUNC_SUPPORT)
+  add_lib_unit_test(user_type)
+endif()
 add_lib_unit_test(std_vector)
 
 add_python_unit_test("py-matrix" "unittest/python/test_matrix.py" "unittest")
@@ -43,8 +46,11 @@ add_python_unit_test("py-return-by-ref" "unittest/python/test_return_by_ref.py"
                      "unittest")
 add_python_unit_test("py-eigen-ref" "unittest/python/test_eigen_ref.py"
                      "unittest")
-add_python_unit_test("py-user-type" "unittest/python/test_user_type.py"
-                     "unittest")
+
+if(NOT NUMPY_WITH_BROKEN_UFUNC_SUPPORT)
+  add_python_unit_test("py-user-type" "unittest/python/test_user_type.py"
+                       "unittest")
+endif()
 
 add_python_unit_test("py-switch" "unittest/python/test_switch.py"
                      "python;unittest")