nix: support cython bindings

.envrc

@@ -0,0 +1,5 @@
+if command -v nix >/dev/null; then
+  use flake
+fi
+
+export PYTHONPATH="$PWD/build/binding/python/Python/sva:$PYTHONPATH"

.github/dependabot.yml

@@ -0,0 +1,6 @@
+version: 2
+updates:
+  - package-ecosystem: "github-actions"
+    directory: "/"
+    schedule:
+      interval: "monthly"

.github/workflows/build.yml

@@ -75,3 +75,13 @@ jobs:
         slack-channel: '#ci'
         slack-text: >
           [SpaceVecAlg] Build *${{ matrix.os }}/${{ matrix.build-type }}* failed on ${{ github.ref }}
+  check:
+    if: always()
+    name: check-build
+    runs-on: ubuntu-latest
+    needs:
+      - build
+    steps:
+      - uses: re-actors/alls-green@release/v1
+        with:
+          jobs: ${{ toJSON(needs) }}

.github/workflows/package.yml

@@ -35,3 +35,13 @@ jobs:
     secrets:
       CLOUDSMITH_API_KEY: ${{ secrets.CLOUDSMITH_API_KEY }}
       GH_TOKEN: ${{ secrets.GH_PAGES_TOKEN }}
+  check:
+    if: always()
+    name: check-package
+    runs-on: ubuntu-latest
+    needs:
+      - package
+    steps:
+      - uses: re-actors/alls-green@release/v1
+        with:
+          jobs: ${{ toJSON(needs) }}

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

@@ -0,0 +1,32 @@
+name: update-flake-lock
+on:
+  workflow_dispatch:
+  schedule:
+    # runs at 2:00 AM on the 25th day of every month
+    - cron: '0 2 25 * *'
+jobs:
+  update-flake-inputs:
+    runs-on: ubuntu-slim
+    permissions:
+      contents: write
+      pull-requests: write
+    steps:
+      - name: Generate GitHub App Token
+        id: app-token
+        uses: actions/create-github-app-token@v3
+        with:
+          app-id: ${{ secrets.MC_RTC_NIX_APP_ID }}
+          private-key: ${{ secrets.MC_RTC_NIX_APP_PRIVATE_KEY }}
+      - name: Checkout repository
+        uses: actions/checkout@v6
+        with:
+          token: ${{ steps.app-token.outputs.token }}
+      - name: Setup Nix
+        uses: cachix/install-nix-action@v31
+      - name: Update flake inputs
+        uses: mic92/update-flake-inputs@v1
+        with:
+          github-token: ${{ steps.app-token.outputs.token }}
+          pr-labels: 'no-changelog'
+          git-author-name: 'arntanguy[bot]'
+          git-author-email: '67139+arntanguy@users.noreply.github.com'

.mergify.yml

@@ -0,0 +1,27 @@
+pull_request_rules:
+  # automatically queues when a bot pr succeeds (see queue_rules)
+  - name: merge [bot] PRs when CI pass
+    conditions:
+      - or:
+        - author = dependabot[bot]
+        - author = gepetto-flake-updater[bot]
+        - author = mc-rtc-nixpkgs-flake-updater[bot]
+        - author = github-actions[bot]
+        - author = pre-commit-ci[bot]
+    actions:
+      queue:
+
+  # runs when commenting @mergifyio queue
+  - name: queue PRs with "queue" label when all CI checks pass
+    conditions:
+      - label = queued
+    actions:
+      queue:
+
+# ensure that required CI jobs suceed
+queue_rules:
+  - name: default
+    merge_conditions:
+      - check-success = "check-macos-linux-nix"
+      - check-success = "check-build"
+      - check-success = "check-package"

README.md

@@ -14,7 +14,39 @@ All this implementation is based on appendix A of [Roy Featherstone Rigid Body D
 Installing
 ------
 
-## Ubuntu LTS (16.04, 18.04, 20.04, 22.04, 24.04)
+## Nix
+
+### Run
+
+To get a python shell with SpaceVecAlg installed
+
+```sh
+nix run github:jrl-umi3218/SpaceVecAlg
+```
+
+Then
+```python
+import eigen
+```
+
+### Develop
+
+To develop, use
+
+```
+gh repo clone jrl-umi3218/SpaceVecAlg
+direnv allow # activates a nix develop environment and set the python path
+cmake -B build $cmakeFlags
+cmake --build build
+```
+
+Then
+```python
+import eigen
+# latest bindings built from source
+```
+
+## Ubuntu LTS (22.04, 24.04, 26.04)
 
 You must first setup our package mirror:
 

flake.nix

@@ -3,8 +3,6 @@
 
   inputs = {
     mc-rtc-nix.url = "github:mc-rtc/nixpkgs";
-    # mc-rtc-nix.url = "path:/home/arnaud/devel/mc-rtc-nix/nixpkgs";
-    # mc-rtc-nix.url = "github:arntanguy/nixpkgs-1?ref=topic/flakoboros";
   };
 
   outputs =
@@ -13,14 +11,9 @@
       { lib, ... }:
       {
         extraPackages = [ "ninja" ];
-        overrideAttrs.spacevecalg =
-          { drv-prev, ... }:
-          {
-            src = lib.cleanSource ./.;
-            cmakeFlags = drv-prev.cmakeFlags ++ [
-              "-DPYTHON_BINDINGS=OFF"
-            ];
-          };
+        pyOverrideAttrs.spacevecalg = {
+          src = lib.cleanSource ./.;
+        };
       }
     );
 }