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| # SPDX-FileCopyrightText: 2026 The RISE Project | |
| # SPDX-License-Identifier: MIT | |
| --- | |
| # Based on the `U22_SH_Py_CI` job of | |
| # https://github.com/realsenseai/librealsense/blob/v2.58.4/.github/workflows/buildsCI.yaml | |
| # and wrappers/python/build_wheel.py | |
| name: Build pyrealsense2 wheels (riscv64) | |
| on: | |
| workflow_dispatch: | |
| inputs: | |
| version: | |
| description: 'Version glob to (re)build; empty builds every version of docs/packages/pyrealsense2.yaml not released yet' | |
| required: false | |
| default: '' | |
| pull_request: | |
| branches: [main] | |
| paths: | |
| - '.github/workflows/build-pyrealsense2.yml' | |
| - 'docs/packages/pyrealsense2.yaml' | |
| - 'patches/pyrealsense2/**' | |
| push: | |
| branches: [main] | |
| paths: | |
| - '.github/workflows/build-pyrealsense2.yml' | |
| - 'docs/packages/pyrealsense2.yaml' | |
| - 'patches/pyrealsense2/**' | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }} | |
| cancel-in-progress: true | |
| permissions: | |
| contents: read # to fetch code (actions/checkout) | |
| env: | |
| MANYLINUX_RISCV64_IMAGE: quay.io/pypa/manylinux_2_39_riscv64 | |
| jobs: | |
| setup: | |
| uses: $/.github/workflows/_setup.yml | |
| with: | |
| package: pyrealsense2 | |
| version: ${{ inputs.version }} | |
| build_wheels: | |
| needs: [setup] | |
| if: needs.setup.outputs.versions != '[]' | |
| name: Build pyrealsense2 ${{ matrix.version }} ${{ matrix.python }}-manylinux_riscv64 | |
| runs-on: ubuntu-24.04-riscv | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| version: ${{ fromJSON(needs.setup.outputs.versions) }} | |
| python: ["cp312", "cp313", "cp314"] | |
| env: | |
| PYREALSENSE2_VERSION: ${{ matrix.version }} | |
| steps: | |
| # The fourth component of the PyPI version is upstream's release build number, not part of the tag. | |
| - id: tag | |
| run: echo "ref=v${PYREALSENSE2_VERSION%.*}" >> "$GITHUB_OUTPUT" | |
| - name: Checkout librealsense ${{ steps.tag.outputs.ref }} | |
| uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7.0.1 | |
| with: | |
| repository: realsenseai/librealsense | |
| ref: ${{ steps.tag.outputs.ref }} | |
| persist-credentials: false | |
| - name: Checkout python-wheels | |
| uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7.0.1 | |
| with: | |
| path: python-wheels | |
| persist-credentials: false | |
| - name: Patch librealsense | |
| run: git apply python-wheels/patches/pyrealsense2/${{ env.PYREALSENSE2_VERSION }}/*.patch | |
| - name: Stamp the release build number | |
| run: | | |
| sed -i -E "s/^(#define RS2_API_BUILD_VERSION[[:space:]]+)0$/\1${PYREALSENSE2_VERSION##*.}/" include/librealsense2/rs.h | |
| grep -q "RS2_API_BUILD_VERSION *${PYREALSENSE2_VERSION##*.}$" include/librealsense2/rs.h | |
| echo "__version__ = \"${PYREALSENSE2_VERSION}\"" > wrappers/python/pyrealsense2/_version.py | |
| cp LICENSE NOTICE.md wrappers/python/ | |
| - name: Stage the licence-collection script | |
| run: | | |
| cat > collect-licenses.sh <<'COLLECT_EOF' | |
| #!/bin/bash | |
| # SPDX-FileCopyrightText: 2026 The RISE Project | |
| # SPDX-License-Identifier: MIT | |
| # | |
| # Stage, in the wheel's project dir, the licence of every shared library | |
| # auditwheel vendors out of the build image alongside libusb/libudev. | |
| # hatchling's default LICEN[CS]E* glob copies them into the wheel. | |
| set -euo pipefail | |
| project="${1:?usage: collect-licenses.sh <project-dir>}" | |
| # ldd is transitive, so the two linked libs alone cover their whole | |
| # closure; ldd does not list the root itself, so resolve those too. | |
| mapfile -t libs < <( | |
| { | |
| ldd /usr/lib64/libusb-1.0.so | tr ' ' '\n' | grep '^/' | |
| readlink -f /usr/lib64/libusb-1.0.so | |
| ldd /usr/lib64/libudev.so | tr ' ' '\n' | grep '^/' | |
| readlink -f /usr/lib64/libudev.so | |
| } | sort -u | |
| ) | |
| # `rpm -qf` reports unowned files on stdout, so keep only bare package names. | |
| # glibc and the gcc runtime are on auditwheel's manylinux allowlist and | |
| # are never vendored into the wheel. | |
| mapfile -t pkgs < <( | |
| rpm -qf --qf '%{NAME}\n' "${libs[@]}" 2>/dev/null | | |
| grep -E '^[A-Za-z0-9._+-]+$' | sort -u | | |
| grep -vE '^(glibc|libgcc|libstdc\+\+|gcc)$' | |
| ) | |
| for pkg in "${pkgs[@]}"; do | |
| mapfile -t files < <(rpm -q --licensefiles "$pkg" 2>/dev/null || true) | |
| # Some subpackages leave the licence to a sibling of the same source RPM. | |
| if [ -z "${files[0]:-}" ]; then | |
| srpm=$(rpm -q --qf '%{SOURCERPM}\n' "$pkg") | |
| mapfile -t files < <( | |
| rpm -qa --qf '%{SOURCERPM} %{NAME}\n' | | |
| awk -v s="$srpm" '$1 == s { print $2 }' | | |
| xargs -r rpm -q --licensefiles 2>/dev/null | sort -u | |
| ) | |
| fi | |
| # Others mark it %doc rather than %license, and the image installs no docs. | |
| if [ -z "${files[0]:-}" ]; then | |
| dnf -y --disablerepo=extras reinstall --setopt=tsflags= "$pkg" >/dev/null | |
| mapfile -t files < <(rpm -qd "$pkg" | grep -iE '/(LICEN[CS]E|COPYING|NOTICE)') | |
| fi | |
| for f in "${files[@]}"; do | |
| [ -f "$f" ] || continue | |
| cp "$f" "$project/LICENSE.${pkg}.$(basename "$f")" | |
| done | |
| compgen -G "$project/LICENSE.$pkg.*" >/dev/null || | |
| { echo "no licence file found for $pkg" >&2; exit 1; } | |
| done | |
| ls -1 "$project"/LICENSE.* | sed "s|$project/||" | |
| COLLECT_EOF | |
| - name: Build wheels | |
| uses: pypa/cibuildwheel@1828c10ab37f080699c7b81cea34097c684a7074 # v4.2.0 | |
| with: | |
| package-dir: wrappers/python | |
| output-dir: wheelhouse/ | |
| only: ${{ matrix.python }}-manylinux_riscv64 | |
| env: | |
| CIBW_MANYLINUX_RISCV64_IMAGE: ${{ env.MANYLINUX_RISCV64_IMAGE }} | |
| CIBW_ENVIRONMENT: >- | |
| PIP_EXTRA_INDEX_URL=https://pypi.riseproject.dev/simple/ | |
| PIP_ONLY_BINARY=numpy,opencv-python-headless,zstandard | |
| # libudev-devel doesn't exist on Rocky 10; systemd-devel provides libudev.so/libudev.h instead (gotcha 252) | |
| CIBW_BEFORE_ALL_LINUX: >- | |
| dnf install -y libusb1-devel systemd-devel && | |
| bash {project}/collect-licenses.sh {project}/wrappers/python | |
| CIBW_BEFORE_BUILD_LINUX: >- | |
| cmake -S {project} -B {project}/build | |
| -DCMAKE_BUILD_TYPE=Release | |
| -DBUILD_SHARED_LIBS=false | |
| -DBUILD_EXAMPLES=false | |
| -DBUILD_GRAPHICAL_EXAMPLES=false | |
| -DBUILD_TOOLS=false | |
| -DBUILD_UNIT_TESTS=false | |
| -DCHECK_FOR_UPDATES=false | |
| -DBUILD_WITH_DDS=false | |
| -DBUILD_PYTHON_BINDINGS=true | |
| -DPYTHON_EXECUTABLE=$(which python) | |
| -DPython_EXECUTABLE=$(which python) && | |
| cmake --build {project}/build -- -j$(nproc) && | |
| cp -L {project}/build/Release/pyrealsense2.cpython-*.so {project}/build/Release/pyrsutils.cpython-*.so {project}/wrappers/python/pyrealsense2/ | |
| CIBW_TEST_REQUIRES: >- | |
| pytest pytest-timeout pytest-rerunfailures pytest-repeat pytest-check | |
| numpy opencv-python-headless zstandard | |
| CIBW_TEST_SOURCES: unit-tests | |
| # upstream's --not-live pytest run, minus the files that read recordings or binaries from a CMake build tree | |
| CIBW_TEST_COMMAND: >- | |
| python -m pytest unit-tests/log unit-tests/sw-dev unit-tests/syncer unit-tests/post-processing | |
| --color=no --not-live --context linux -p no:cacheprovider | |
| --ignore=unit-tests/log/pytest-env-log-level-off.py | |
| --ignore=unit-tests/log/pytest-env-log-level-on.py | |
| --ignore=unit-tests/post-processing/pytest-filters.py | |
| --ignore=unit-tests/post-processing/pytest-post-processing-from-bag.py | |
| - name: Verify the wheel ships both compiled extensions and licences | |
| run: | | |
| python3 - wheelhouse/*.whl <<'EOF' | |
| import sys, zipfile | |
| names = zipfile.ZipFile(sys.argv[1]).namelist() | |
| sos = sorted(n for n in names if ".so" in n) | |
| print("\n".join(sos)) | |
| assert any(n.startswith("pyrealsense2/pyrealsense2.cpython-") for n in sos), sos | |
| assert any(n.startswith("pyrealsense2/pyrsutils.cpython-") for n in sos), sos | |
| lic = sorted(n.split("/")[-1] for n in names if ".dist-info/licenses/" in n and not n.endswith("/")) | |
| print("\n".join(lic)) | |
| assert {"LICENSE", "NOTICE.md"} <= set(lic), lic | |
| expected_pkgs = {"libcap", "libusb1", "systemd-libs"} | |
| have_pkgs = {f.split(".", 2)[1] for f in lic if f.startswith("LICENSE.")} | |
| assert expected_pkgs <= have_pkgs, expected_pkgs - have_pkgs | |
| EOF | |
| - uses: actions/upload-artifact@043fb46d1a93c77aae656e7c1c64a875d1fc6a0a # v7.0.1 | |
| with: | |
| name: pyrealsense2-${{ env.PYREALSENSE2_VERSION }}-${{ matrix.python }}-manylinux_riscv64 | |
| path: ./wheelhouse/*.whl | |
| if-no-files-found: error | |
| gpl_sources: | |
| needs: [setup] | |
| if: needs.setup.outputs.versions != '[]' | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| version: ${{ fromJSON(needs.setup.outputs.versions) }} | |
| name: Collect GPL sources for pyrealsense2 ${{ matrix.version }} | |
| runs-on: ubuntu-24.04-riscv | |
| env: | |
| PYREALSENSE2_VERSION: ${{ matrix.version }} | |
| steps: | |
| - name: Checkout python-wheels | |
| uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7.0.1 | |
| with: | |
| persist-credentials: false | |
| # libcap/libusb1/systemd-libs are the copyleft (LGPL) libraries auditwheel vendors | |
| # out of the build image alongside libusb/libudev. | |
| - uses: ./actions/collect-gpl-sources | |
| with: | |
| image: ${{ env.MANYLINUX_RISCV64_IMAGE }} | |
| packages: gcc libcap libusb1 systemd-libs | |
| output: gpl-sources.tar | |
| - uses: actions/upload-artifact@043fb46d1a93c77aae656e7c1c64a875d1fc6a0a # v7.0.1 | |
| with: | |
| name: pyrealsense2-${{ env.PYREALSENSE2_VERSION }}-gpl-sources | |
| path: gpl-sources.tar | |
| if-no-files-found: error | |
| publish: | |
| name: Publish pyrealsense2 ${{ matrix.version }} | |
| needs: [setup, build_wheels, gpl_sources] | |
| if: needs.setup.outputs.versions != '[]' | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| version: ${{ fromJSON(needs.setup.outputs.versions) }} | |
| permissions: | |
| contents: write | |
| pull-requests: write | |
| uses: $/.github/workflows/_publish-wheel.yml | |
| secrets: | |
| app-private-key: ${{ secrets.RISEPROJECT_APP_PRIVATE_KEY }} | |
| with: | |
| artifact-pattern: pyrealsense2-${{ matrix.version }}-*-manylinux_riscv64 | |
| gpl-sources-artifact: pyrealsense2-${{ matrix.version }}-gpl-sources | |
| gpl-sources-description: gcc and the copyleft libraries bundled in the wheel |