diff --git a/.github/workflows/nix.yml b/.github/workflows/nix.yml
index 94883509ceeba1aa882e7b46fcdb0242afc84ead..cc47550d2ea2cc1067ae03ed66d1d93c0a291ace 100644
--- a/.github/workflows/nix.yml
+++ b/.github/workflows/nix.yml
@@ -1,6 +1,7 @@
-name: "Nix CI"
+name: "CI - Nix"
-on: [pull_request, push]
+on:
+ push:
jobs:
tests:
@@ -11,10 +12,9 @@ jobs:
os: [ubuntu]
steps:
- uses: actions/checkout@v4
- - uses: DeterminateSystems/nix-installer-action@main
- - uses: DeterminateSystems/magic-nix-cache-action@main
- - run: nix --accept-flake-config build -L
- - run: nix --accept-flake-config run .#cachix push gepetto $(readlink result)
- if: github.repository_owner == 'humanoid-path-planner'
- env:
- CACHIX_AUTH_TOKEN: ${{ secrets.CACHIX_AUTH_TOKEN }}
+ - uses: cachix/install-nix-action@v27
+ - uses: cachix/cachix-action@v15
+ with:
+ name: gepetto
+ authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
+ - run: nix build -L
diff --git a/default.nix b/default.nix
deleted file mode 100644
index fbaa668f01276bc0ce0ae3aad44fe15dd8654fad..0000000000000000000000000000000000000000
--- a/default.nix
+++ /dev/null
@@ -1,42 +0,0 @@
-{
- lib,
- stdenv,
- cmake,
- hpp-core,
- hpp-universal-robot,
-}:
-
-stdenv.mkDerivation {
- pname = "hpp-manipulation";
- version = "5.0.0";
-
- src = lib.fileset.toSource {
- root = ./.;
- fileset = lib.fileset.unions [
- ./CMakeLists.txt
- ./doc
- ./include
- ./package.xml
- ./plugins
- ./src
- ./tests
- ];
- };
-
- strictDeps = true;
-
- nativeBuildInputs = [ cmake ];
- propagatedBuildInputs = [
- hpp-core
- hpp-universal-robot
- ];
-
- doCheck = true;
-
- meta = {
- description = "Classes for manipulation planning";
- homepage = "https://github.com/humanoid-path-planner/hpp-manipulation";
- license = lib.licenses.bsd2;
- maintainers = [ lib.maintainers.nim65s ];
- };
-}
diff --git a/flake.lock b/flake.lock
index c03e5d0fd003d8b8bbf36b55f516b115c2065477..291df1360a2c22a6c50889fffd952a39bf8262a0 100644
--- a/flake.lock
+++ b/flake.lock
@@ -20,219 +20,17 @@
"type": "github"
}
},
- "hpp-constraints": {
- "inputs": {
- "flake-parts": [
- "hpp-core",
- "flake-parts"
- ],
- "hpp-pinocchio": "hpp-pinocchio",
- "hpp-statistics": "hpp-statistics",
- "hpp-util": "hpp-util",
- "nixpkgs": [
- "hpp-core",
- "nixpkgs"
- ]
- },
- "locked": {
- "lastModified": 1719584695,
- "narHash": "sha256-8K94IgUt8kpdRDASnstfX14cBQN4ZK6+LmvOuq6Sg0I=",
- "owner": "humanoid-path-planner",
- "repo": "hpp-constraints",
- "rev": "acd1c62fdfcdb329fd0dea19ae2f18e471e3ef08",
- "type": "github"
- },
- "original": {
- "owner": "humanoid-path-planner",
- "ref": "release/5.1.0",
- "repo": "hpp-constraints",
- "type": "github"
- }
- },
- "hpp-core": {
- "inputs": {
- "flake-parts": [
- "flake-parts"
- ],
- "hpp-constraints": "hpp-constraints",
- "nixpkgs": [
- "nixpkgs"
- ]
- },
- "locked": {
- "lastModified": 1719770669,
- "narHash": "sha256-GzlQ4kfiMUf9qVP5t+/qoQZbBIOe1JPdmL7+86dJVaQ=",
- "owner": "humanoid-path-planner",
- "repo": "hpp-core",
- "rev": "5aa007c687c080608c9864d239f523d452bd7181",
- "type": "github"
- },
- "original": {
- "owner": "humanoid-path-planner",
- "repo": "hpp-core",
- "type": "github"
- }
- },
- "hpp-environments": {
- "inputs": {
- "flake-parts": [
- "hpp-core",
- "hpp-constraints",
- "hpp-pinocchio",
- "flake-parts"
- ],
- "nixpkgs": [
- "hpp-core",
- "hpp-constraints",
- "hpp-pinocchio",
- "nixpkgs"
- ]
- },
- "locked": {
- "lastModified": 1719580427,
- "narHash": "sha256-T76zgTJrGm7maKBPwgX+FgQ7MPN7NoLvdZvzARPo9V0=",
- "owner": "humanoid-path-planner",
- "repo": "hpp-environments",
- "rev": "1c727bcc85145a1f5236357fa73df5a183a31f04",
- "type": "github"
- },
- "original": {
- "owner": "humanoid-path-planner",
- "ref": "release/5.1.0",
- "repo": "hpp-environments",
- "type": "github"
- }
- },
- "hpp-pinocchio": {
- "inputs": {
- "flake-parts": [
- "hpp-core",
- "hpp-constraints",
- "flake-parts"
- ],
- "hpp-environments": "hpp-environments",
- "hpp-util": [
- "hpp-core",
- "hpp-constraints",
- "hpp-util"
- ],
- "nixpkgs": [
- "hpp-core",
- "hpp-constraints",
- "nixpkgs"
- ]
- },
- "locked": {
- "lastModified": 1719582071,
- "narHash": "sha256-sRWf973UZIdyrS0fhd+vXdTucR9d7Eks9yU85kcFxfo=",
- "owner": "humanoid-path-planner",
- "repo": "hpp-pinocchio",
- "rev": "4ec6186223ce18f4c48605421a7ef583fe827352",
- "type": "github"
- },
- "original": {
- "owner": "humanoid-path-planner",
- "ref": "release/5.1.0",
- "repo": "hpp-pinocchio",
- "type": "github"
- }
- },
- "hpp-statistics": {
- "inputs": {
- "flake-parts": [
- "hpp-core",
- "hpp-constraints",
- "flake-parts"
- ],
- "hpp-util": [
- "hpp-core",
- "hpp-constraints",
- "hpp-util"
- ],
- "nixpkgs": [
- "hpp-core",
- "hpp-constraints",
- "nixpkgs"
- ]
- },
- "locked": {
- "lastModified": 1719582334,
- "narHash": "sha256-bzGI7z6hTGkuNs71Vcb3vsVpey1SuR7Okx4rJU1LHFs=",
- "owner": "humanoid-path-planner",
- "repo": "hpp-statistics",
- "rev": "613b1f9c2788cb33097c1f1c0e4216420665a1e0",
- "type": "github"
- },
- "original": {
- "owner": "humanoid-path-planner",
- "ref": "release/5.1.0",
- "repo": "hpp-statistics",
- "type": "github"
- }
- },
- "hpp-universal-robot": {
- "inputs": {
- "flake-parts": [
- "flake-parts"
- ],
- "nixpkgs": [
- "nixpkgs"
- ]
- },
- "locked": {
- "lastModified": 1719769533,
- "narHash": "sha256-Fyq7P+YZDGUKxOrif0id1WIeMKu5o/7FM+CRpBCPC2A=",
- "owner": "humanoid-path-planner",
- "repo": "hpp-universal-robot",
- "rev": "789a540f150b7dc50f3409d94338b7aa96f74084",
- "type": "github"
- },
- "original": {
- "owner": "humanoid-path-planner",
- "repo": "hpp-universal-robot",
- "type": "github"
- }
- },
- "hpp-util": {
- "inputs": {
- "flake-parts": [
- "hpp-core",
- "hpp-constraints",
- "flake-parts"
- ],
- "nixpkgs": [
- "hpp-core",
- "hpp-constraints",
- "nixpkgs"
- ]
- },
- "locked": {
- "lastModified": 1719580825,
- "narHash": "sha256-trfl8A+P7a1gnACnTXNK98TYWWDAOM3PKfkXxpC3X/8=",
- "owner": "humanoid-path-planner",
- "repo": "hpp-util",
- "rev": "0504f15818a92c7a257cd6b60cd8b6092bd6dbfa",
- "type": "github"
- },
- "original": {
- "owner": "humanoid-path-planner",
- "ref": "release/5.1.0",
- "repo": "hpp-util",
- "type": "github"
- }
- },
"nixpkgs": {
"locked": {
- "lastModified": 1719674427,
- "narHash": "sha256-z2hCpVyfnmYTA5iabf1SW4peFV9itE1JJcXNBKIFkDg=",
- "owner": "nim65s",
+ "lastModified": 1727174734,
+ "narHash": "sha256-xa3TynMF5vaWonmTOg/Ejc1Fmo0GkQnCaVRVkBc3z2I=",
+ "owner": "gepetto",
"repo": "nixpkgs",
- "rev": "b81610d293fac26c2ec6a81718a979bc25f8c155",
+ "rev": "0ad139a0e4372abc12320c8c92ee90e0e5e296e1",
"type": "github"
},
"original": {
- "owner": "nim65s",
- "ref": "gepetto",
+ "owner": "gepetto",
"repo": "nixpkgs",
"type": "github"
}
@@ -240,8 +38,6 @@
"root": {
"inputs": {
"flake-parts": "flake-parts",
- "hpp-core": "hpp-core",
- "hpp-universal-robot": "hpp-universal-robot",
"nixpkgs": "nixpkgs"
}
}
diff --git a/flake.nix b/flake.nix
index b2c1c393e825c8ae1c6056752500e3a29393842a..c811058e084d1ff128820dcdfe9b70de79388fc8 100644
--- a/flake.nix
+++ b/flake.nix
@@ -1,33 +1,17 @@
{
description = "Classes for manipulation planning";
- nixConfig = {
- extra-substituters = [ "https://gepetto.cachix.org" ];
- extra-trusted-public-keys = [ "gepetto.cachix.org-1:toswMl31VewC0jGkN6+gOelO2Yom0SOHzPwJMY2XiDY=" ];
- };
-
inputs = {
- nixpkgs.url = "github:nim65s/nixpkgs/gepetto";
+ nixpkgs.url = "github:gepetto/nixpkgs";
flake-parts = {
url = "github:hercules-ci/flake-parts";
inputs.nixpkgs-lib.follows = "nixpkgs";
};
- hpp-core = {
- url = "github:humanoid-path-planner/hpp-core";
- inputs.nixpkgs.follows = "nixpkgs";
- inputs.flake-parts.follows = "flake-parts";
- };
- hpp-universal-robot = {
- url = "github:humanoid-path-planner/hpp-universal-robot";
- inputs.nixpkgs.follows = "nixpkgs";
- inputs.flake-parts.follows = "flake-parts";
- };
};
outputs =
- inputs@{ flake-parts, ... }:
- flake-parts.lib.mkFlake { inherit inputs; } {
- imports = [ ];
+ inputs:
+ inputs.flake-parts.lib.mkFlake { inherit inputs; } {
systems = [
"x86_64-linux"
"aarch64-linux"
@@ -35,21 +19,26 @@
"x86_64-darwin"
];
perSystem =
+ { pkgs, self', ... }:
{
- self',
- pkgs,
- system,
- ...
- }:
- {
+ devShells.default = pkgs.mkShell { inputsFrom = [ self'.packages.default ]; };
packages = {
- inherit (pkgs) cachix;
- default = pkgs.callPackage ./. {
- hpp-core = inputs.hpp-core.packages.${system}.default;
- hpp-universal-robot = inputs.hpp-universal-robot.packages.${system}.default;
- };
+ default = self'.packages.hpp-manipulation;
+ hpp-manipulation = pkgs.hpp-manipulation.overrideAttrs (_: {
+ src = pkgs.lib.fileset.toSource {
+ root = ./.;
+ fileset = pkgs.lib.fileset.unions [
+ ./CMakeLists.txt
+ ./doc
+ ./include
+ ./package.xml
+ ./plugins
+ ./src
+ ./tests
+ ];
+ };
+ });
};
- devShells.default = pkgs.mkShell { inputsFrom = [ self'.packages.default ]; };
};
};
}