Merge pull request #18 from Gepetto/nix

Nix

.github/dependabot.yml

@@ -0,0 +1,8 @@
+version: 2
+updates:
+- package-ecosystem: "github-actions"
+  directory: "/"
+  schedule:
+      interval: "weekly"
+
+# TODO: uv.lock not yet in https://docs.github.com/en/code-security/supply-chain-security/understanding-your-software-supply-chain/dependency-graph-supported-package-ecosystems

.github/workflows/nix.yml

@@ -0,0 +1,24 @@
+name: "CI - Nix"
+
+on:
+  push:
+    branches:
+    - main
+  pull_request:
+    branches:
+    - main
+
+jobs:
+  nix:
+    runs-on: "${{ matrix.os }}-latest"
+    strategy:
+      matrix:
+        os: [ubuntu, macos]
+    steps:
+      - uses: actions/checkout@v4
+      - uses: cachix/install-nix-action@v30
+      - uses: cachix/cachix-action@v15
+        with:
+          name: gepetto
+          authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
+      - run: nix build -L

.github/workflows/update-flake-lock.yml

@@ -0,0 +1,19 @@
+name: update-flake-lock
+
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: '0 12 9 * *'
+
+jobs:
+  lockfile:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+      - name: Install Nix
+        uses: DeterminateSystems/nix-installer-action@main
+      - name: Update flake.lock
+        uses: DeterminateSystems/update-flake-lock@main
+        with:
+          token: ${{ secrets.GH_TOKEN_FOR_UPDATES }}

.mergify.yml

@@ -2,6 +2,8 @@ pull_request_rules:
   - name: merge automatically when CI passes and PR is approved
     conditions:
       - check-success = "CMake"
+      - check-success = "nix (macos)"
+      - check-success = "nix (ubuntu)"
       - check-success = "Pip"
       - check-success = "pre-commit.ci - pr"
       - or:

package.nix → default.nix

@@ -1,12 +1,15 @@
 {
   cmake,
   lib,
+  pinocchio,
   pkg-config,
-  python3Packages,
+  pythonImportsCheckHook,
+  qpsolvers,
+  scipy,
   stdenv,
 }:
 
-stdenv.mkDerivation rec {
+stdenv.mkDerivation {
   pname = "toolbox-parallel-robots";
   version = "0-unstable-2024-30-09";
 
@@ -30,8 +33,16 @@ stdenv.mkDerivation rec {
   nativeBuildInputs = [
     cmake
     pkg-config
+    pythonImportsCheckHook
   ];
-  propagatedBuildInputs = [ python3Packages.pinocchio ];
+  propagatedBuildInputs = [
+    pinocchio
+    qpsolvers
+    scipy
+  ];
+
+  doCheck = true;
+  pythonImportsCheck = [ "toolbox_parallel_robots" ];
 
   meta = {
     description = "Set of tools to work with robots with bilateral constraints";

flake.nix

@@ -20,7 +20,7 @@
           devShells.default = pkgs.mkShell { inputsFrom = [ self'.packages.default ]; };
           packages = {
             default = self'.packages.toolbox-parallel-robots;
-            toolbox-parallel-robots = pkgs.python3Packages.toPythonModule (pkgs.callPackage ./package.nix { });
+            toolbox-parallel-robots = pkgs.python3Packages.callPackage ./default.nix { };
           };
         };
     };