Refactor CMake with JRL CMake Modules v2 by ahoarau · Pull Request #437 · Simple-Robotics/proxsuite

ahoarau · 2025-12-11T11:52:00Z

⚠️DO NOT MERGE UNTIL jrl-umi3218/jrl-cmakemodules#798 is merged ⚠️

This PR is a full rewrite of the CMake files with the JRL CMake Modules v2.

Full rewrite of the CMake Files in modern CMake
Remove submodules: archives can now be used
Remove external libraries
c++17 minimum required
pixi support
🚧 NIX CI is temporarily disabled
Fix Documentation links
Support for find_package components

find_package(proxsuite 0.7.1 CONFIG REQUIRED COMPONENTS proxsuite vectorized)

jorisv

Nice work

jorisv · 2025-12-30T15:18:29Z

This can be removed. Pixi CI replace the conda-ci.

jorisv · 2025-12-30T15:19:56Z

This should be removed. The Pixi CI will replace this workflow.

jorisv · 2025-12-30T16:01:32Z

-    "${PROJECT_NAME}-example-py-${EXAMPLE_NAME}"
-    "${EXAMPLE_FILE}"
-    "bindings/python"
+function(proxsuite_add_python_example name)


This should be added as a test

remove custom functions as they format in a strange way when favour-inlining (the default) is used.

fixes the error on macos-15-intel: error: aligned deallocation function of type 'void (void *, std::align_val_t) noexcep │ │ t' is only available on macOS 10.13 or newer

using eigen5

…times with Eigen5

…uctible fixes issue with vs generators

jorisv

When running tests, following tests are failing on Linux with pixi:

         33 - proxsuite-test-cpp.dense_maros_meszaros (SEGFAULT)
         34 - proxsuite-test-cpp.vectorized.dense_maros_meszaros (SEGFAULT)
         35 - proxsuite-test-cpp.sparse_maros_meszaros (SEGFAULT)
         36 - proxsuite-test-cpp.vectorized.sparse_maros_meszaros (SEGFAULT)

jorisv · 2026-06-01T07:50:40Z

+          key: ccache-${{ runner.os }}-${{ matrix.os }}-${{ github.sha }}
+          restore-keys: ccache-${{ runner.os }}-${{ matrix.os }}-


Replace the prefix ccache by an unique one.
Replace runner.os by matrix.build_type.

jorisv · 2026-06-01T07:51:22Z

+    name: CI - ${{ matrix.os }} - ${{ matrix.build_type }} (APT)
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false


Run on a docker image to ensure not using modified tools.

jorisv · 2026-06-01T07:54:34Z

+          key: ccache-pixi-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.cxx_std }}-${{ github.sha }}
+          restore-keys: ccache-pixi-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.cxx_std }}-


Add ${{ matrix.pixi_environment }} so we don't have cache issue if we add a new environment.

jorisv · 2026-06-01T07:56:52Z

+          environments: default
+
+      - name: Configure
+        run: pixi run -e default configure --fresh --log-level=DEBUG
+
+      - name: Build
+        run: pixi run -e default build --verbose --parallel 1
+
+      - name: Install
+        run: pixi run -e default install
+
+      - name: Test Python import
+        run: pixi run -e default test-import-python
+
+      - name: Run C++ tests
+        if: ${{ !(startsWith(matrix.os, 'windows-') && matrix.build_type == 'Debug') }}
+        run: pixi run -e default test
+
+      - name: Run packaging tests
+        run: pixi run -e default test-packaging
+
+      - name: Uninstall
+        run: pixi run -e default uninstall


Replace default by ${{ matrix.pixi_environment }}

jorisv · 2026-06-01T12:10:17Z

+          key: ccache-${{ matrix.ROS_DISTRO }}-${{github.run_id}}
+          restore-keys: ccache-${{ matrix.ROS_DISTRO }}-


Suggested change

key: ccache-${{ matrix.ROS_DISTRO }}-${{github.run_id}}

restore-keys: ccache-${{ matrix.ROS_DISTRO }}-

key: ccache-ci-ros-${{ matrix.ROS_DISTRO }}-${{github.run_id}}

restore-keys: ccache-ci-ros-${{ matrix.ROS_DISTRO }}-

jorisv · 2026-06-01T12:28:54Z

+
+# cereal (Serialization)
+# NOTE: We have to keep the FetchContent support because:
+# - Cereal is not available via CMeel


It's fixed : https://pypi.org/project/cmeel-cereal/

jorisv · 2026-06-01T12:35:05Z

+jrl_option(TEST_JULIA_INTERFACE "Run the julia examples as unittest" OFF)
+jrl_option(BUILD_WITH_OPENMP_SUPPORT "Build the library with the OpenMP support" OFF)
+jrl_option(LINK_PYTHON_INTERFACE_TO_OPENMP "Link OpenMP to the Python interface" ON CONDITION "BUILD_WITH_OPENMP_SUPPORT" FALLBACK OFF)
+jrl_option(BUILD_WITH_SERIALIZATION "Build with serialization support" ON CONDITION "BUILD_PYTHON_INTERFACE" FALLBACK OFF)


What's the link between serialization and python interface ?

jorisv · 2026-06-01T12:45:50Z

Take a look at other pixi.toml file in other maestro project.
We create different feature per optional dependency (here: simde, openmp, cereal) to allow developers to choose on which one they want to know.
Try to mimic as much as possible the one in pinocchio to be standard.

jorisv · 2026-06-01T12:48:03Z

+  prek:
+    name: Prek CI
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v6


Please, use pre-commit and pre-commit.ci to be standard with other projects.

jorisv · 2026-06-02T12:29:51Z

+jrl_option(BUILD_MAROS_MESZAROS_TESTS "Build the Maros-Meszaros tests, needs matio library" OFF)
+jrl_option(ENABLE_WARNINGS "Enable warnings during compilation" OFF)
+jrl_option(ENABLE_WARNINGS_AS_ERRORS "Treat all warnings as errors" OFF)
+jrl_option(BUILD_PYTHON_INTERFACE "Build the Python bindings" OFF)


This option is set to ON by default on jrl-v1

jorisv · 2026-06-02T13:14:38Z

+    )
+    set_tests_properties(
+      proxsuite-example-python.${name}
+      PROPERTIES ENVIRONMENT "PYTHONPATH=$<TARGET_FILE_DIR:proxsuite_pywrap>/.." LABELS python


It's better to use ENVIRONMENT_MODIFICATION to avoid issue with some package manager or custom installation path:

ENVIRONMENT_MODIFICATION "PYTHONPATH=path_list_prepend:$<TARGET_FILE_DIR:proxsuite_pywrap>/.."

jorisv · 2026-06-02T13:15:06Z

+  )
+  set_tests_properties(
+    proxsuite-test-python.${name}
+    PROPERTIES ENVIRONMENT "PYTHONPATH=$<TARGET_FILE_DIR:proxsuite_pywrap>/.." LABELS python


It's better to use ENVIRONMENT_MODIFICATION to avoid issue with some package manager or custom installation path:

ENVIRONMENT_MODIFICATION "PYTHONPATH=path_list_prepend:$<TARGET_FILE_DIR:proxsuite_pywrap>/.."

ahoarau marked this pull request as draft December 11, 2025 16:39

ahoarau force-pushed the jrl-next branch 2 times, most recently from bd8de6d to c36d61e Compare December 22, 2025 14:54

jorisv requested changes Dec 30, 2025

View reviewed changes

ahoarau force-pushed the jrl-next branch 6 times, most recently from 930496b to e4a6dd2 Compare January 9, 2026 07:33

ahoarau force-pushed the jrl-next branch 3 times, most recently from 9920160 to 7ce7cbf Compare January 23, 2026 16:09

ahoarau force-pushed the jrl-next branch 2 times, most recently from f85e65e to e238efe Compare February 11, 2026 18:32

ahoarau force-pushed the jrl-next branch 7 times, most recently from b2617af to b0388c0 Compare February 20, 2026 09:26

ahoarau force-pushed the jrl-next branch 2 times, most recently from 7f6f202 to 3d05dbd Compare March 24, 2026 08:52

ahoarau force-pushed the jrl-next branch 2 times, most recently from 28e0fd5 to b09f8a3 Compare April 16, 2026 11:14

ahoarau force-pushed the jrl-next branch from 8dbd661 to a104370 Compare May 11, 2026 12:34

ahoarau added 3 commits May 11, 2026 22:35

ignore more stuff

7fd69b1

update gersemi conf

d434dee

remove custom functions as they format in a strange way when favour-inlining (the default) is used.

add KMP_DUPLICATE_LIB_OK directly in the __init__.py

d5fa35e

ahoarau added 24 commits May 11, 2026 22:36

ci: add pixi-build test

5b8ca24

ci: add explicit pixi env

fa37867

ci: no need to install the env it's done in the setup

ef197ae

cmake: require min macos SDK 10.14 (nanobind)

85fbf74

fixes the error on macos-15-intel: error: aligned deallocation function of type 'void (void *, std::align_val_t) noexcep │ │ t' is only available on macOS 10.13 or newer

ci: on pixi only keep 1 ubuntu and 1 windows

50cf525

cmake: include project version in config header generation

8f1ca68

ci: bump action versions

4b6b158

pixi: uniformize constraints

f9f7cf3

pixi: comment out pixi-build

cb65f5a

pixi: update lock file

ff5cb99

using eigen5

cmake: disable AVX512 GEMM kernel for MSVC to avoid long compilation …

0e4c6a5

…times with Eigen5

pixi: update lock file

0d820b0

uint128: constify and constexperify

26e3014

tests: add more uint128_t tests

a4d80b7

ci: build tests on arch

efd4603

tests: add shift operation tests for uint128_t with large shift amounts

c3280ff

uint128: use int32_t instead of int

e0f5e5b

uint128: remove comments

2a77eb4

tests: relax eps_abs for "test primal infeasibility solving"

7ca7df6

cpp: update nothrow_destructible concept to use std::is_nothrow_destr…

a410f46

…uctible fixes issue with vs generators

cpp: explicit type to avoid std::max confusion on msvc

ac08bd6

gitignore: ignore vs folders

d2b0fee

uint128: only available on x64 builds

bbda07b

pixi: update lock file

93c8745

ahoarau force-pushed the jrl-next branch from a104370 to 93c8745 Compare May 11, 2026 20:36

jorisv requested changes Jun 1, 2026

View reviewed changes

jorisv reviewed Jun 2, 2026

View reviewed changes

apply dos2unix

4e80cf8

		key: ccache-${{ runner.os }}-${{ matrix.os }}-${{ github.sha }}
		restore-keys: ccache-${{ runner.os }}-${{ matrix.os }}-

		key: ccache-pixi-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.cxx_std }}-${{ github.sha }}
		restore-keys: ccache-pixi-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.cxx_std }}-

		key: ccache-${{ matrix.ROS_DISTRO }}-${{github.run_id}}
		restore-keys: ccache-${{ matrix.ROS_DISTRO }}-

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ahoarau commented Dec 11, 2025 •

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