From ff16106a75d6875a9d35581da3e024d2820dd084 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Thu, 21 Nov 2024 13:43:18 -0800
Subject: [PATCH 01/97] workflow for nightly

---
 .github/workflows/joels-workflow.yml | 46 ++++++++++++++++++++++++++++
 1 file changed, 46 insertions(+)
 create mode 100644 .github/workflows/joels-workflow.yml

diff --git a/.github/workflows/joels-workflow.yml b/.github/workflows/joels-workflow.yml
new file mode 100644
index 0000000000..853206c593
--- /dev/null
+++ b/.github/workflows/joels-workflow.yml
@@ -0,0 +1,46 @@
+# to try to figure out how to do nightly build, and also how to make my
+# fork available on pypi.
+
+name: Joel's Workflow
+
+on: [workflow_dispatch]
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - name: Install (Linux)
+        run: |
+          sudo apt-get -y update
+          sudo apt-get -y install cmake build-essential pkg-config libpython3-dev python3-numpy libboost-all-dev ninja-build
+
+          sudo apt-get install -y g++ g++-multilib
+          echo "CC=gcc" >> $GITHUB_ENV
+          echo "CXX=g++" >> $GITHUB_ENV
+
+      - name: Set Swap Space (Linux)
+        uses: pierotofy/set-swap-space@master
+        with:
+          swap-size-gb: 6
+
+      - name: Install System Dependencies
+        run: |
+          bash .github/scripts/python.sh -d
+
+      - name: Install Python Dependencies
+        shell: bash
+        run: python3 -m pip install -r python/dev_requirements.txt
+
+      - name: Build
+        shell: bash
+        run: |
+          bash .github/scripts/python.sh -b
+
+      - name: Test
+        shell: bash
+        run: |
+          bash .github/scripts/python.sh -t

From e257c797f79007e18e76ee369316ad9252dac6e9 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Thu, 21 Nov 2024 14:12:08 -0800
Subject: [PATCH 02/97] provide python version, calculate timestamp in cmake

---
 .github/workflows/joels-workflow.yml | 3 +++
 CMakeLists.txt                       | 4 ++++
 2 files changed, 7 insertions(+)

diff --git a/.github/workflows/joels-workflow.yml b/.github/workflows/joels-workflow.yml
index 853206c593..084fd37ae4 100644
--- a/.github/workflows/joels-workflow.yml
+++ b/.github/workflows/joels-workflow.yml
@@ -9,6 +9,9 @@ jobs:
   build:
     runs-on: ubuntu-latest
 
+    env:
+      PYTHON_VERSION: 3.10
+
     steps:
       - name: Checkout
         uses: actions/checkout@v4
diff --git a/CMakeLists.txt b/CMakeLists.txt
index e3b462eec5..d57771cc3c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,3 +1,7 @@
+message("running the main CMakeLists file")
+string(TIMESTAMP TODAY "%Y.%m.%d.%h.%M)
+message("current time " TODAY)
+
 cmake_minimum_required(VERSION 3.9)
 if (POLICY CMP0082)
     cmake_policy(SET CMP0082 NEW) # install from sub-directories immediately

From b1de6e007ae854e3f8260f49d4ba546a33e669c8 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Thu, 21 Nov 2024 14:28:54 -0800
Subject: [PATCH 03/97] the python version isn't really a number

---
 .github/workflows/joels-workflow.yml | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/joels-workflow.yml b/.github/workflows/joels-workflow.yml
index 084fd37ae4..360f9e39b8 100644
--- a/.github/workflows/joels-workflow.yml
+++ b/.github/workflows/joels-workflow.yml
@@ -10,7 +10,9 @@ jobs:
     runs-on: ubuntu-latest
 
     env:
-      PYTHON_VERSION: 3.10
+      # quote the number because yaml thinks 3.10 and 3.1 are the same, like it's a number, man.
+      # https://yaml.org/spec/1.2.2/ the yaml spec is 50 pages
+      PYTHON_VERSION: '3.10'
 
     steps:
       - name: Checkout

From 12829938022d08a969d48c705d5e00c776e03d2a Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Thu, 21 Nov 2024 14:51:29 -0800
Subject: [PATCH 04/97] fix cmakelists

---
 CMakeLists.txt | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index d57771cc3c..3e1da0bb78 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,6 +1,6 @@
-message("running the main CMakeLists file")
-string(TIMESTAMP TODAY "%Y.%m.%d.%h.%M)
-message("current time " TODAY)
+message(NOTICE "Running the main CMakeLists file")
+string(TIMESTAMP NOW "%Y.%m.%d.%H.%M")
+message(NOTICE "Current time ${NOW}")
 
 cmake_minimum_required(VERSION 3.9)
 if (POLICY CMP0082)

From 568782ed513bedab4d1dee4110b118f056d5243b Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Thu, 21 Nov 2024 22:22:27 -0800
Subject: [PATCH 05/97] where to change the name?

---
 python/setup.py.in | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/python/setup.py.in b/python/setup.py.in
index b9d7392c7e..79a6cf648f 100644
--- a/python/setup.py.in
+++ b/python/setup.py.in
@@ -21,7 +21,8 @@ package_data = {
 readme_contents = open("${GTSAM_SOURCE_DIR}/README.md").read()
 
 setup(
-    name='gtsam',
+    # TODO: pass this as a variable, like the version string
+    name='truher-gtsam-nightly',
     description='Georgia Tech Smoothing And Mapping library',
     url='https://gtsam.org/',
     version='${GTSAM_VERSION_STRING}',  # https://www.python.org/dev/peps/pep-0440/

From 7cd5042b76a37e659799df836cdfcb3e9d040237 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Fri, 22 Nov 2024 09:16:44 -0800
Subject: [PATCH 06/97] publish?

---
 .github/scripts/python.sh            | 8 ++++++++
 .github/workflows/joels-workflow.yml | 8 ++++++++
 2 files changed, 16 insertions(+)

diff --git a/.github/scripts/python.sh b/.github/scripts/python.sh
index 0c04eeec3d..62778ceeda 100644
--- a/.github/scripts/python.sh
+++ b/.github/scripts/python.sh
@@ -62,10 +62,18 @@ function build()
       -DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/gtsam_install
 
 
+  echo "cmake --build build"
+  
   # Set to 2 cores so that Actions does not error out during resource provisioning.
   cmake --build build -j2
 
+  echo "cmake --build build target python-install"
+
   cmake --build build --target python-install
+
+  echo "done!"
+
+  ls
 }
 
 function test()
diff --git a/.github/workflows/joels-workflow.yml b/.github/workflows/joels-workflow.yml
index 360f9e39b8..42df328bb3 100644
--- a/.github/workflows/joels-workflow.yml
+++ b/.github/workflows/joels-workflow.yml
@@ -8,6 +8,9 @@ on: [workflow_dispatch]
 jobs:
   build:
     runs-on: ubuntu-latest
+    permissions:
+      id-token: write
+
 
     env:
       # quote the number because yaml thinks 3.10 and 3.1 are the same, like it's a number, man.
@@ -49,3 +52,8 @@ jobs:
         shell: bash
         run: |
           bash .github/scripts/python.sh -t
+
+      - name: Publish
+        uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          repository-url: https://test.pypi.org/legacy/

From a62c2beb6fd72636f822ebfbb018011a1c6b9499 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Fri, 22 Nov 2024 09:47:48 -0800
Subject: [PATCH 07/97] build another wheel for dist

---
 .github/workflows/joels-workflow.yml | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/.github/workflows/joels-workflow.yml b/.github/workflows/joels-workflow.yml
index 42df328bb3..96a32a163b 100644
--- a/.github/workflows/joels-workflow.yml
+++ b/.github/workflows/joels-workflow.yml
@@ -44,15 +44,20 @@ jobs:
         run: python3 -m pip install -r python/dev_requirements.txt
 
       - name: Build
+        # this builds the cmake "python-install" target which puts a wheel in tmp/cache...
         shell: bash
         run: |
           bash .github/scripts/python.sh -b
 
       - name: Test
+        # this runs python3 -m unittest.  TODO: stop using python.sh for this.
         shell: bash
         run: |
           bash .github/scripts/python.sh -t
 
+      - name: Build for Publishing
+        run: python3 -m build
+
       - name: Publish
         uses: pypa/gh-action-pypi-publish@release/v1
         with:

From 95adfd1e45ef13b26f4eeffb8d647b4b34bd520c Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Fri, 22 Nov 2024 10:15:04 -0800
Subject: [PATCH 08/97] install build tools before building

---
 .github/workflows/joels-workflow.yml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/.github/workflows/joels-workflow.yml b/.github/workflows/joels-workflow.yml
index 96a32a163b..a22a7a5532 100644
--- a/.github/workflows/joels-workflow.yml
+++ b/.github/workflows/joels-workflow.yml
@@ -55,6 +55,9 @@ jobs:
         run: |
           bash .github/scripts/python.sh -t
 
+      - name: Install Build Tools
+        run: python3 -m pip install --upgrade pip build wheel pytest
+
       - name: Build for Publishing
         run: python3 -m build
 

From 9ce58d76d3846a1d5f9aacacc356e4c7768c2aad Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Fri, 22 Nov 2024 10:50:36 -0800
Subject: [PATCH 09/97] change build directory

---
 .github/workflows/joels-workflow.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/joels-workflow.yml b/.github/workflows/joels-workflow.yml
index a22a7a5532..dca5da194f 100644
--- a/.github/workflows/joels-workflow.yml
+++ b/.github/workflows/joels-workflow.yml
@@ -59,7 +59,7 @@ jobs:
         run: python3 -m pip install --upgrade pip build wheel pytest
 
       - name: Build for Publishing
-        run: python3 -m build
+        run: python3 -m build python
 
       - name: Publish
         uses: pypa/gh-action-pypi-publish@release/v1

From c915da8818ef41c313c4bba6e805d5b39209ccb2 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Fri, 22 Nov 2024 11:35:11 -0800
Subject: [PATCH 10/97] where's the python build dir?

---
 .github/workflows/joels-workflow.yml | 2 +-
 python/CMakeLists.txt                | 1 +
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/joels-workflow.yml b/.github/workflows/joels-workflow.yml
index dca5da194f..4e958b2cdd 100644
--- a/.github/workflows/joels-workflow.yml
+++ b/.github/workflows/joels-workflow.yml
@@ -59,7 +59,7 @@ jobs:
         run: python3 -m pip install --upgrade pip build wheel pytest
 
       - name: Build for Publishing
-        run: python3 -m build python
+        run: python3 -m build build/python
 
       - name: Publish
         uses: pypa/gh-action-pypi-publish@release/v1
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index f0fc3f796c..17854db604 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -1,5 +1,6 @@
 set(PROJECT_PYTHON_SOURCE_DIR ${PROJECT_SOURCE_DIR}/python)
 set(GTSAM_PYTHON_BUILD_DIRECTORY ${PROJECT_BINARY_DIR}/python)
+message(NOTICE "python build dir ${GTSAM_PYTHON_BUILD_DIRECTORY}")
 
 if (NOT GTSAM_BUILD_PYTHON)
     return()

From fd7b1f326f5da4f6b23e30a9a7912953b63ad250 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Fri, 22 Nov 2024 12:07:37 -0800
Subject: [PATCH 11/97] specify pypi packages dir

---
 .github/workflows/joels-workflow.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/joels-workflow.yml b/.github/workflows/joels-workflow.yml
index 4e958b2cdd..4443932d8e 100644
--- a/.github/workflows/joels-workflow.yml
+++ b/.github/workflows/joels-workflow.yml
@@ -64,4 +64,5 @@ jobs:
       - name: Publish
         uses: pypa/gh-action-pypi-publish@release/v1
         with:
+          packages-dir: build/python/dist/
           repository-url: https://test.pypi.org/legacy/

From c61485328b4d9d747291080ef86120adf489ee2a Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Fri, 22 Nov 2024 15:12:27 -0800
Subject: [PATCH 12/97] add cephes lib, maybe fix the build?

---
 gtsam/CMakeLists.txt | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt
index 1fc8e45707..fb8f2f9dcd 100644
--- a/gtsam/CMakeLists.txt
+++ b/gtsam/CMakeLists.txt
@@ -112,6 +112,8 @@ endif()
 
 # Link to cephes library
 list(APPEND GTSAM_ADDITIONAL_LIBRARIES cephes-gtsam-if)
+# hunting the missing .so file error
+list(APPEND GTSAM_ADDITIONAL_LIBRARIES cephes-gtsam)
 
 # Versions
 set(gtsam_version   ${GTSAM_VERSION_STRING})

From 88ab62c1eb12f925f59b54b82368eb0c9d4aa748 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Fri, 22 Nov 2024 15:12:38 -0800
Subject: [PATCH 13/97] add nightly version string

---
 CMakeLists.txt | 11 ++++++++++-
 1 file changed, 10 insertions(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3e1da0bb78..971e50e2bd 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,6 +2,11 @@ message(NOTICE "Running the main CMakeLists file")
 string(TIMESTAMP NOW "%Y.%m.%d.%H.%M")
 message(NOTICE "Current time ${NOW}")
 
+if (DEFINED ENV{NIGHTLY})
+  message(NOTICE "NIGHTLY BUILD ${NOW}")
+endif()
+
+
 cmake_minimum_required(VERSION 3.9)
 if (POLICY CMP0082)
     cmake_policy(SET CMP0082 NEW) # install from sub-directories immediately
@@ -29,12 +34,16 @@ set (GTSAM_VERSION_PATCH 0)
 set (GTSAM_PRERELEASE_VERSION "a0")
 math (EXPR GTSAM_VERSION_NUMERIC "10000 * ${GTSAM_VERSION_MAJOR} + 100 * ${GTSAM_VERSION_MINOR} + ${GTSAM_VERSION_PATCH}")
 
-if ("${GTSAM_PRERELEASE_VERSION}" STREQUAL "")
+if (DEFINED ENV{NIGHTLY})
+    set (GTSAM_VERSION_STRING "${NOW}")
+elseif ("${GTSAM_PRERELEASE_VERSION}" STREQUAL "")
     set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}")
 else()
     set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}${GTSAM_PRERELEASE_VERSION}")
 endif()
 
+message(NOTICE "GTSAM_VERSION_STRING ${GTSAM_VERSION_STRING}")
+
 project(GTSAM
         LANGUAGES CXX C
         VERSION "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}")

From 3e71c33e424c6711b7d6ae7a74ca057e47acb8d3 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Fri, 22 Nov 2024 18:24:53 -0800
Subject: [PATCH 14/97] set nightly flag in workflow

---
 .github/workflows/joels-workflow.yml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/.github/workflows/joels-workflow.yml b/.github/workflows/joels-workflow.yml
index 4443932d8e..9716e8f9aa 100644
--- a/.github/workflows/joels-workflow.yml
+++ b/.github/workflows/joels-workflow.yml
@@ -43,6 +43,9 @@ jobs:
         shell: bash
         run: python3 -m pip install -r python/dev_requirements.txt
 
+      - name: Set Nightly Flag
+        run: echo "NIGHTLY=1" >> $GITHUB_ENV
+
       - name: Build
         # this builds the cmake "python-install" target which puts a wheel in tmp/cache...
         shell: bash

From b91569fd84642c0397a036a74696b673fccff71c Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Fri, 22 Nov 2024 19:54:55 -0800
Subject: [PATCH 15/97] try wheel instead of build

---
 .github/workflows/joels-workflow.yml | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/.github/workflows/joels-workflow.yml b/.github/workflows/joels-workflow.yml
index 9716e8f9aa..467ede97dc 100644
--- a/.github/workflows/joels-workflow.yml
+++ b/.github/workflows/joels-workflow.yml
@@ -62,10 +62,9 @@ jobs:
         run: python3 -m pip install --upgrade pip build wheel pytest
 
       - name: Build for Publishing
-        run: python3 -m build build/python
+        run: python3 -m pip wheel -w dist build/python
 
       - name: Publish
         uses: pypa/gh-action-pypi-publish@release/v1
         with:
-          packages-dir: build/python/dist/
           repository-url: https://test.pypi.org/legacy/

From c1474212f8ca49be4991713e945201974594112c Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Fri, 22 Nov 2024 20:15:54 -0800
Subject: [PATCH 16/97] why is it trying to deploy numpy?

---
 .github/workflows/joels-workflow.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/joels-workflow.yml b/.github/workflows/joels-workflow.yml
index 467ede97dc..d920627d9b 100644
--- a/.github/workflows/joels-workflow.yml
+++ b/.github/workflows/joels-workflow.yml
@@ -67,4 +67,5 @@ jobs:
       - name: Publish
         uses: pypa/gh-action-pypi-publish@release/v1
         with:
+          skip-existing: true
           repository-url: https://test.pypi.org/legacy/

From 92df1054f0ff82f36dc7a7ca4b3f7df118971695 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Fri, 22 Nov 2024 21:14:39 -0800
Subject: [PATCH 17/97] i don't think this will do anything

---
 cmake/HandleCephes.cmake | 1 +
 1 file changed, 1 insertion(+)

diff --git a/cmake/HandleCephes.cmake b/cmake/HandleCephes.cmake
index 9addddd60f..bc4e110c04 100644
--- a/cmake/HandleCephes.cmake
+++ b/cmake/HandleCephes.cmake
@@ -8,6 +8,7 @@
 add_subdirectory(${GTSAM_SOURCE_DIR}/gtsam/3rdparty/cephes)
 
 list(APPEND GTSAM_EXPORTED_TARGETS cephes-gtsam)
+add_library(cephes-gtsam)
 
 add_library(cephes-gtsam-if INTERFACE)
 target_link_libraries(cephes-gtsam-if INTERFACE cephes-gtsam)

From 5f58d3284244cf918b148f09ca3112cde0f1fe07 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Fri, 22 Nov 2024 21:43:47 -0800
Subject: [PATCH 18/97] can't add library twice

---
 cmake/HandleCephes.cmake | 1 -
 1 file changed, 1 deletion(-)

diff --git a/cmake/HandleCephes.cmake b/cmake/HandleCephes.cmake
index bc4e110c04..9addddd60f 100644
--- a/cmake/HandleCephes.cmake
+++ b/cmake/HandleCephes.cmake
@@ -8,7 +8,6 @@
 add_subdirectory(${GTSAM_SOURCE_DIR}/gtsam/3rdparty/cephes)
 
 list(APPEND GTSAM_EXPORTED_TARGETS cephes-gtsam)
-add_library(cephes-gtsam)
 
 add_library(cephes-gtsam-if INTERFACE)
 target_link_libraries(cephes-gtsam-if INTERFACE cephes-gtsam)

From 795c484348538ba06ac5b98cc3a8a97cc501f1cb Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Sun, 24 Nov 2024 23:18:11 -0800
Subject: [PATCH 19/97] make all builds static; might fix the nightly

---
 .github/scripts/python.sh            | 3 +++
 cmake/HandleGeneralOptions.cmake     | 4 ++--
 gtsam/3rdparty/cephes/CMakeLists.txt | 3 ++-
 gtsam/CMakeLists.txt                 | 2 --
 4 files changed, 7 insertions(+), 5 deletions(-)

diff --git a/.github/scripts/python.sh b/.github/scripts/python.sh
index 62778ceeda..19ecce6637 100644
--- a/.github/scripts/python.sh
+++ b/.github/scripts/python.sh
@@ -55,6 +55,9 @@ function build()
       -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
       -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
       -DGTSAM_BUILD_PYTHON=${BUILD_PYBIND} \
+      -DBUILD_SHARED_LIBS=ON \
+      -DBUILD_STATIC_METIS=ON \
+      -DGTSAM_FORCE_STATIC_LIB=ON \
       -DGTSAM_UNSTABLE_BUILD_PYTHON=${GTSAM_BUILD_UNSTABLE:-ON} \
       -DGTSAM_PYTHON_VERSION=$PYTHON_VERSION \
       -DPYTHON_EXECUTABLE:FILEPATH=$(which $PYTHON) \
diff --git a/cmake/HandleGeneralOptions.cmake b/cmake/HandleGeneralOptions.cmake
index 8c56ae242e..490646c5d2 100644
--- a/cmake/HandleGeneralOptions.cmake
+++ b/cmake/HandleGeneralOptions.cmake
@@ -26,8 +26,8 @@ if(GTSAM_UNSTABLE_AVAILABLE)
     option(GTSAM_UNSTABLE_BUILD_PYTHON       "Enable/Disable Python wrapper for libgtsam_unstable" ON)
     option(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX "Enable/Disable MATLAB wrapper for libgtsam_unstable" OFF)
 endif()
-option(GTSAM_FORCE_SHARED_LIB               "Force gtsam to be a shared library, overriding BUILD_SHARED_LIBS" ON)
-option(GTSAM_FORCE_STATIC_LIB               "Force gtsam to be a static library, overriding BUILD_SHARED_LIBS" OFF)
+option(GTSAM_FORCE_SHARED_LIB               "Force gtsam to be a shared library, overriding BUILD_SHARED_LIBS" OFF)
+option(GTSAM_FORCE_STATIC_LIB               "Force gtsam to be a static library, overriding BUILD_SHARED_LIBS" ON)
 option(GTSAM_USE_QUATERNIONS                "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices. If enable, Rot3::EXPMAP is enforced by default." OFF)
 option(GTSAM_POSE3_EXPMAP                   "Enable/Disable using Pose3::EXPMAP as the default mode. If disabled, Pose3::FIRST_ORDER will be used." ON)
 option(GTSAM_ROT3_EXPMAP                    "Ignore if GTSAM_USE_QUATERNIONS is OFF (Rot3::EXPMAP by default). Otherwise, enable Rot3::EXPMAP, or if disabled, use Rot3::CAYLEY." ON)
diff --git a/gtsam/3rdparty/cephes/CMakeLists.txt b/gtsam/3rdparty/cephes/CMakeLists.txt
index 190b73db9b..36b57d58f5 100644
--- a/gtsam/3rdparty/cephes/CMakeLists.txt
+++ b/gtsam/3rdparty/cephes/CMakeLists.txt
@@ -89,7 +89,8 @@ set(CEPHES_SOURCES
     cephes/zetac.c)
 
 # Add library source files
-add_library(cephes-gtsam SHARED ${CEPHES_SOURCES})
+add_definitions(-fPIC)
+add_library(cephes-gtsam STATIC ${CEPHES_SOURCES})
 
 # Add include directory (aka headers)
 target_include_directories(
diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt
index fb8f2f9dcd..1fc8e45707 100644
--- a/gtsam/CMakeLists.txt
+++ b/gtsam/CMakeLists.txt
@@ -112,8 +112,6 @@ endif()
 
 # Link to cephes library
 list(APPEND GTSAM_ADDITIONAL_LIBRARIES cephes-gtsam-if)
-# hunting the missing .so file error
-list(APPEND GTSAM_ADDITIONAL_LIBRARIES cephes-gtsam)
 
 # Versions
 set(gtsam_version   ${GTSAM_VERSION_STRING})

From ffca176d86670d889f96b31a4ec9d254fc59ed42 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Mon, 25 Nov 2024 00:11:59 -0800
Subject: [PATCH 20/97] try build instead of wheel

---
 .github/workflows/joels-workflow.yml | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/joels-workflow.yml b/.github/workflows/joels-workflow.yml
index d920627d9b..90bbbfedc1 100644
--- a/.github/workflows/joels-workflow.yml
+++ b/.github/workflows/joels-workflow.yml
@@ -62,10 +62,11 @@ jobs:
         run: python3 -m pip install --upgrade pip build wheel pytest
 
       - name: Build for Publishing
-        run: python3 -m pip wheel -w dist build/python
+#        run: python3 -m pip wheel -w dist build/python
+        run: python3 -m pip build build/python
 
       - name: Publish
         uses: pypa/gh-action-pypi-publish@release/v1
         with:
-          skip-existing: true
+          packages-dir: build/python/dist/
           repository-url: https://test.pypi.org/legacy/

From e6c3c9f1746d715890122ea94aeda769abc257da Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Mon, 25 Nov 2024 06:18:27 -0800
Subject: [PATCH 21/97] build not pip

---
 .github/workflows/joels-workflow.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/joels-workflow.yml b/.github/workflows/joels-workflow.yml
index 90bbbfedc1..99165ec007 100644
--- a/.github/workflows/joels-workflow.yml
+++ b/.github/workflows/joels-workflow.yml
@@ -63,7 +63,7 @@ jobs:
 
       - name: Build for Publishing
 #        run: python3 -m pip wheel -w dist build/python
-        run: python3 -m pip build build/python
+        run: python3 -m build build/python
 
       - name: Publish
         uses: pypa/gh-action-pypi-publish@release/v1

From 53aac11834136265ed97cc6d3e8b1b996d50161f Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Mon, 25 Nov 2024 07:39:50 -0800
Subject: [PATCH 22/97] turn off boost

---
 CMakeLists.txt | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 971e50e2bd..227303b0da 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -83,12 +83,12 @@ include(GtsamPrinting)
 
 ############### Decide on BOOST ######################################
 # Enable or disable serialization with GTSAM_ENABLE_BOOST_SERIALIZATION
-option(GTSAM_ENABLE_BOOST_SERIALIZATION "Enable Boost serialization" ON)
+option(GTSAM_ENABLE_BOOST_SERIALIZATION "Enable Boost serialization" OFF)
 if(GTSAM_ENABLE_BOOST_SERIALIZATION)
   add_definitions(-DGTSAM_ENABLE_BOOST_SERIALIZATION)
 endif()
 
-option(GTSAM_USE_BOOST_FEATURES "Enable Features that use Boost" ON)
+option(GTSAM_USE_BOOST_FEATURES "Enable Features that use Boost" OFF)
 if(GTSAM_USE_BOOST_FEATURES)
   add_definitions(-DGTSAM_USE_BOOST_FEATURES)
 endif()

From 6240576b5f8492b3c556d604ecf6329c300b24aa Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Mon, 25 Nov 2024 07:59:35 -0800
Subject: [PATCH 23/97] turn boost back on

---
 CMakeLists.txt | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 227303b0da..4e88648271 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -83,12 +83,13 @@ include(GtsamPrinting)
 
 ############### Decide on BOOST ######################################
 # Enable or disable serialization with GTSAM_ENABLE_BOOST_SERIALIZATION
-option(GTSAM_ENABLE_BOOST_SERIALIZATION "Enable Boost serialization" OFF)
+# (note serialization tests fail when this is off)
+option(GTSAM_ENABLE_BOOST_SERIALIZATION "Enable Boost serialization" ON)
 if(GTSAM_ENABLE_BOOST_SERIALIZATION)
   add_definitions(-DGTSAM_ENABLE_BOOST_SERIALIZATION)
 endif()
 
-option(GTSAM_USE_BOOST_FEATURES "Enable Features that use Boost" OFF)
+option(GTSAM_USE_BOOST_FEATURES "Enable Features that use Boost" ON)
 if(GTSAM_USE_BOOST_FEATURES)
   add_definitions(-DGTSAM_USE_BOOST_FEATURES)
 endif()

From 6a030a3e636019145824d9e8f9f8e60c7f010348 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Mon, 25 Nov 2024 08:42:09 -0800
Subject: [PATCH 24/97] cleanup the nightly branch

---
 .github/scripts/python.sh            | 10 +---------
 .github/workflows/joels-workflow.yml |  4 +---
 CMakeLists.txt                       | 16 +++++++---------
 gtsam/3rdparty/cephes/CMakeLists.txt |  1 +
 python/CMakeLists.txt                |  1 -
 python/setup.py.in                   |  5 +++--
 6 files changed, 13 insertions(+), 24 deletions(-)

diff --git a/.github/scripts/python.sh b/.github/scripts/python.sh
index 19ecce6637..d80fbe592d 100644
--- a/.github/scripts/python.sh
+++ b/.github/scripts/python.sh
@@ -55,7 +55,7 @@ function build()
       -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
       -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
       -DGTSAM_BUILD_PYTHON=${BUILD_PYBIND} \
-      -DBUILD_SHARED_LIBS=ON \
+      -DBUILD_SHARED_LIBS=OFF \
       -DBUILD_STATIC_METIS=ON \
       -DGTSAM_FORCE_STATIC_LIB=ON \
       -DGTSAM_UNSTABLE_BUILD_PYTHON=${GTSAM_BUILD_UNSTABLE:-ON} \
@@ -65,18 +65,10 @@ function build()
       -DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/gtsam_install
 
 
-  echo "cmake --build build"
-  
   # Set to 2 cores so that Actions does not error out during resource provisioning.
   cmake --build build -j2
 
-  echo "cmake --build build target python-install"
-
   cmake --build build --target python-install
-
-  echo "done!"
-
-  ls
 }
 
 function test()
diff --git a/.github/workflows/joels-workflow.yml b/.github/workflows/joels-workflow.yml
index 99165ec007..5cef1bdf72 100644
--- a/.github/workflows/joels-workflow.yml
+++ b/.github/workflows/joels-workflow.yml
@@ -1,5 +1,4 @@
-# to try to figure out how to do nightly build, and also how to make my
-# fork available on pypi.
+# Nightly build uploads to test.pypi.org.
 
 name: Joel's Workflow
 
@@ -62,7 +61,6 @@ jobs:
         run: python3 -m pip install --upgrade pip build wheel pytest
 
       - name: Build for Publishing
-#        run: python3 -m pip wheel -w dist build/python
         run: python3 -m build build/python
 
       - name: Publish
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4e88648271..e454b613c2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,12 +1,3 @@
-message(NOTICE "Running the main CMakeLists file")
-string(TIMESTAMP NOW "%Y.%m.%d.%H.%M")
-message(NOTICE "Current time ${NOW}")
-
-if (DEFINED ENV{NIGHTLY})
-  message(NOTICE "NIGHTLY BUILD ${NOW}")
-endif()
-
-
 cmake_minimum_required(VERSION 3.9)
 if (POLICY CMP0082)
     cmake_policy(SET CMP0082 NEW) # install from sub-directories immediately
@@ -34,12 +25,19 @@ set (GTSAM_VERSION_PATCH 0)
 set (GTSAM_PRERELEASE_VERSION "a0")
 math (EXPR GTSAM_VERSION_NUMERIC "10000 * ${GTSAM_VERSION_MAJOR} + 100 * ${GTSAM_VERSION_MINOR} + ${GTSAM_VERSION_PATCH}")
 
+# Use the current timestamp as the version string, if the "NIGHTLY" flag is set.
 if (DEFINED ENV{NIGHTLY})
+    string(TIMESTAMP NOW "%Y.%m.%d.%H.%M")
+    message(NOTICE "NIGHTLY BUILD ${NOW}")
     set (GTSAM_VERSION_STRING "${NOW}")
+    # TODO: use the correct pypi nightly name
+    set (SETUP_NAME "truher-gtsam-nightly")
 elseif ("${GTSAM_PRERELEASE_VERSION}" STREQUAL "")
     set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}")
+    set (SETUP_NAME "gtsam")
 else()
     set (GTSAM_VERSION_STRING "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}${GTSAM_PRERELEASE_VERSION}")
+    set (SETUP_NAME "gtsam")
 endif()
 
 message(NOTICE "GTSAM_VERSION_STRING ${GTSAM_VERSION_STRING}")
diff --git a/gtsam/3rdparty/cephes/CMakeLists.txt b/gtsam/3rdparty/cephes/CMakeLists.txt
index 36b57d58f5..abb6c7379c 100644
--- a/gtsam/3rdparty/cephes/CMakeLists.txt
+++ b/gtsam/3rdparty/cephes/CMakeLists.txt
@@ -89,6 +89,7 @@ set(CEPHES_SOURCES
     cephes/zetac.c)
 
 # Add library source files
+# Needs to be static for the python build to work.
 add_definitions(-fPIC)
 add_library(cephes-gtsam STATIC ${CEPHES_SOURCES})
 
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index 17854db604..f0fc3f796c 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -1,6 +1,5 @@
 set(PROJECT_PYTHON_SOURCE_DIR ${PROJECT_SOURCE_DIR}/python)
 set(GTSAM_PYTHON_BUILD_DIRECTORY ${PROJECT_BINARY_DIR}/python)
-message(NOTICE "python build dir ${GTSAM_PYTHON_BUILD_DIRECTORY}")
 
 if (NOT GTSAM_BUILD_PYTHON)
     return()
diff --git a/python/setup.py.in b/python/setup.py.in
index 79a6cf648f..ee918fea05 100644
--- a/python/setup.py.in
+++ b/python/setup.py.in
@@ -21,10 +21,11 @@ package_data = {
 readme_contents = open("${GTSAM_SOURCE_DIR}/README.md").read()
 
 setup(
-    # TODO: pass this as a variable, like the version string
-    name='truher-gtsam-nightly',
+    # This is set in the top-level CMakeLists.txt.
+    name='${SETUP_NAME}',
     description='Georgia Tech Smoothing And Mapping library',
     url='https://gtsam.org/',
+    # This is set in the top-level CMakeLists.txt.
     version='${GTSAM_VERSION_STRING}',  # https://www.python.org/dev/peps/pep-0440/
     author='Frank Dellaert et. al.',
     author_email='frank.dellaert@gtsam.org',

From 215e108cb739f5cc2a26379f4f7b3eb0288b8020 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Mon, 25 Nov 2024 09:27:42 -0800
Subject: [PATCH 25/97] fiddling with flags

---
 .github/scripts/python.sh        | 5 +++--
 CMakeLists.txt                   | 4 +---
 cmake/HandleGeneralOptions.cmake | 6 ++++--
 3 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/.github/scripts/python.sh b/.github/scripts/python.sh
index d80fbe592d..91621a757d 100644
--- a/.github/scripts/python.sh
+++ b/.github/scripts/python.sh
@@ -55,15 +55,16 @@ function build()
       -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
       -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
       -DGTSAM_BUILD_PYTHON=${BUILD_PYBIND} \
-      -DBUILD_SHARED_LIBS=OFF \
       -DBUILD_STATIC_METIS=ON \
-      -DGTSAM_FORCE_STATIC_LIB=ON \
       -DGTSAM_UNSTABLE_BUILD_PYTHON=${GTSAM_BUILD_UNSTABLE:-ON} \
       -DGTSAM_PYTHON_VERSION=$PYTHON_VERSION \
       -DPYTHON_EXECUTABLE:FILEPATH=$(which $PYTHON) \
       -DGTSAM_ALLOW_DEPRECATED_SINCE_V43=OFF \
       -DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/gtsam_install
 
+      # -DBUILD_SHARED_LIBS=OFF \
+      # -DGTSAM_FORCE_STATIC_LIB=ON \
+
 
   # Set to 2 cores so that Actions does not error out during resource provisioning.
   cmake --build build -j2
diff --git a/CMakeLists.txt b/CMakeLists.txt
index e454b613c2..eea7029d81 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -40,8 +40,6 @@ else()
     set (SETUP_NAME "gtsam")
 endif()
 
-message(NOTICE "GTSAM_VERSION_STRING ${GTSAM_VERSION_STRING}")
-
 project(GTSAM
         LANGUAGES CXX C
         VERSION "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}")
@@ -81,7 +79,7 @@ include(GtsamPrinting)
 
 ############### Decide on BOOST ######################################
 # Enable or disable serialization with GTSAM_ENABLE_BOOST_SERIALIZATION
-# (note serialization tests fail when this is off)
+# (Serialization tests fail when this is off.)
 option(GTSAM_ENABLE_BOOST_SERIALIZATION "Enable Boost serialization" ON)
 if(GTSAM_ENABLE_BOOST_SERIALIZATION)
   add_definitions(-DGTSAM_ENABLE_BOOST_SERIALIZATION)
diff --git a/cmake/HandleGeneralOptions.cmake b/cmake/HandleGeneralOptions.cmake
index 490646c5d2..d1f8440009 100644
--- a/cmake/HandleGeneralOptions.cmake
+++ b/cmake/HandleGeneralOptions.cmake
@@ -26,8 +26,10 @@ if(GTSAM_UNSTABLE_AVAILABLE)
     option(GTSAM_UNSTABLE_BUILD_PYTHON       "Enable/Disable Python wrapper for libgtsam_unstable" ON)
     option(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX "Enable/Disable MATLAB wrapper for libgtsam_unstable" OFF)
 endif()
-option(GTSAM_FORCE_SHARED_LIB               "Force gtsam to be a shared library, overriding BUILD_SHARED_LIBS" OFF)
-option(GTSAM_FORCE_STATIC_LIB               "Force gtsam to be a static library, overriding BUILD_SHARED_LIBS" ON)
+option(GTSAM_FORCE_SHARED_LIB               "Force gtsam to be a shared library, overriding BUILD_SHARED_LIBS" ON)
+option(GTSAM_FORCE_STATIC_LIB               "Force gtsam to be a static library, overriding BUILD_SHARED_LIBS" OFF)
+# option(GTSAM_FORCE_SHARED_LIB               "Force gtsam to be a shared library, overriding BUILD_SHARED_LIBS" OFF)
+# option(GTSAM_FORCE_STATIC_LIB               "Force gtsam to be a static library, overriding BUILD_SHARED_LIBS" ON)
 option(GTSAM_USE_QUATERNIONS                "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices. If enable, Rot3::EXPMAP is enforced by default." OFF)
 option(GTSAM_POSE3_EXPMAP                   "Enable/Disable using Pose3::EXPMAP as the default mode. If disabled, Pose3::FIRST_ORDER will be used." ON)
 option(GTSAM_ROT3_EXPMAP                    "Ignore if GTSAM_USE_QUATERNIONS is OFF (Rot3::EXPMAP by default). Otherwise, enable Rot3::EXPMAP, or if disabled, use Rot3::CAYLEY." ON)

From c483d5283801fca08b210bfb80de75c3e2813d61 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Mon, 25 Nov 2024 10:14:55 -0800
Subject: [PATCH 26/97] twiddling flags

---
 .github/scripts/python.sh        | 2 +-
 cmake/HandleGeneralOptions.cmake | 5 ++---
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/.github/scripts/python.sh b/.github/scripts/python.sh
index 91621a757d..665c0a8105 100644
--- a/.github/scripts/python.sh
+++ b/.github/scripts/python.sh
@@ -55,6 +55,7 @@ function build()
       -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
       -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
       -DGTSAM_BUILD_PYTHON=${BUILD_PYBIND} \
+      -DBUILD_SHARED_LIBS=OFF \
       -DBUILD_STATIC_METIS=ON \
       -DGTSAM_UNSTABLE_BUILD_PYTHON=${GTSAM_BUILD_UNSTABLE:-ON} \
       -DGTSAM_PYTHON_VERSION=$PYTHON_VERSION \
@@ -62,7 +63,6 @@ function build()
       -DGTSAM_ALLOW_DEPRECATED_SINCE_V43=OFF \
       -DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/gtsam_install
 
-      # -DBUILD_SHARED_LIBS=OFF \
       # -DGTSAM_FORCE_STATIC_LIB=ON \
 
 
diff --git a/cmake/HandleGeneralOptions.cmake b/cmake/HandleGeneralOptions.cmake
index d1f8440009..8cfc7ed64a 100644
--- a/cmake/HandleGeneralOptions.cmake
+++ b/cmake/HandleGeneralOptions.cmake
@@ -26,10 +26,9 @@ if(GTSAM_UNSTABLE_AVAILABLE)
     option(GTSAM_UNSTABLE_BUILD_PYTHON       "Enable/Disable Python wrapper for libgtsam_unstable" ON)
     option(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX "Enable/Disable MATLAB wrapper for libgtsam_unstable" OFF)
 endif()
-option(GTSAM_FORCE_SHARED_LIB               "Force gtsam to be a shared library, overriding BUILD_SHARED_LIBS" ON)
+# Don't force anything, set BUILD_SHARED_LIBS in python.sh
+option(GTSAM_FORCE_SHARED_LIB               "Force gtsam to be a shared library, overriding BUILD_SHARED_LIBS" OFF)
 option(GTSAM_FORCE_STATIC_LIB               "Force gtsam to be a static library, overriding BUILD_SHARED_LIBS" OFF)
-# option(GTSAM_FORCE_SHARED_LIB               "Force gtsam to be a shared library, overriding BUILD_SHARED_LIBS" OFF)
-# option(GTSAM_FORCE_STATIC_LIB               "Force gtsam to be a static library, overriding BUILD_SHARED_LIBS" ON)
 option(GTSAM_USE_QUATERNIONS                "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices. If enable, Rot3::EXPMAP is enforced by default." OFF)
 option(GTSAM_POSE3_EXPMAP                   "Enable/Disable using Pose3::EXPMAP as the default mode. If disabled, Pose3::FIRST_ORDER will be used." ON)
 option(GTSAM_ROT3_EXPMAP                    "Ignore if GTSAM_USE_QUATERNIONS is OFF (Rot3::EXPMAP by default). Otherwise, enable Rot3::EXPMAP, or if disabled, use Rot3::CAYLEY." ON)

From 4e88b9c2d92fb0bb37644f350f34d81a1492db4c Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Mon, 25 Nov 2024 10:46:04 -0800
Subject: [PATCH 27/97] remove a comment

---
 .github/scripts/python.sh | 2 --
 1 file changed, 2 deletions(-)

diff --git a/.github/scripts/python.sh b/.github/scripts/python.sh
index 665c0a8105..4958b5ddb0 100644
--- a/.github/scripts/python.sh
+++ b/.github/scripts/python.sh
@@ -63,8 +63,6 @@ function build()
       -DGTSAM_ALLOW_DEPRECATED_SINCE_V43=OFF \
       -DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/gtsam_install
 
-      # -DGTSAM_FORCE_STATIC_LIB=ON \
-
 
   # Set to 2 cores so that Actions does not error out during resource provisioning.
   cmake --build build -j2

From 10c79fe8268ba2228d077941b8943c71d32a25b6 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Mon, 25 Nov 2024 12:55:01 -0800
Subject: [PATCH 28/97] working on the matrix

---
 .github/workflows/joels-workflow.yml | 33 +++++++++++++++++++++++++---
 1 file changed, 30 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/joels-workflow.yml b/.github/workflows/joels-workflow.yml
index 5cef1bdf72..271d069e18 100644
--- a/.github/workflows/joels-workflow.yml
+++ b/.github/workflows/joels-workflow.yml
@@ -6,7 +6,12 @@ on: [workflow_dispatch]
 
 jobs:
   build:
+    name: Build
     runs-on: ubuntu-latest
+    # strategy:
+    #   fail-fast: false
+    #   matrix:
+    #     python_version: ['3.9', '3.10', '3.11', '3.12']
     permissions:
       id-token: write
 
@@ -15,6 +20,7 @@ jobs:
       # quote the number because yaml thinks 3.10 and 3.1 are the same, like it's a number, man.
       # https://yaml.org/spec/1.2.2/ the yaml spec is 50 pages
       PYTHON_VERSION: '3.10'
+      # PYTHON_VERSION: ${{matrix.python_version}}
 
     steps:
       - name: Checkout
@@ -46,13 +52,13 @@ jobs:
         run: echo "NIGHTLY=1" >> $GITHUB_ENV
 
       - name: Build
-        # this builds the cmake "python-install" target which puts a wheel in tmp/cache...
+        # Builds the cmake "python-install" target which is a local install.
         shell: bash
         run: |
           bash .github/scripts/python.sh -b
 
       - name: Test
-        # this runs python3 -m unittest.  TODO: stop using python.sh for this.
+        # Uses the local install for python3 -m unittest.
         shell: bash
         run: |
           bash .github/scripts/python.sh -t
@@ -61,10 +67,31 @@ jobs:
         run: python3 -m pip install --upgrade pip build wheel pytest
 
       - name: Build for Publishing
+        # Puts a wheel in dist/
         run: python3 -m build build/python
 
+      - name: Upload Artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          path: dist/
+      
+
+  upload_all:
+    # Waits for all the builds to finish
+    # Downloads all their wheels
+    # Uploads them all at once.
+    name: Upload All
+    needs: build
+    runs-on: ubuntu-latest
+    steps:
+      - name: Download Artifacts
+        uses: actions/download-artifact@v4
+        with:
+          path: dist/
+          merge-multiple: true
+
       - name: Publish
         uses: pypa/gh-action-pypi-publish@release/v1
         with:
           packages-dir: build/python/dist/
-          repository-url: https://test.pypi.org/legacy/
+          repository-url: https://test.pypi.org/legacy/
\ No newline at end of file

From 9b3ad53185a0dba73c7c2afbbf1c12b8757730a6 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Mon, 25 Nov 2024 13:21:30 -0800
Subject: [PATCH 29/97] oops, token

---
 .github/workflows/joels-workflow.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/joels-workflow.yml b/.github/workflows/joels-workflow.yml
index 271d069e18..42c9642753 100644
--- a/.github/workflows/joels-workflow.yml
+++ b/.github/workflows/joels-workflow.yml
@@ -12,8 +12,6 @@ jobs:
     #   fail-fast: false
     #   matrix:
     #     python_version: ['3.9', '3.10', '3.11', '3.12']
-    permissions:
-      id-token: write
 
 
     env:
@@ -83,6 +81,8 @@ jobs:
     name: Upload All
     needs: build
     runs-on: ubuntu-latest
+    permissions:
+      id-token: write
     steps:
       - name: Download Artifacts
         uses: actions/download-artifact@v4

From de62344a6457b0e5fc2e14c9c27d1dfae921c4ff Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Mon, 25 Nov 2024 13:49:56 -0800
Subject: [PATCH 30/97] correct dist path

---
 .github/workflows/joels-workflow.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/joels-workflow.yml b/.github/workflows/joels-workflow.yml
index 42c9642753..051f9c77e1 100644
--- a/.github/workflows/joels-workflow.yml
+++ b/.github/workflows/joels-workflow.yml
@@ -71,7 +71,7 @@ jobs:
       - name: Upload Artifacts
         uses: actions/upload-artifact@v4
         with:
-          path: dist/
+          path: build/python/dist/
       
 
   upload_all:
@@ -87,7 +87,7 @@ jobs:
       - name: Download Artifacts
         uses: actions/download-artifact@v4
         with:
-          path: dist/
+          path: build/python/dist/
           merge-multiple: true
 
       - name: Publish

From 526fa8f03bd177de4138d2984b80a76ba472dc62 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Mon, 25 Nov 2024 14:18:35 -0800
Subject: [PATCH 31/97] actually run the matrix

---
 .github/workflows/joels-workflow.yml | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/joels-workflow.yml b/.github/workflows/joels-workflow.yml
index 051f9c77e1..0d95954ee7 100644
--- a/.github/workflows/joels-workflow.yml
+++ b/.github/workflows/joels-workflow.yml
@@ -8,17 +8,17 @@ jobs:
   build:
     name: Build
     runs-on: ubuntu-latest
-    # strategy:
-    #   fail-fast: false
-    #   matrix:
-    #     python_version: ['3.9', '3.10', '3.11', '3.12']
+    strategy:
+      fail-fast: false
+      matrix:
+        python_version: ['3.9', '3.10', '3.11', '3.12']
 
 
     env:
       # quote the number because yaml thinks 3.10 and 3.1 are the same, like it's a number, man.
       # https://yaml.org/spec/1.2.2/ the yaml spec is 50 pages
-      PYTHON_VERSION: '3.10'
-      # PYTHON_VERSION: ${{matrix.python_version}}
+      # PYTHON_VERSION: '3.10'
+      PYTHON_VERSION: ${{matrix.python_version}}
 
     steps:
       - name: Checkout

From 8af32640f695f7a3dd3738171754664d8f7b8593 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Mon, 25 Nov 2024 14:52:24 -0800
Subject: [PATCH 32/97] try a different way to setup the python version

---
 .github/workflows/joels-workflow.yml | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/joels-workflow.yml b/.github/workflows/joels-workflow.yml
index 0d95954ee7..deb1a130c8 100644
--- a/.github/workflows/joels-workflow.yml
+++ b/.github/workflows/joels-workflow.yml
@@ -24,10 +24,16 @@ jobs:
       - name: Checkout
         uses: actions/checkout@v4
 
+      - name: Setup Python
+        uses: actions/setup-python@v5
+        with:
+          #python-version: '3.10'
+          python-version: ${{matrix.python_version}}
+
       - name: Install (Linux)
         run: |
           sudo apt-get -y update
-          sudo apt-get -y install cmake build-essential pkg-config libpython3-dev python3-numpy libboost-all-dev ninja-build
+          sudo apt-get -y install cmake build-essential pkg-config python3-numpy libboost-all-dev ninja-build
 
           sudo apt-get install -y g++ g++-multilib
           echo "CC=gcc" >> $GITHUB_ENV

From c27b5418e05535e6d7e11dc0ca0af5ebd2ace0d1 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Mon, 25 Nov 2024 19:18:11 -0800
Subject: [PATCH 33/97] specify python_requires in setup.py

---
 python/setup.py.in | 1 +
 1 file changed, 1 insertion(+)

diff --git a/python/setup.py.in b/python/setup.py.in
index ee918fea05..44b8f31d83 100644
--- a/python/setup.py.in
+++ b/python/setup.py.in
@@ -46,6 +46,7 @@ setup(
         'Programming Language :: Python :: 3',
     ],
     packages=packages,
+    python_requires=">=${GTSAM_PYTHON_VERSION}",
     include_package_data=True,
     package_data=package_data,
     test_suite="gtsam.tests",

From 628f20effb79959a307c02183c375d6334da7b23 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Mon, 25 Nov 2024 20:20:16 -0800
Subject: [PATCH 34/97] another attempt to specify python version

---
 python/setup.py.in | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/python/setup.py.in b/python/setup.py.in
index 44b8f31d83..088d1b465a 100644
--- a/python/setup.py.in
+++ b/python/setup.py.in
@@ -43,10 +43,9 @@ setup(
         'Operating System :: Microsoft :: Windows',
         'Operating System :: POSIX',
         'License :: OSI Approved :: BSD License',
-        'Programming Language :: Python :: 3',
+        'Programming Language :: Python :: ${GTSAM_PYTHON_VERSION}',
     ],
     packages=packages,
-    python_requires=">=${GTSAM_PYTHON_VERSION}",
     include_package_data=True,
     package_data=package_data,
     test_suite="gtsam.tests",

From 0306e5650bf4d629b435ec61b617882e776e93a2 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Mon, 25 Nov 2024 21:17:01 -0800
Subject: [PATCH 35/97] try pyproject.toml

---
 python/CMakeLists.txt    |  8 ++++++--
 python/pyproject.toml.in | 41 ++++++++++++++++++++++++++++++++++++++++
 2 files changed, 47 insertions(+), 2 deletions(-)
 create mode 100644 python/pyproject.toml.in

diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index f0fc3f796c..5ea57b4393 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -7,8 +7,12 @@ endif()
 
 # Generate setup.py.
 file(READ "${PROJECT_SOURCE_DIR}/README.md" README_CONTENTS)
-configure_file(${PROJECT_PYTHON_SOURCE_DIR}/setup.py.in
-               ${GTSAM_PYTHON_BUILD_DIRECTORY}/setup.py)
+# configure_file(${PROJECT_PYTHON_SOURCE_DIR}/setup.py.in
+#                ${GTSAM_PYTHON_BUILD_DIRECTORY}/setup.py)
+
+configure_file(${PROJECT_PYTHON_SOURCE_DIR}/pyproject.toml.in
+               ${GTSAM_PYTHON_BUILD_DIRECTORY}/pyproject.toml)
+
 
 # Supply MANIFEST.in for older versions of Python
 file(COPY ${PROJECT_PYTHON_SOURCE_DIR}/MANIFEST.in
diff --git a/python/pyproject.toml.in b/python/pyproject.toml.in
new file mode 100644
index 0000000000..50cc2e2e38
--- /dev/null
+++ b/python/pyproject.toml.in
@@ -0,0 +1,41 @@
+[build-system]
+requires = ["setuptools >= 61.0"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "${SETUP-NAME}"
+version = ${GTSAM_PYTHON_VERSION}
+description = "Georgia Tech Smoothing And Mapping library"
+readme = "README.md"
+license = "Simplified BSD license"
+authors = [
+    { name = "Frank Dellaert et. al.", email = "frank.dellaert@gtsam.org" },
+]
+keywords = [
+    "localization",
+    "mapping",
+    "optimization",
+    "robotics",
+    "sam",
+    "slam",
+]
+classifiers = [
+    "Development Status :: 5 - Production/Stable",
+    "Intended Audience :: Developers",
+    "Intended Audience :: Education",
+    "Intended Audience :: Science/Research",
+    "License :: OSI Approved :: BSD License",
+    "Operating System :: MacOS",
+    "Operating System :: Microsoft :: Windows",
+    "Operating System :: POSIX",
+    "Programming Language :: Python :: 3",
+]
+dependencies = [
+    "numpy>=1.11.0",
+]
+
+[project.urls]
+Homepage = "https://gtsam.org/"
+
+[tool.setuptools]
+packages = ["gtsam"]
\ No newline at end of file

From b89ce5a5f3bbbcab25d7648ac100203455ae8691 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Tue, 26 Nov 2024 08:54:11 -0800
Subject: [PATCH 36/97] try cibuildwheel

---
 .github/workflows/joels-workflow.yml | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/joels-workflow.yml b/.github/workflows/joels-workflow.yml
index deb1a130c8..8c3833832e 100644
--- a/.github/workflows/joels-workflow.yml
+++ b/.github/workflows/joels-workflow.yml
@@ -68,11 +68,15 @@ jobs:
           bash .github/scripts/python.sh -t
 
       - name: Install Build Tools
-        run: python3 -m pip install --upgrade pip build wheel pytest
+        run: python3 -m pip install --upgrade pip cibuildwheel
 
       - name: Build for Publishing
         # Puts a wheel in dist/
-        run: python3 -m build build/python
+        # run: python3 -m build build/python
+        uses: pypa/cibuildwheel@v2.22.0
+        with:
+          package-dir: build/python
+          output-dir: build/python/dist/
 
       - name: Upload Artifacts
         uses: actions/upload-artifact@v4

From 364b8932167b6500b1e0241098a5cce3ed0117d7 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Tue, 26 Nov 2024 09:25:24 -0800
Subject: [PATCH 37/97] cmake silently swallows reference errors

---
 python/pyproject.toml.in | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/python/pyproject.toml.in b/python/pyproject.toml.in
index 50cc2e2e38..78dead1b16 100644
--- a/python/pyproject.toml.in
+++ b/python/pyproject.toml.in
@@ -3,7 +3,7 @@ requires = ["setuptools >= 61.0"]
 build-backend = "setuptools.build_meta"
 
 [project]
-name = "${SETUP-NAME}"
+name = "${SETUP_NAME}"
 version = ${GTSAM_PYTHON_VERSION}
 description = "Georgia Tech Smoothing And Mapping library"
 readme = "README.md"

From af137e554b78be8472d2085de6c564693cead2b5 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Tue, 26 Nov 2024 09:52:30 -0800
Subject: [PATCH 38/97] fix version string

---
 python/pyproject.toml.in | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/python/pyproject.toml.in b/python/pyproject.toml.in
index 78dead1b16..497d95610e 100644
--- a/python/pyproject.toml.in
+++ b/python/pyproject.toml.in
@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "${SETUP_NAME}"
-version = ${GTSAM_PYTHON_VERSION}
+version = "${GTSAM_VERSION_STRING}"
 description = "Georgia Tech Smoothing And Mapping library"
 readme = "README.md"
 license = "Simplified BSD license"

From eee5743f9f993002990e259fe39348b53f3810f2 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Tue, 26 Nov 2024 10:20:20 -0800
Subject: [PATCH 39/97] more pyproject fixes

---
 python/pyproject.toml.in | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/python/pyproject.toml.in b/python/pyproject.toml.in
index 497d95610e..1040118493 100644
--- a/python/pyproject.toml.in
+++ b/python/pyproject.toml.in
@@ -7,7 +7,7 @@ name = "${SETUP_NAME}"
 version = "${GTSAM_VERSION_STRING}"
 description = "Georgia Tech Smoothing And Mapping library"
 readme = "README.md"
-license = "Simplified BSD license"
+license = {text = "Simplified BSD license"}
 authors = [
     { name = "Frank Dellaert et. al.", email = "frank.dellaert@gtsam.org" },
 ]
@@ -31,7 +31,7 @@ classifiers = [
     "Programming Language :: Python :: 3",
 ]
 dependencies = [
-    "numpy>=1.11.0",
+    "numpy>=1.11.0,<2",
 ]
 
 [project.urls]

From 2a43fa5b4ebde621d8facf1af0438d67d90a1cc9 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Tue, 26 Nov 2024 11:00:13 -0800
Subject: [PATCH 40/97] pyproject.toml find namespace packages.

---
 python/pyproject.toml.in | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

diff --git a/python/pyproject.toml.in b/python/pyproject.toml.in
index 1040118493..b3fb7cd4a4 100644
--- a/python/pyproject.toml.in
+++ b/python/pyproject.toml.in
@@ -37,5 +37,13 @@ dependencies = [
 [project.urls]
 Homepage = "https://gtsam.org/"
 
-[tool.setuptools]
-packages = ["gtsam"]
\ No newline at end of file
+[tool.setuptools.packages.find]
+where = ["."]
+exclude = ['build', 'build.*', 'CMakeFiles', 'CMakeFiles.*',
+           'gtsam.notebooks', '*.preamble', '*.specializations', 'dist']
+
+[tool.setuptools.package-data]
+"*" = ["./*.so",
+        "./*.dll",
+        "./*.pyd",
+        "*.pyi", "**/*.pyi"]
\ No newline at end of file

From 48bd714f1284e39b6742173e712212d9f9ce0f87 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Tue, 26 Nov 2024 12:26:11 -0800
Subject: [PATCH 41/97] remove setuptools version

---
 python/pyproject.toml.in | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/python/pyproject.toml.in b/python/pyproject.toml.in
index b3fb7cd4a4..4244d70976 100644
--- a/python/pyproject.toml.in
+++ b/python/pyproject.toml.in
@@ -1,5 +1,5 @@
 [build-system]
-requires = ["setuptools >= 61.0"]
+requires = ["setuptools"]
 build-backend = "setuptools.build_meta"
 
 [project]

From d0c5704c2aa5b8a2e31ddce368bd681be52bc69c Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Tue, 26 Nov 2024 13:03:49 -0800
Subject: [PATCH 42/97] try to convince cibuildwheels that there are extensions
 here

---
 python/pyproject.toml.in | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/python/pyproject.toml.in b/python/pyproject.toml.in
index 4244d70976..a701d5d2c9 100644
--- a/python/pyproject.toml.in
+++ b/python/pyproject.toml.in
@@ -37,6 +37,11 @@ dependencies = [
 [project.urls]
 Homepage = "https://gtsam.org/"
 
+[tool.setuptools]
+ext-modules = [
+  {name = "", sources = []}
+]
+
 [tool.setuptools.packages.find]
 where = ["."]
 exclude = ['build', 'build.*', 'CMakeFiles', 'CMakeFiles.*',

From ab5b7573b26067d330a5e575774c99d0d8bbd1d8 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Tue, 26 Nov 2024 13:35:51 -0800
Subject: [PATCH 43/97] add ext module name

---
 python/pyproject.toml.in | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/python/pyproject.toml.in b/python/pyproject.toml.in
index a701d5d2c9..7ebde8f15a 100644
--- a/python/pyproject.toml.in
+++ b/python/pyproject.toml.in
@@ -39,7 +39,7 @@ Homepage = "https://gtsam.org/"
 
 [tool.setuptools]
 ext-modules = [
-  {name = "", sources = []}
+  {name = "gtsam", sources = []}
 ]
 
 [tool.setuptools.packages.find]

From f2b97c385c35e5d798ebcebb2d6739bc6f88f34c Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Tue, 26 Nov 2024 14:09:16 -0800
Subject: [PATCH 44/97] give up on cibuildwheel, try to do use pip

---
 .github/workflows/joels-workflow.yml | 19 ++++++++++++-------
 1 file changed, 12 insertions(+), 7 deletions(-)

diff --git a/.github/workflows/joels-workflow.yml b/.github/workflows/joels-workflow.yml
index 8c3833832e..ace132c4d6 100644
--- a/.github/workflows/joels-workflow.yml
+++ b/.github/workflows/joels-workflow.yml
@@ -68,15 +68,20 @@ jobs:
           bash .github/scripts/python.sh -t
 
       - name: Install Build Tools
-        run: python3 -m pip install --upgrade pip cibuildwheel
+        run: python3 -m pip install --upgrade pip # cibuildwheel
 
       - name: Build for Publishing
-        # Puts a wheel in dist/
-        # run: python3 -m build build/python
-        uses: pypa/cibuildwheel@v2.22.0
-        with:
-          package-dir: build/python
-          output-dir: build/python/dist/
+        run: python3 -m pip wheel -w build/python/dist
+
+#      - name: Build for Publishing
+#        # Puts a wheel in dist/
+#        # run: python3 -m build build/python
+#        uses: pypa/cibuildwheel@v2.22.0
+#        env:
+#          CIBW_BUILD_VERBOSITY: 1
+#        with:
+#          package-dir: build/python
+#          output-dir: build/python/dist/
 
       - name: Upload Artifacts
         uses: actions/upload-artifact@v4

From 4c8c3055ad724635856ff22731b0299d650c9aaf Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Tue, 26 Nov 2024 14:38:33 -0800
Subject: [PATCH 45/97] specify packages for pip wheel to build

---
 .github/workflows/joels-workflow.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/joels-workflow.yml b/.github/workflows/joels-workflow.yml
index ace132c4d6..1d02cb5740 100644
--- a/.github/workflows/joels-workflow.yml
+++ b/.github/workflows/joels-workflow.yml
@@ -71,7 +71,7 @@ jobs:
         run: python3 -m pip install --upgrade pip # cibuildwheel
 
       - name: Build for Publishing
-        run: python3 -m pip wheel -w build/python/dist
+        run: python3 -m pip wheel -w build/python/dist gtsam gtsam_unstable
 
 #      - name: Build for Publishing
 #        # Puts a wheel in dist/

From 46ef51b3218e0cefbe9df971a3da6b75148bf186 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Tue, 26 Nov 2024 15:24:47 -0800
Subject: [PATCH 46/97] try "find links"

---
 .github/workflows/joels-workflow.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/joels-workflow.yml b/.github/workflows/joels-workflow.yml
index 1d02cb5740..f6e08aca93 100644
--- a/.github/workflows/joels-workflow.yml
+++ b/.github/workflows/joels-workflow.yml
@@ -71,7 +71,7 @@ jobs:
         run: python3 -m pip install --upgrade pip # cibuildwheel
 
       - name: Build for Publishing
-        run: python3 -m pip wheel -w build/python/dist gtsam gtsam_unstable
+        run: python3 -m pip wheel -w build/python/dist -f .
 
 #      - name: Build for Publishing
 #        # Puts a wheel in dist/

From 7ce770b2f8cfb92ea9fd0a1e5fd40cfee8783504 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Tue, 26 Nov 2024 15:51:27 -0800
Subject: [PATCH 47/97] another attempt with pip wheel

---
 .github/workflows/joels-workflow.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/joels-workflow.yml b/.github/workflows/joels-workflow.yml
index f6e08aca93..bd40fbaae8 100644
--- a/.github/workflows/joels-workflow.yml
+++ b/.github/workflows/joels-workflow.yml
@@ -71,7 +71,7 @@ jobs:
         run: python3 -m pip install --upgrade pip # cibuildwheel
 
       - name: Build for Publishing
-        run: python3 -m pip wheel -w build/python/dist -f .
+        run: python3 -m pip wheel . -w build/python/dist
 
 #      - name: Build for Publishing
 #        # Puts a wheel in dist/

From 069fbaed7940de98e441e1a3fbe208cc3dd0d5fe Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Tue, 26 Nov 2024 16:28:27 -0800
Subject: [PATCH 48/97] another attempt

---
 .github/workflows/joels-workflow.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/joels-workflow.yml b/.github/workflows/joels-workflow.yml
index bd40fbaae8..c4cde51746 100644
--- a/.github/workflows/joels-workflow.yml
+++ b/.github/workflows/joels-workflow.yml
@@ -71,7 +71,7 @@ jobs:
         run: python3 -m pip install --upgrade pip # cibuildwheel
 
       - name: Build for Publishing
-        run: python3 -m pip wheel . -w build/python/dist
+        run: python3 -m pip wheel build/python
 
 #      - name: Build for Publishing
 #        # Puts a wheel in dist/

From 9187442166d61b8ea1bfdd76697c77df398e0790 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Tue, 26 Nov 2024 16:57:34 -0800
Subject: [PATCH 49/97] also add an output flag

---
 .github/workflows/joels-workflow.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/joels-workflow.yml b/.github/workflows/joels-workflow.yml
index c4cde51746..31ef7657cf 100644
--- a/.github/workflows/joels-workflow.yml
+++ b/.github/workflows/joels-workflow.yml
@@ -71,7 +71,7 @@ jobs:
         run: python3 -m pip install --upgrade pip # cibuildwheel
 
       - name: Build for Publishing
-        run: python3 -m pip wheel build/python
+        run: python3 -m pip wheel build/python -w build/python/dist
 
 #      - name: Build for Publishing
 #        # Puts a wheel in dist/

From 32a528c2d259ec09f5b6a11e23332552cf03566c Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Tue, 26 Nov 2024 17:23:22 -0800
Subject: [PATCH 50/97] arg

---
 .github/workflows/joels-workflow.yml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/.github/workflows/joels-workflow.yml b/.github/workflows/joels-workflow.yml
index 31ef7657cf..ca9d2a4624 100644
--- a/.github/workflows/joels-workflow.yml
+++ b/.github/workflows/joels-workflow.yml
@@ -73,6 +73,9 @@ jobs:
       - name: Build for Publishing
         run: python3 -m pip wheel build/python -w build/python/dist
 
+      - name: Debug
+        run: ls -R build/python
+
 #      - name: Build for Publishing
 #        # Puts a wheel in dist/
 #        # run: python3 -m build build/python

From ba8122a48fba207192c8b5dd5f1f332dc8dbc5a3 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Tue, 26 Nov 2024 17:52:46 -0800
Subject: [PATCH 51/97] add artifact name to avoid clash

---
 .github/workflows/joels-workflow.yml | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/joels-workflow.yml b/.github/workflows/joels-workflow.yml
index ca9d2a4624..725b6fadf5 100644
--- a/.github/workflows/joels-workflow.yml
+++ b/.github/workflows/joels-workflow.yml
@@ -89,7 +89,9 @@ jobs:
       - name: Upload Artifacts
         uses: actions/upload-artifact@v4
         with:
-          path: build/python/dist/
+          # TODO: define the name as ENV, use it in CMakeLists.txt 
+          name: artifact${{matrix.python_version}}
+          path: build/python/dist/truher_gtsam_nightly*
       
 
   upload_all:

From adf677456edba53560dde80ef2140f3563432727 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Tue, 26 Nov 2024 18:30:04 -0800
Subject: [PATCH 52/97] add auditwheel to rename "linux" to "manylinux" ... ?

---
 .github/workflows/joels-workflow.yml | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/joels-workflow.yml b/.github/workflows/joels-workflow.yml
index 725b6fadf5..9e8e55a3cf 100644
--- a/.github/workflows/joels-workflow.yml
+++ b/.github/workflows/joels-workflow.yml
@@ -73,6 +73,9 @@ jobs:
       - name: Build for Publishing
         run: python3 -m pip wheel build/python -w build/python/dist
 
+      - name: Repair Wheels
+        run: python3 -m auditwheel repair -v -w build/python/repaired/ build/python/dist/*
+
       - name: Debug
         run: ls -R build/python
 
@@ -91,7 +94,7 @@ jobs:
         with:
           # TODO: define the name as ENV, use it in CMakeLists.txt 
           name: artifact${{matrix.python_version}}
-          path: build/python/dist/truher_gtsam_nightly*
+          path: build/python/repaired/truher_gtsam_nightly*
       
 
   upload_all:
@@ -107,11 +110,11 @@ jobs:
       - name: Download Artifacts
         uses: actions/download-artifact@v4
         with:
-          path: build/python/dist/
+          path: dist/
           merge-multiple: true
 
       - name: Publish
         uses: pypa/gh-action-pypi-publish@release/v1
         with:
-          packages-dir: build/python/dist/
+          packages-dir: dist/
           repository-url: https://test.pypi.org/legacy/
\ No newline at end of file

From 0705cb7998501544104715c3802f774fe8df9cbe Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Tue, 26 Nov 2024 18:48:43 -0800
Subject: [PATCH 53/97] oops install auditwheel

---
 .github/workflows/joels-workflow.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/joels-workflow.yml b/.github/workflows/joels-workflow.yml
index 9e8e55a3cf..1ed0a7266b 100644
--- a/.github/workflows/joels-workflow.yml
+++ b/.github/workflows/joels-workflow.yml
@@ -68,7 +68,7 @@ jobs:
           bash .github/scripts/python.sh -t
 
       - name: Install Build Tools
-        run: python3 -m pip install --upgrade pip # cibuildwheel
+        run: python3 -m pip install --upgrade pip auditwheel # cibuildwheel
 
       - name: Build for Publishing
         run: python3 -m pip wheel build/python -w build/python/dist

From 6817382b9d6d231ca70a646498d6ca89bc523c18 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Tue, 26 Nov 2024 19:11:22 -0800
Subject: [PATCH 54/97] maybe the verbose flag goes last?

---
 .github/workflows/joels-workflow.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/joels-workflow.yml b/.github/workflows/joels-workflow.yml
index 1ed0a7266b..69097e5b89 100644
--- a/.github/workflows/joels-workflow.yml
+++ b/.github/workflows/joels-workflow.yml
@@ -74,7 +74,7 @@ jobs:
         run: python3 -m pip wheel build/python -w build/python/dist
 
       - name: Repair Wheels
-        run: python3 -m auditwheel repair -v -w build/python/repaired/ build/python/dist/*
+        run: python3 -m auditwheel repair -w build/python/repaired/ build/python/dist/* -v
 
       - name: Debug
         run: ls -R build/python

From bd9fb2b892dba68b5d821e7cbb583508753f23c6 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Tue, 26 Nov 2024 19:29:23 -0800
Subject: [PATCH 55/97] maybe there is no verbose

---
 .github/workflows/joels-workflow.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/joels-workflow.yml b/.github/workflows/joels-workflow.yml
index 69097e5b89..16922e92dd 100644
--- a/.github/workflows/joels-workflow.yml
+++ b/.github/workflows/joels-workflow.yml
@@ -74,7 +74,7 @@ jobs:
         run: python3 -m pip wheel build/python -w build/python/dist
 
       - name: Repair Wheels
-        run: python3 -m auditwheel repair -w build/python/repaired/ build/python/dist/* -v
+        run: python3 -m auditwheel repair -w build/python/repaired/ build/python/dist/*
 
       - name: Debug
         run: ls -R build/python

From ab93f0eaf14ab0c3a54178fbb86a112e74cb463b Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Tue, 26 Nov 2024 19:49:11 -0800
Subject: [PATCH 56/97] only repair the gtsam wheel

---
 .github/workflows/joels-workflow.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/joels-workflow.yml b/.github/workflows/joels-workflow.yml
index 16922e92dd..9373e54db9 100644
--- a/.github/workflows/joels-workflow.yml
+++ b/.github/workflows/joels-workflow.yml
@@ -74,7 +74,7 @@ jobs:
         run: python3 -m pip wheel build/python -w build/python/dist
 
       - name: Repair Wheels
-        run: python3 -m auditwheel repair -w build/python/repaired/ build/python/dist/*
+        run: python3 -m auditwheel repair -w build/python/repaired/ build/python/dist/truher_gtsam_nightly*
 
       - name: Debug
         run: ls -R build/python

From 940ad4109ebd17fcaf24c8a5dc48e09c251c20d5 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Tue, 26 Nov 2024 21:33:41 -0800
Subject: [PATCH 57/97] fix manylinux version

---
 .github/workflows/joels-workflow.yml | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/joels-workflow.yml b/.github/workflows/joels-workflow.yml
index 9373e54db9..4d28422b2e 100644
--- a/.github/workflows/joels-workflow.yml
+++ b/.github/workflows/joels-workflow.yml
@@ -73,10 +73,13 @@ jobs:
       - name: Build for Publishing
         run: python3 -m pip wheel build/python -w build/python/dist
 
+      - name: ldd
+        run: ldd --version
+
       - name: Repair Wheels
-        run: python3 -m auditwheel repair -w build/python/repaired/ build/python/dist/truher_gtsam_nightly*
+        run: python3 -m auditwheel repair --plat manylinux_2_35_x86_64 -w build/python/repaired/ build/python/dist/truher_gtsam_nightly*
 
-      - name: Debug
+      - name: ls
         run: ls -R build/python
 
 #      - name: Build for Publishing

From a2b8bde96db88cf5c71bc892a91c76f835a6271a Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Wed, 27 Nov 2024 12:43:49 -0800
Subject: [PATCH 58/97] start on raspberry pi job

---
 .github/workflows/arm-nightly.yml | 125 ++++++++++++++++++++++++++++++
 1 file changed, 125 insertions(+)
 create mode 100644 .github/workflows/arm-nightly.yml

diff --git a/.github/workflows/arm-nightly.yml b/.github/workflows/arm-nightly.yml
new file mode 100644
index 0000000000..fec67fea97
--- /dev/null
+++ b/.github/workflows/arm-nightly.yml
@@ -0,0 +1,125 @@
+# Nightly build for Raspberry Pi
+# Uploads to test.pypi.org.
+
+name: Joel's Workflow
+
+on: [workflow_dispatch]
+
+jobs:
+  build:
+    name: Build
+    runs-on: ubuntu-latest
+    # strategy:
+    #   fail-fast: false
+    #   matrix:
+    #     python_version: ['3.9', '3.10', '3.11', '3.12']
+
+
+    env:
+      # quote the number because yaml thinks 3.10 and 3.1 are the same, like it's a number, man.
+      # https://yaml.org/spec/1.2.2/ the yaml spec is 50 pages
+      PYTHON_VERSION: '3.11'
+      # PYTHON_VERSION: ${{matrix.python_version}}
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - name: Setup Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.11'
+          # python-version: ${{matrix.python_version}}
+
+      - name: Install (Linux)
+        run: |
+          sudo apt-get -y update
+          sudo apt-get -y install cmake build-essential pkg-config python3-numpy libboost-all-dev ninja-build
+
+          sudo apt-get install -y g++ g++-multilib
+          echo "CC=gcc-aarch64-linux-gnu" >> $GITHUB_ENV
+          echo "CXX=g++-aarch64-linux-gnu" >> $GITHUB_ENV
+
+      - name: Set Swap Space (Linux)
+        uses: pierotofy/set-swap-space@master
+        with:
+          swap-size-gb: 6
+
+      - name: Install System Dependencies
+        run: |
+          bash .github/scripts/python.sh -d
+
+      - name: Install Python Dependencies
+        shell: bash
+        run: python3 -m pip install -r python/dev_requirements.txt
+
+      - name: Set Nightly Flag
+        run: echo "NIGHTLY=1" >> $GITHUB_ENV
+
+      - name: Build
+        # Builds the cmake "python-install" target which is a local install.
+        shell: bash
+        run: |
+          bash .github/scripts/python.sh -b
+
+      - name: Test
+        # Uses the local install for python3 -m unittest.
+        shell: bash
+        run: |
+          bash .github/scripts/python.sh -t
+
+      - name: Install Build Tools
+        run: python3 -m pip install --upgrade pip auditwheel
+
+      - name: Build for Publishing
+        run: python3 -m pip wheel build/python -w build/python/dist
+
+      - name: ldd
+        run: ldd --version
+
+      - name: Repair Wheels
+        run: python3 -m auditwheel repair --plat manylinux_2_35_aarch64 -w build/python/repaired/ build/python/dist/truher_gtsam_nightly*
+
+      - name: ls
+        run: ls -R build/python
+
+#      - name: Build for Publishing
+#        # Puts a wheel in dist/
+#        # run: python3 -m build build/python
+#        uses: pypa/cibuildwheel@v2.22.0
+#        env:
+#          CIBW_BUILD_VERBOSITY: 1
+#        with:
+#          package-dir: build/python
+#          output-dir: build/python/dist/
+
+      - name: Upload Artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          # TODO: define the name as ENV, use it in CMakeLists.txt 
+          name: artifact311
+          # name: artifact${{matrix.python_version}}
+          path: build/python/repaired/truher_gtsam_nightly*
+      
+
+  upload_all:
+    # Waits for all the builds to finish
+    # Downloads all their wheels
+    # Uploads them all at once.
+    name: Upload All
+    needs: build
+    runs-on: ubuntu-latest
+    permissions:
+      id-token: write
+    steps:
+      - name: Download Artifacts
+        uses: actions/download-artifact@v4
+        with:
+          path: dist/
+          merge-multiple: true
+
+      - name: Publish
+        uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          packages-dir: dist/
+          repository-url: https://test.pypi.org/legacy/
\ No newline at end of file

From fb9d544ad5dce282dd0fc1fef2c44a80229ae974 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Wed, 27 Nov 2024 12:46:16 -0800
Subject: [PATCH 59/97] rename

---
 .github/workflows/arm-nightly.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/arm-nightly.yml b/.github/workflows/arm-nightly.yml
index fec67fea97..2ca9f6bcfd 100644
--- a/.github/workflows/arm-nightly.yml
+++ b/.github/workflows/arm-nightly.yml
@@ -1,7 +1,7 @@
 # Nightly build for Raspberry Pi
 # Uploads to test.pypi.org.
 
-name: Joel's Workflow
+name: ARM Nightly
 
 on: [workflow_dispatch]
 

From 3810cb51801fa2146dae78138cb3bca482dfeb94 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Wed, 27 Nov 2024 12:58:56 -0800
Subject: [PATCH 60/97] install the compiler

---
 .github/workflows/arm-nightly.yml | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/.github/workflows/arm-nightly.yml b/.github/workflows/arm-nightly.yml
index 2ca9f6bcfd..0ad8e16d3e 100644
--- a/.github/workflows/arm-nightly.yml
+++ b/.github/workflows/arm-nightly.yml
@@ -37,6 +37,10 @@ jobs:
           sudo apt-get -y install cmake build-essential pkg-config python3-numpy libboost-all-dev ninja-build
 
           sudo apt-get install -y g++ g++-multilib
+          
+          sudo apt get install -y g++-aarch64-linux-gnu
+          sudo apt-get install -y gcc-aarch64-linux-gnu
+
           echo "CC=gcc-aarch64-linux-gnu" >> $GITHUB_ENV
           echo "CXX=g++-aarch64-linux-gnu" >> $GITHUB_ENV
 

From 9d45b70a515c5accbb22a0d33d5fe1dc309d1cc7 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Wed, 27 Nov 2024 13:13:26 -0800
Subject: [PATCH 61/97] separate lines

---
 .github/workflows/arm-nightly.yml | 24 ++++++++++++++++--------
 1 file changed, 16 insertions(+), 8 deletions(-)

diff --git a/.github/workflows/arm-nightly.yml b/.github/workflows/arm-nightly.yml
index 0ad8e16d3e..d3e8f35c10 100644
--- a/.github/workflows/arm-nightly.yml
+++ b/.github/workflows/arm-nightly.yml
@@ -31,16 +31,24 @@ jobs:
           python-version: '3.11'
           # python-version: ${{matrix.python_version}}
 
-      - name: Install (Linux)
-        run: |
-          sudo apt-get -y update
-          sudo apt-get -y install cmake build-essential pkg-config python3-numpy libboost-all-dev ninja-build
+        # these are all separate to make the log easier to read
+      - name: Install 1
+        run: sudo apt-get -y update
+
+      - name: Install 2
+        run: sudo apt-get -y install cmake build-essential pkg-config python3-numpy libboost-all-dev ninja-build
+
+      - name: Install 3
+        run: sudo apt-get install -y g++ g++-multilib
 
-          sudo apt-get install -y g++ g++-multilib
-          
-          sudo apt get install -y g++-aarch64-linux-gnu
-          sudo apt-get install -y gcc-aarch64-linux-gnu
+      - name: Install g++
+        run: sudo apt get install -y g++-aarch64-linux-gnu
 
+      - name: Install gcc
+        run: sudo apt-get install -y gcc-aarch64-linux-gnu
+
+      - name: Set compiler env
+        run: |
           echo "CC=gcc-aarch64-linux-gnu" >> $GITHUB_ENV
           echo "CXX=g++-aarch64-linux-gnu" >> $GITHUB_ENV
 

From 62d56e1c79790725684ca485a4945b4ce4a3e74a Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Wed, 27 Nov 2024 13:15:43 -0800
Subject: [PATCH 62/97] typo

---
 .github/workflows/arm-nightly.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/arm-nightly.yml b/.github/workflows/arm-nightly.yml
index d3e8f35c10..547cd8f8fe 100644
--- a/.github/workflows/arm-nightly.yml
+++ b/.github/workflows/arm-nightly.yml
@@ -42,7 +42,7 @@ jobs:
         run: sudo apt-get install -y g++ g++-multilib
 
       - name: Install g++
-        run: sudo apt get install -y g++-aarch64-linux-gnu
+        run: sudo apt-get install -y g++-aarch64-linux-gnu
 
       - name: Install gcc
         run: sudo apt-get install -y gcc-aarch64-linux-gnu

From 1268c516fba0d14c668e08119f12f4419cdc1349 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Wed, 27 Nov 2024 13:51:46 -0800
Subject: [PATCH 63/97] use the right compiler name

---
 .github/workflows/arm-nightly.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/arm-nightly.yml b/.github/workflows/arm-nightly.yml
index 547cd8f8fe..9038d714e2 100644
--- a/.github/workflows/arm-nightly.yml
+++ b/.github/workflows/arm-nightly.yml
@@ -49,8 +49,8 @@ jobs:
 
       - name: Set compiler env
         run: |
-          echo "CC=gcc-aarch64-linux-gnu" >> $GITHUB_ENV
-          echo "CXX=g++-aarch64-linux-gnu" >> $GITHUB_ENV
+          echo "CC=aarch64-linux-gnu-gcc" >> $GITHUB_ENV
+          echo "CXX=aarch64-linux-gnu-g++" >> $GITHUB_ENV
 
       - name: Set Swap Space (Linux)
         uses: pierotofy/set-swap-space@master

From 824dbb21625045f65d70deb1ab8e2f1dc8a4d2ac Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Wed, 27 Nov 2024 15:01:21 -0800
Subject: [PATCH 64/97] change the name

---
 .github/workflows/linux-nightly.yml | 124 ++++++++++++++++++++++++++++
 1 file changed, 124 insertions(+)
 create mode 100644 .github/workflows/linux-nightly.yml

diff --git a/.github/workflows/linux-nightly.yml b/.github/workflows/linux-nightly.yml
new file mode 100644
index 0000000000..e605d51d06
--- /dev/null
+++ b/.github/workflows/linux-nightly.yml
@@ -0,0 +1,124 @@
+# Nightly build for Linux.
+# Uploads to test.pypi.org.
+
+name: Linuz Nightly
+
+on: [workflow_dispatch]
+
+jobs:
+  build:
+    name: Build
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        python_version: ['3.9', '3.10', '3.11', '3.12']
+
+
+    env:
+      # quote the number because yaml thinks 3.10 and 3.1 are the same, like it's a number, man.
+      # https://yaml.org/spec/1.2.2/ the yaml spec is 50 pages
+      # PYTHON_VERSION: '3.10'
+      PYTHON_VERSION: ${{matrix.python_version}}
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - name: Setup Python
+        uses: actions/setup-python@v5
+        with:
+          #python-version: '3.10'
+          python-version: ${{matrix.python_version}}
+
+      - name: Install (Linux)
+        run: |
+          sudo apt-get -y update
+          sudo apt-get -y install cmake build-essential pkg-config python3-numpy libboost-all-dev ninja-build
+
+          sudo apt-get install -y g++ g++-multilib
+          echo "CC=gcc" >> $GITHUB_ENV
+          echo "CXX=g++" >> $GITHUB_ENV
+
+      - name: Set Swap Space (Linux)
+        uses: pierotofy/set-swap-space@master
+        with:
+          swap-size-gb: 6
+
+      - name: Install System Dependencies
+        run: |
+          bash .github/scripts/python.sh -d
+
+      - name: Install Python Dependencies
+        shell: bash
+        run: python3 -m pip install -r python/dev_requirements.txt
+
+      - name: Set Nightly Flag
+        run: echo "NIGHTLY=1" >> $GITHUB_ENV
+
+      - name: Build
+        # Builds the cmake "python-install" target which is a local install.
+        shell: bash
+        run: |
+          bash .github/scripts/python.sh -b
+
+      - name: Test
+        # Uses the local install for python3 -m unittest.
+        shell: bash
+        run: |
+          bash .github/scripts/python.sh -t
+
+      - name: Install Build Tools
+        run: python3 -m pip install --upgrade pip auditwheel # cibuildwheel
+
+      - name: Build for Publishing
+        run: python3 -m pip wheel build/python -w build/python/dist
+
+      - name: ldd
+        run: ldd --version
+
+      - name: Repair Wheels
+        run: python3 -m auditwheel repair --plat manylinux_2_35_x86_64 -w build/python/repaired/ build/python/dist/truher_gtsam_nightly*
+
+      - name: ls
+        run: ls -R build/python
+
+#      - name: Build for Publishing
+#        # Puts a wheel in dist/
+#        # run: python3 -m build build/python
+#        uses: pypa/cibuildwheel@v2.22.0
+#        env:
+#          CIBW_BUILD_VERBOSITY: 1
+#        with:
+#          package-dir: build/python
+#          output-dir: build/python/dist/
+
+      - name: Upload Artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          # TODO: define the name as ENV, use it in CMakeLists.txt 
+          name: artifact${{matrix.python_version}}
+          path: build/python/repaired/truher_gtsam_nightly*
+      
+
+  upload_all:
+    # Waits for all the builds to finish
+    # Downloads all their wheels
+    # Uploads them all at once.
+    name: Upload All
+    needs: build
+    runs-on: ubuntu-latest
+    permissions:
+      id-token: write
+    steps:
+      - name: Download Artifacts
+        uses: actions/download-artifact@v4
+        with:
+          path: dist/
+          merge-multiple: true
+
+      - name: Publish
+        uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          packages-dir: dist/
+          repository-url: https://test.pypi.org/legacy/
\ No newline at end of file

From a33f7a3ef89842b091e7c34b760946f68aa70584 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Wed, 27 Nov 2024 15:05:28 -0800
Subject: [PATCH 65/97] clean up

---
 .github/workflows/joels-workflow.yml | 123 ---------------------------
 .github/workflows/linux-nightly.yml  |  32 ++-----
 2 files changed, 6 insertions(+), 149 deletions(-)
 delete mode 100644 .github/workflows/joels-workflow.yml

diff --git a/.github/workflows/joels-workflow.yml b/.github/workflows/joels-workflow.yml
deleted file mode 100644
index 4d28422b2e..0000000000
--- a/.github/workflows/joels-workflow.yml
+++ /dev/null
@@ -1,123 +0,0 @@
-# Nightly build uploads to test.pypi.org.
-
-name: Joel's Workflow
-
-on: [workflow_dispatch]
-
-jobs:
-  build:
-    name: Build
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        python_version: ['3.9', '3.10', '3.11', '3.12']
-
-
-    env:
-      # quote the number because yaml thinks 3.10 and 3.1 are the same, like it's a number, man.
-      # https://yaml.org/spec/1.2.2/ the yaml spec is 50 pages
-      # PYTHON_VERSION: '3.10'
-      PYTHON_VERSION: ${{matrix.python_version}}
-
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-
-      - name: Setup Python
-        uses: actions/setup-python@v5
-        with:
-          #python-version: '3.10'
-          python-version: ${{matrix.python_version}}
-
-      - name: Install (Linux)
-        run: |
-          sudo apt-get -y update
-          sudo apt-get -y install cmake build-essential pkg-config python3-numpy libboost-all-dev ninja-build
-
-          sudo apt-get install -y g++ g++-multilib
-          echo "CC=gcc" >> $GITHUB_ENV
-          echo "CXX=g++" >> $GITHUB_ENV
-
-      - name: Set Swap Space (Linux)
-        uses: pierotofy/set-swap-space@master
-        with:
-          swap-size-gb: 6
-
-      - name: Install System Dependencies
-        run: |
-          bash .github/scripts/python.sh -d
-
-      - name: Install Python Dependencies
-        shell: bash
-        run: python3 -m pip install -r python/dev_requirements.txt
-
-      - name: Set Nightly Flag
-        run: echo "NIGHTLY=1" >> $GITHUB_ENV
-
-      - name: Build
-        # Builds the cmake "python-install" target which is a local install.
-        shell: bash
-        run: |
-          bash .github/scripts/python.sh -b
-
-      - name: Test
-        # Uses the local install for python3 -m unittest.
-        shell: bash
-        run: |
-          bash .github/scripts/python.sh -t
-
-      - name: Install Build Tools
-        run: python3 -m pip install --upgrade pip auditwheel # cibuildwheel
-
-      - name: Build for Publishing
-        run: python3 -m pip wheel build/python -w build/python/dist
-
-      - name: ldd
-        run: ldd --version
-
-      - name: Repair Wheels
-        run: python3 -m auditwheel repair --plat manylinux_2_35_x86_64 -w build/python/repaired/ build/python/dist/truher_gtsam_nightly*
-
-      - name: ls
-        run: ls -R build/python
-
-#      - name: Build for Publishing
-#        # Puts a wheel in dist/
-#        # run: python3 -m build build/python
-#        uses: pypa/cibuildwheel@v2.22.0
-#        env:
-#          CIBW_BUILD_VERBOSITY: 1
-#        with:
-#          package-dir: build/python
-#          output-dir: build/python/dist/
-
-      - name: Upload Artifacts
-        uses: actions/upload-artifact@v4
-        with:
-          # TODO: define the name as ENV, use it in CMakeLists.txt 
-          name: artifact${{matrix.python_version}}
-          path: build/python/repaired/truher_gtsam_nightly*
-      
-
-  upload_all:
-    # Waits for all the builds to finish
-    # Downloads all their wheels
-    # Uploads them all at once.
-    name: Upload All
-    needs: build
-    runs-on: ubuntu-latest
-    permissions:
-      id-token: write
-    steps:
-      - name: Download Artifacts
-        uses: actions/download-artifact@v4
-        with:
-          path: dist/
-          merge-multiple: true
-
-      - name: Publish
-        uses: pypa/gh-action-pypi-publish@release/v1
-        with:
-          packages-dir: dist/
-          repository-url: https://test.pypi.org/legacy/
\ No newline at end of file
diff --git a/.github/workflows/linux-nightly.yml b/.github/workflows/linux-nightly.yml
index e605d51d06..b960776df2 100644
--- a/.github/workflows/linux-nightly.yml
+++ b/.github/workflows/linux-nightly.yml
@@ -1,7 +1,7 @@
 # Nightly build for Linux.
 # Uploads to test.pypi.org.
 
-name: Linuz Nightly
+name: Linux Nightly
 
 on: [workflow_dispatch]
 
@@ -16,8 +16,6 @@ jobs:
 
 
     env:
-      # quote the number because yaml thinks 3.10 and 3.1 are the same, like it's a number, man.
-      # https://yaml.org/spec/1.2.2/ the yaml spec is 50 pages
       # PYTHON_VERSION: '3.10'
       PYTHON_VERSION: ${{matrix.python_version}}
 
@@ -46,8 +44,7 @@ jobs:
           swap-size-gb: 6
 
       - name: Install System Dependencies
-        run: |
-          bash .github/scripts/python.sh -d
+        run: bash .github/scripts/python.sh -d
 
       - name: Install Python Dependencies
         shell: bash
@@ -59,40 +56,23 @@ jobs:
       - name: Build
         # Builds the cmake "python-install" target which is a local install.
         shell: bash
-        run: |
-          bash .github/scripts/python.sh -b
+        run: bash .github/scripts/python.sh -b
 
       - name: Test
         # Uses the local install for python3 -m unittest.
         shell: bash
-        run: |
-          bash .github/scripts/python.sh -t
+        run: bash .github/scripts/python.sh -t
 
       - name: Install Build Tools
-        run: python3 -m pip install --upgrade pip auditwheel # cibuildwheel
+        run: python3 -m pip install --upgrade pip auditwheel
 
       - name: Build for Publishing
         run: python3 -m pip wheel build/python -w build/python/dist
 
-      - name: ldd
-        run: ldd --version
-
       - name: Repair Wheels
+        # TODO: use the actual glibc version here
         run: python3 -m auditwheel repair --plat manylinux_2_35_x86_64 -w build/python/repaired/ build/python/dist/truher_gtsam_nightly*
 
-      - name: ls
-        run: ls -R build/python
-
-#      - name: Build for Publishing
-#        # Puts a wheel in dist/
-#        # run: python3 -m build build/python
-#        uses: pypa/cibuildwheel@v2.22.0
-#        env:
-#          CIBW_BUILD_VERBOSITY: 1
-#        with:
-#          package-dir: build/python
-#          output-dir: build/python/dist/
-
       - name: Upload Artifacts
         uses: actions/upload-artifact@v4
         with:

From 056d84e891be90cedff2a4e62531faa4747428c3 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Wed, 27 Nov 2024 18:49:54 -0800
Subject: [PATCH 66/97] try the arm runner

---
 .github/workflows/arm-nightly.yml | 220 +++++++++++++++---------------
 1 file changed, 108 insertions(+), 112 deletions(-)

diff --git a/.github/workflows/arm-nightly.yml b/.github/workflows/arm-nightly.yml
index 9038d714e2..3ff618a39f 100644
--- a/.github/workflows/arm-nightly.yml
+++ b/.github/workflows/arm-nightly.yml
@@ -15,123 +15,119 @@ jobs:
     #     python_version: ['3.9', '3.10', '3.11', '3.12']
 
 
-    env:
-      # quote the number because yaml thinks 3.10 and 3.1 are the same, like it's a number, man.
-      # https://yaml.org/spec/1.2.2/ the yaml spec is 50 pages
-      PYTHON_VERSION: '3.11'
-      # PYTHON_VERSION: ${{matrix.python_version}}
+    # env:
+    #   # quote the number because yaml thinks 3.10 and 3.1 are the same, like it's a number, man.
+    #   # https://yaml.org/spec/1.2.2/ the yaml spec is 50 pages
+    #   PYTHON_VERSION: '3.11'
+    #   # PYTHON_VERSION: ${{matrix.python_version}}
 
     steps:
       - name: Checkout
         uses: actions/checkout@v4
 
-      - name: Setup Python
-        uses: actions/setup-python@v5
+      - name: Run on ARM
+        uses: pguyot/arm-runner-action@v2
         with:
-          python-version: '3.11'
-          # python-version: ${{matrix.python_version}}
-
-        # these are all separate to make the log easier to read
-      - name: Install 1
-        run: sudo apt-get -y update
-
-      - name: Install 2
-        run: sudo apt-get -y install cmake build-essential pkg-config python3-numpy libboost-all-dev ninja-build
-
-      - name: Install 3
-        run: sudo apt-get install -y g++ g++-multilib
-
-      - name: Install g++
-        run: sudo apt-get install -y g++-aarch64-linux-gnu
-
-      - name: Install gcc
-        run: sudo apt-get install -y gcc-aarch64-linux-gnu
-
-      - name: Set compiler env
-        run: |
-          echo "CC=aarch64-linux-gnu-gcc" >> $GITHUB_ENV
-          echo "CXX=aarch64-linux-gnu-g++" >> $GITHUB_ENV
-
-      - name: Set Swap Space (Linux)
-        uses: pierotofy/set-swap-space@master
-        with:
-          swap-size-gb: 6
-
-      - name: Install System Dependencies
-        run: |
-          bash .github/scripts/python.sh -d
-
-      - name: Install Python Dependencies
-        shell: bash
-        run: python3 -m pip install -r python/dev_requirements.txt
-
-      - name: Set Nightly Flag
-        run: echo "NIGHTLY=1" >> $GITHUB_ENV
-
-      - name: Build
-        # Builds the cmake "python-install" target which is a local install.
-        shell: bash
-        run: |
-          bash .github/scripts/python.sh -b
-
-      - name: Test
-        # Uses the local install for python3 -m unittest.
-        shell: bash
-        run: |
-          bash .github/scripts/python.sh -t
-
-      - name: Install Build Tools
-        run: python3 -m pip install --upgrade pip auditwheel
-
-      - name: Build for Publishing
-        run: python3 -m pip wheel build/python -w build/python/dist
-
-      - name: ldd
-        run: ldd --version
-
-      - name: Repair Wheels
-        run: python3 -m auditwheel repair --plat manylinux_2_35_aarch64 -w build/python/repaired/ build/python/dist/truher_gtsam_nightly*
-
-      - name: ls
-        run: ls -R build/python
-
-#      - name: Build for Publishing
-#        # Puts a wheel in dist/
-#        # run: python3 -m build build/python
-#        uses: pypa/cibuildwheel@v2.22.0
-#        env:
-#          CIBW_BUILD_VERBOSITY: 1
-#        with:
-#          package-dir: build/python
-#          output-dir: build/python/dist/
-
-      - name: Upload Artifacts
-        uses: actions/upload-artifact@v4
-        with:
-          # TODO: define the name as ENV, use it in CMakeLists.txt 
-          name: artifact311
-          # name: artifact${{matrix.python_version}}
-          path: build/python/repaired/truher_gtsam_nightly*
+          commands: |
+            echo "hello"
+
+      # - name: Setup Python
+      #   uses: actions/setup-python@v5
+      #   with:
+      #     python-version: '3.11'
+      #     # python-version: ${{matrix.python_version}}
+
+      #   # these are all separate to make the log easier to read
+      # - name: Install 1
+      #   run: sudo apt-get -y update
+
+      # - name: Install 2
+      #   run: sudo apt-get -y install cmake build-essential pkg-config python3-numpy libboost-all-dev ninja-build
+
+      # - name: Install 3
+      #   run: sudo apt-get install -y g++ g++-multilib
+
+      # - name: Install g++
+      #   run: sudo apt-get install -y g++-aarch64-linux-gnu
+
+      # - name: Install gcc
+      #   run: sudo apt-get install -y gcc-aarch64-linux-gnu
+
+      # - name: Set compiler env
+      #   run: |
+      #     echo "CC=aarch64-linux-gnu-gcc" >> $GITHUB_ENV
+      #     echo "CXX=aarch64-linux-gnu-g++" >> $GITHUB_ENV
+
+      # - name: Set Swap Space (Linux)
+      #   uses: pierotofy/set-swap-space@master
+      #   with:
+      #     swap-size-gb: 6
+
+      # - name: Install System Dependencies
+      #   run: |
+      #     bash .github/scripts/python.sh -d
+
+      # - name: Install Python Dependencies
+      #   shell: bash
+      #   run: python3 -m pip install -r python/dev_requirements.txt
+
+      # - name: Set Nightly Flag
+      #   run: echo "NIGHTLY=1" >> $GITHUB_ENV
+
+      # - name: Build
+      #   # Builds the cmake "python-install" target which is a local install.
+      #   shell: bash
+      #   run: |
+      #     bash .github/scripts/python.sh -b
+
+      # - name: Test
+      #   # Uses the local install for python3 -m unittest.
+      #   shell: bash
+      #   run: |
+      #     bash .github/scripts/python.sh -t
+
+      # - name: Install Build Tools
+      #   run: python3 -m pip install --upgrade pip auditwheel
+
+      # - name: Build for Publishing
+      #   run: python3 -m pip wheel build/python -w build/python/dist
+
+      # - name: ldd
+      #   run: ldd --version
+
+      # - name: Repair Wheels
+      #   run: python3 -m auditwheel repair --plat manylinux_2_35_aarch64 -w build/python/repaired/ build/python/dist/truher_gtsam_nightly*
+
+      # - name: ls
+      #   run: ls -R build/python
+
+      # - name: Upload Artifacts
+      #   uses: actions/upload-artifact@v4
+      #   with:
+      #     # TODO: define the name as ENV, use it in CMakeLists.txt 
+      #     name: artifact311
+      #     # name: artifact${{matrix.python_version}}
+      #     path: build/python/repaired/truher_gtsam_nightly*
       
 
-  upload_all:
-    # Waits for all the builds to finish
-    # Downloads all their wheels
-    # Uploads them all at once.
-    name: Upload All
-    needs: build
-    runs-on: ubuntu-latest
-    permissions:
-      id-token: write
-    steps:
-      - name: Download Artifacts
-        uses: actions/download-artifact@v4
-        with:
-          path: dist/
-          merge-multiple: true
-
-      - name: Publish
-        uses: pypa/gh-action-pypi-publish@release/v1
-        with:
-          packages-dir: dist/
-          repository-url: https://test.pypi.org/legacy/
\ No newline at end of file
+  # upload_all:
+  #   # Waits for all the builds to finish
+  #   # Downloads all their wheels
+  #   # Uploads them all at once.
+  #   name: Upload All
+  #   needs: build
+  #   runs-on: ubuntu-latest
+  #   permissions:
+  #     id-token: write
+  #   steps:
+  #     - name: Download Artifacts
+  #       uses: actions/download-artifact@v4
+  #       with:
+  #         path: dist/
+  #         merge-multiple: true
+
+  #     - name: Publish
+  #       uses: pypa/gh-action-pypi-publish@release/v1
+  #       with:
+  #         packages-dir: dist/
+  #         repository-url: https://test.pypi.org/legacy/
\ No newline at end of file

From 006bb68edd879fb06598190d6f303a54254a5576 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Wed, 27 Nov 2024 19:17:45 -0800
Subject: [PATCH 67/97] more than nothing

---
 .github/workflows/arm-nightly.yml | 23 ++++++++++++++++++-----
 1 file changed, 18 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/arm-nightly.yml b/.github/workflows/arm-nightly.yml
index 3ff618a39f..8be49641db 100644
--- a/.github/workflows/arm-nightly.yml
+++ b/.github/workflows/arm-nightly.yml
@@ -5,10 +5,15 @@ name: ARM Nightly
 
 on: [workflow_dispatch]
 
+env:
+  IMG: raspios_lite_arm64:latest
+  BIND: true
+  CPU: cortex-a76
+
 jobs:
   build:
     name: Build
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-24.04
     # strategy:
     #   fail-fast: false
     #   matrix:
@@ -28,8 +33,11 @@ jobs:
       - name: Run on ARM
         uses: pguyot/arm-runner-action@v2
         with:
+          base_image: $IMG
+          bind_mount_repository: $BIND
+          cpu: $CPU
           commands: |
-            echo "hello"
+            cat /proc/cpuinfo
 
       # - name: Setup Python
       #   uses: actions/setup-python@v5
@@ -37,9 +45,14 @@ jobs:
       #     python-version: '3.11'
       #     # python-version: ${{matrix.python_version}}
 
-      #   # these are all separate to make the log easier to read
-      # - name: Install 1
-      #   run: sudo apt-get -y update
+      - name: Install 1
+        uses: pguyot/arm-runner-action@v2
+        with:
+          base_image: $IMG
+          bind_mount_repository: $BIND
+          cpu: $CPU
+          commands: |
+            sudo apt-get -y update
 
       # - name: Install 2
       #   run: sudo apt-get -y install cmake build-essential pkg-config python3-numpy libboost-all-dev ninja-build

From 8be02ff2b205e752b61bc0163264ff0b2c67f176 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Wed, 27 Nov 2024 19:42:37 -0800
Subject: [PATCH 68/97] add real build tasks

---
 .github/workflows/arm-nightly.yml | 97 ++++++-------------------------
 1 file changed, 19 insertions(+), 78 deletions(-)

diff --git a/.github/workflows/arm-nightly.yml b/.github/workflows/arm-nightly.yml
index 8be49641db..44a00c1c03 100644
--- a/.github/workflows/arm-nightly.yml
+++ b/.github/workflows/arm-nightly.yml
@@ -20,11 +20,11 @@ jobs:
     #     python_version: ['3.9', '3.10', '3.11', '3.12']
 
 
-    # env:
-    #   # quote the number because yaml thinks 3.10 and 3.1 are the same, like it's a number, man.
-    #   # https://yaml.org/spec/1.2.2/ the yaml spec is 50 pages
-    #   PYTHON_VERSION: '3.11'
-    #   # PYTHON_VERSION: ${{matrix.python_version}}
+    env:
+      # quote the number because yaml thinks 3.10 and 3.1 are the same, like it's a number, man.
+      # https://yaml.org/spec/1.2.2/ the yaml spec is 50 pages
+      PYTHON_VERSION: '3.11'
+      # PYTHON_VERSION: ${{matrix.python_version}}
 
     steps:
       - name: Checkout
@@ -38,81 +38,22 @@ jobs:
           cpu: $CPU
           commands: |
             cat /proc/cpuinfo
-
-      # - name: Setup Python
-      #   uses: actions/setup-python@v5
-      #   with:
-      #     python-version: '3.11'
-      #     # python-version: ${{matrix.python_version}}
-
-      - name: Install 1
-        uses: pguyot/arm-runner-action@v2
-        with:
-          base_image: $IMG
-          bind_mount_repository: $BIND
-          cpu: $CPU
-          commands: |
             sudo apt-get -y update
+            sudo apt-get -y install python3 cmake build-essential pkg-config python3-numpy
+            sudo apt-get -y install libboost-all-dev ninja-build 
+            sudo apt-get -y install g++ g++-multilib
+            echo "CC=aarch64-linux-gnu-gcc" >> $GITHUB_ENV
+            echo "CXX=aarch64-linux-gnu-g++" >> $GITHUB_ENV
+            bash .github/scripts/python.sh -d
+            python3 -m pip install -r python/dev_requirements.txt
+            echo "NIGHTLY=1" >> $GITHUB_ENV
+            bash .github/scripts/python.sh -b
+            bash .github/scripts/python.sh -t
+            python3 -m pip install --upgrade pip auditwheel
+            python3 -m pip wheel build/python -w build/python/dist
+            ldd --version
+            python3 -m auditwheel repair --plat manylinux_2_35_aarch64 -w build/python/repaired/ build/python/dist/truher_gtsam_nightly*
 
-      # - name: Install 2
-      #   run: sudo apt-get -y install cmake build-essential pkg-config python3-numpy libboost-all-dev ninja-build
-
-      # - name: Install 3
-      #   run: sudo apt-get install -y g++ g++-multilib
-
-      # - name: Install g++
-      #   run: sudo apt-get install -y g++-aarch64-linux-gnu
-
-      # - name: Install gcc
-      #   run: sudo apt-get install -y gcc-aarch64-linux-gnu
-
-      # - name: Set compiler env
-      #   run: |
-      #     echo "CC=aarch64-linux-gnu-gcc" >> $GITHUB_ENV
-      #     echo "CXX=aarch64-linux-gnu-g++" >> $GITHUB_ENV
-
-      # - name: Set Swap Space (Linux)
-      #   uses: pierotofy/set-swap-space@master
-      #   with:
-      #     swap-size-gb: 6
-
-      # - name: Install System Dependencies
-      #   run: |
-      #     bash .github/scripts/python.sh -d
-
-      # - name: Install Python Dependencies
-      #   shell: bash
-      #   run: python3 -m pip install -r python/dev_requirements.txt
-
-      # - name: Set Nightly Flag
-      #   run: echo "NIGHTLY=1" >> $GITHUB_ENV
-
-      # - name: Build
-      #   # Builds the cmake "python-install" target which is a local install.
-      #   shell: bash
-      #   run: |
-      #     bash .github/scripts/python.sh -b
-
-      # - name: Test
-      #   # Uses the local install for python3 -m unittest.
-      #   shell: bash
-      #   run: |
-      #     bash .github/scripts/python.sh -t
-
-      # - name: Install Build Tools
-      #   run: python3 -m pip install --upgrade pip auditwheel
-
-      # - name: Build for Publishing
-      #   run: python3 -m pip wheel build/python -w build/python/dist
-
-      # - name: ldd
-      #   run: ldd --version
-
-      # - name: Repair Wheels
-      #   run: python3 -m auditwheel repair --plat manylinux_2_35_aarch64 -w build/python/repaired/ build/python/dist/truher_gtsam_nightly*
-
-      # - name: ls
-      #   run: ls -R build/python
 
       # - name: Upload Artifacts
       #   uses: actions/upload-artifact@v4

From c5ea5a2b8ed9b266e77138c84347d3cfba1ea58e Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Wed, 27 Nov 2024 19:54:26 -0800
Subject: [PATCH 69/97] a whole lot more disk

---
 .github/workflows/arm-nightly.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/arm-nightly.yml b/.github/workflows/arm-nightly.yml
index 44a00c1c03..f407b249df 100644
--- a/.github/workflows/arm-nightly.yml
+++ b/.github/workflows/arm-nightly.yml
@@ -36,6 +36,7 @@ jobs:
           base_image: $IMG
           bind_mount_repository: $BIND
           cpu: $CPU
+          image_additional_mb: 20000
           commands: |
             cat /proc/cpuinfo
             sudo apt-get -y update

From 25c10cca6bf36ee8afbc985132e557d3a381ad4b Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Wed, 27 Nov 2024 20:10:52 -0800
Subject: [PATCH 70/97] remove multilib

---
 .github/workflows/arm-nightly.yml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/arm-nightly.yml b/.github/workflows/arm-nightly.yml
index f407b249df..c78033a7c0 100644
--- a/.github/workflows/arm-nightly.yml
+++ b/.github/workflows/arm-nightly.yml
@@ -36,13 +36,14 @@ jobs:
           base_image: $IMG
           bind_mount_repository: $BIND
           cpu: $CPU
+          debug: false
           image_additional_mb: 20000
           commands: |
             cat /proc/cpuinfo
             sudo apt-get -y update
             sudo apt-get -y install python3 cmake build-essential pkg-config python3-numpy
             sudo apt-get -y install libboost-all-dev ninja-build 
-            sudo apt-get -y install g++ g++-multilib
+            sudo apt-get -y install g++
             echo "CC=aarch64-linux-gnu-gcc" >> $GITHUB_ENV
             echo "CXX=aarch64-linux-gnu-g++" >> $GITHUB_ENV
             bash .github/scripts/python.sh -d

From 16fa46aceced9ebfaa484c280ddad9518672a615 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Wed, 27 Nov 2024 20:28:01 -0800
Subject: [PATCH 71/97] add printing

---
 .github/workflows/arm-nightly.yml | 20 +++++++++++++++++---
 1 file changed, 17 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/arm-nightly.yml b/.github/workflows/arm-nightly.yml
index c78033a7c0..6a54022e9b 100644
--- a/.github/workflows/arm-nightly.yml
+++ b/.github/workflows/arm-nightly.yml
@@ -36,24 +36,38 @@ jobs:
           base_image: $IMG
           bind_mount_repository: $BIND
           cpu: $CPU
-          debug: false
+          debug: true
           image_additional_mb: 20000
           commands: |
+            echo "=== CPU INFO ==="
             cat /proc/cpuinfo
+            echo "=== UPDATE ==="
             sudo apt-get -y update
+            echo "=== INSTALL 1 ==="
             sudo apt-get -y install python3 cmake build-essential pkg-config python3-numpy
+            echo "=== INSTALL 2 ==="
             sudo apt-get -y install libboost-all-dev ninja-build 
+            echo "=== INSTALL 3 ==="
             sudo apt-get -y install g++
-            echo "CC=aarch64-linux-gnu-gcc" >> $GITHUB_ENV
-            echo "CXX=aarch64-linux-gnu-g++" >> $GITHUB_ENV
+            echo "=== SET VARS ==="            
+            echo "CC=gcc" >> $GITHUB_ENV
+            echo "CXX=g++" >> $GITHUB_ENV
+            echo "=== DEPEND ==="
             bash .github/scripts/python.sh -d
+            echo "=== REQ ==="
             python3 -m pip install -r python/dev_requirements.txt
             echo "NIGHTLY=1" >> $GITHUB_ENV
+            echo "=== BUILD ==="
             bash .github/scripts/python.sh -b
+            echo "=== TEST ==="
             bash .github/scripts/python.sh -t
+            echo "=== INSTALL AUDITWHEEL ==="
             python3 -m pip install --upgrade pip auditwheel
+            echo "=== BUILD WHEEL ==="
             python3 -m pip wheel build/python -w build/python/dist
+            echo "=== CHECK LDD VERSION ==="
             ldd --version
+            echo "=== AUDITWHEEL ==="
             python3 -m auditwheel repair --plat manylinux_2_35_aarch64 -w build/python/repaired/ build/python/dist/truher_gtsam_nightly*
 
 

From ab7fbdf8394ca8e0e1a7f91eac7a069484fdef54 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Wed, 27 Nov 2024 20:36:35 -0800
Subject: [PATCH 72/97] move env setters out of arm runner

---
 .github/workflows/arm-nightly.yml | 11 +++++++----
 1 file changed, 7 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/arm-nightly.yml b/.github/workflows/arm-nightly.yml
index 6a54022e9b..e3eb94de88 100644
--- a/.github/workflows/arm-nightly.yml
+++ b/.github/workflows/arm-nightly.yml
@@ -30,6 +30,13 @@ jobs:
       - name: Checkout
         uses: actions/checkout@v4
 
+      - name: env
+        run: |
+            echo "=== SET VARS ==="            
+            echo "CC=gcc" >> $GITHUB_ENV
+            echo "CXX=g++" >> $GITHUB_ENV
+            echo "NIGHTLY=1" >> $GITHUB_ENV
+
       - name: Run on ARM
         uses: pguyot/arm-runner-action@v2
         with:
@@ -49,14 +56,10 @@ jobs:
             sudo apt-get -y install libboost-all-dev ninja-build 
             echo "=== INSTALL 3 ==="
             sudo apt-get -y install g++
-            echo "=== SET VARS ==="            
-            echo "CC=gcc" >> $GITHUB_ENV
-            echo "CXX=g++" >> $GITHUB_ENV
             echo "=== DEPEND ==="
             bash .github/scripts/python.sh -d
             echo "=== REQ ==="
             python3 -m pip install -r python/dev_requirements.txt
-            echo "NIGHTLY=1" >> $GITHUB_ENV
             echo "=== BUILD ==="
             bash .github/scripts/python.sh -b
             echo "=== TEST ==="

From 89bd62d4827804f8ecfb960e9a93c4d858aaf159 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Wed, 27 Nov 2024 20:45:08 -0800
Subject: [PATCH 73/97] remove unnecesary requirements

---
 .github/workflows/arm-nightly.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/arm-nightly.yml b/.github/workflows/arm-nightly.yml
index e3eb94de88..bfe942b909 100644
--- a/.github/workflows/arm-nightly.yml
+++ b/.github/workflows/arm-nightly.yml
@@ -58,8 +58,8 @@ jobs:
             sudo apt-get -y install g++
             echo "=== DEPEND ==="
             bash .github/scripts/python.sh -d
-            echo "=== REQ ==="
-            python3 -m pip install -r python/dev_requirements.txt
+            # echo "=== REQ ==="
+            # python3 -m pip install -r python/dev_requirements.txt
             echo "=== BUILD ==="
             bash .github/scripts/python.sh -b
             echo "=== TEST ==="

From 5c731b0b3d1b07651e4c42c5bfd3bafbaac038ba Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Wed, 27 Nov 2024 20:46:56 -0800
Subject: [PATCH 74/97] break system

---
 .github/workflows/arm-nightly.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/arm-nightly.yml b/.github/workflows/arm-nightly.yml
index bfe942b909..c9b7958ea5 100644
--- a/.github/workflows/arm-nightly.yml
+++ b/.github/workflows/arm-nightly.yml
@@ -58,8 +58,8 @@ jobs:
             sudo apt-get -y install g++
             echo "=== DEPEND ==="
             bash .github/scripts/python.sh -d
-            # echo "=== REQ ==="
-            # python3 -m pip install -r python/dev_requirements.txt
+            echo "=== REQ ==="
+            python3 -m pip install --break-system-packages -r python/dev_requirements.txt
             echo "=== BUILD ==="
             bash .github/scripts/python.sh -b
             echo "=== TEST ==="

From f10a78493c2bd13c71816e9c78478d82e2540b9c Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Wed, 27 Nov 2024 21:00:53 -0800
Subject: [PATCH 75/97] debug

---
 .github/workflows/arm-nightly.yml | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/.github/workflows/arm-nightly.yml b/.github/workflows/arm-nightly.yml
index c9b7958ea5..0015dcc499 100644
--- a/.github/workflows/arm-nightly.yml
+++ b/.github/workflows/arm-nightly.yml
@@ -60,6 +60,10 @@ jobs:
             bash .github/scripts/python.sh -d
             echo "=== REQ ==="
             python3 -m pip install --break-system-packages -r python/dev_requirements.txt
+            echo "=== PWD ==="
+            pwd
+            echo "=== ls ==="
+            ls -R
             echo "=== BUILD ==="
             bash .github/scripts/python.sh -b
             echo "=== TEST ==="

From 7ca6011bcb92e08c966eebbe3338010ea61f85da Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Wed, 27 Nov 2024 21:11:06 -0800
Subject: [PATCH 76/97] use the same path as the normal way

---
 .github/workflows/arm-nightly.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/arm-nightly.yml b/.github/workflows/arm-nightly.yml
index 0015dcc499..3cdc1882d2 100644
--- a/.github/workflows/arm-nightly.yml
+++ b/.github/workflows/arm-nightly.yml
@@ -42,6 +42,7 @@ jobs:
         with:
           base_image: $IMG
           bind_mount_repository: $BIND
+          copy_repository_path: /home/runner/work/gtsam
           cpu: $CPU
           debug: true
           image_additional_mb: 20000

From 58b1c56ceb83556922434e775663717af113c359 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Wed, 27 Nov 2024 21:22:31 -0800
Subject: [PATCH 77/97] don't build geographic lib

---
 gtsam/3rdparty/CMakeLists.txt | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/gtsam/3rdparty/CMakeLists.txt b/gtsam/3rdparty/CMakeLists.txt
index a1e917bbe3..41f494a06e 100644
--- a/gtsam/3rdparty/CMakeLists.txt
+++ b/gtsam/3rdparty/CMakeLists.txt
@@ -73,7 +73,8 @@ if(GEOGRAPHICLIB-NOTFOUND)
 else()
   set(install_geographiclib_default OFF)
 endif()
-option(GTSAM_INSTALL_GEOGRAPHICLIB "Build and install the 3rd-party library GeographicLib" ${install_geographiclib_default})
+# option(GTSAM_INSTALL_GEOGRAPHICLIB "Build and install the 3rd-party library GeographicLib" ${install_geographiclib_default})
+option(GTSAM_INSTALL_GEOGRAPHICLIB "Build and install the 3rd-party library GeographicLib" OFF)
 
 # Print warning if we'll overwrite GeographicLib
 if(GEOGRAPHICLIB_FOUND AND GTSAM_INSTALL_GEOGRAPHICLIB)

From 18a6e364b7353c791bebbc0bcf33a1cd7f7a6b31 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Wed, 27 Nov 2024 21:48:07 -0800
Subject: [PATCH 78/97] adjust repository path

---
 .github/workflows/arm-nightly.yml | 2 +-
 gtsam/3rdparty/CMakeLists.txt     | 3 +--
 2 files changed, 2 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/arm-nightly.yml b/.github/workflows/arm-nightly.yml
index 3cdc1882d2..7e8fd0d202 100644
--- a/.github/workflows/arm-nightly.yml
+++ b/.github/workflows/arm-nightly.yml
@@ -42,7 +42,7 @@ jobs:
         with:
           base_image: $IMG
           bind_mount_repository: $BIND
-          copy_repository_path: /home/runner/work/gtsam
+          copy_repository_path: /home/runner/work
           cpu: $CPU
           debug: true
           image_additional_mb: 20000
diff --git a/gtsam/3rdparty/CMakeLists.txt b/gtsam/3rdparty/CMakeLists.txt
index 41f494a06e..a1e917bbe3 100644
--- a/gtsam/3rdparty/CMakeLists.txt
+++ b/gtsam/3rdparty/CMakeLists.txt
@@ -73,8 +73,7 @@ if(GEOGRAPHICLIB-NOTFOUND)
 else()
   set(install_geographiclib_default OFF)
 endif()
-# option(GTSAM_INSTALL_GEOGRAPHICLIB "Build and install the 3rd-party library GeographicLib" ${install_geographiclib_default})
-option(GTSAM_INSTALL_GEOGRAPHICLIB "Build and install the 3rd-party library GeographicLib" OFF)
+option(GTSAM_INSTALL_GEOGRAPHICLIB "Build and install the 3rd-party library GeographicLib" ${install_geographiclib_default})
 
 # Print warning if we'll overwrite GeographicLib
 if(GEOGRAPHICLIB_FOUND AND GTSAM_INSTALL_GEOGRAPHICLIB)

From e5d26bfed99364b38685aaa1dae825bff162beb0 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Thu, 28 Nov 2024 07:46:53 -0800
Subject: [PATCH 79/97] repo path

---
 .github/workflows/arm-nightly.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/arm-nightly.yml b/.github/workflows/arm-nightly.yml
index 7e8fd0d202..b7c38826b5 100644
--- a/.github/workflows/arm-nightly.yml
+++ b/.github/workflows/arm-nightly.yml
@@ -42,7 +42,7 @@ jobs:
         with:
           base_image: $IMG
           bind_mount_repository: $BIND
-          copy_repository_path: /home/runner/work
+          copy_repository_path: /home/runner/work/gtsam/gtsam
           cpu: $CPU
           debug: true
           image_additional_mb: 20000

From 77d04c161c66c124c503e8349ecce0821a5aa777 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Thu, 28 Nov 2024 10:36:40 -0800
Subject: [PATCH 80/97] break system packages

---
 python/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index 5ea57b4393..27eb035f76 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -305,7 +305,7 @@ endif()
 set(GTSAM_PYTHON_INSTALL_TARGET python-install)
 
 add_custom_target(${GTSAM_PYTHON_INSTALL_TARGET}
-        COMMAND ${PYTHON_EXECUTABLE} -c "import sys, subprocess; cmd = [sys.executable, '-m', 'pip', 'install']; has_venv = hasattr(sys, 'real_prefix') or (hasattr(sys, 'base_prefix') and sys.base_prefix != sys.prefix); cmd.append('--user' if not has_venv else ''); cmd.append('.'); subprocess.check_call([c for c in cmd if c])"
+        COMMAND ${PYTHON_EXECUTABLE} -c "import sys, subprocess; cmd = [sys.executable, '-m', 'pip', 'install', '--break-system-packages']; has_venv = hasattr(sys, 'real_prefix') or (hasattr(sys, 'base_prefix') and sys.base_prefix != sys.prefix); cmd.append('--user' if not has_venv else ''); cmd.append('.'); subprocess.check_call([c for c in cmd if c])"
         DEPENDS ${GTSAM_PYTHON_DEPENDENCIES} ${GTSAM_PYTHON_INSTALL_EXTRA}
         WORKING_DIRECTORY ${GTSAM_PYTHON_BUILD_DIRECTORY}
         VERBATIM)

From d0ab7441e565de95cdbd954386379d1db7c72ad4 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Thu, 28 Nov 2024 11:49:52 -0800
Subject: [PATCH 81/97] maybe fix some of the other builds

---
 .github/scripts/unix.sh             | 2 ++
 .github/workflows/build-windows.yml | 1 +
 2 files changed, 3 insertions(+)

diff --git a/.github/scripts/unix.sh b/.github/scripts/unix.sh
index 09fcd788bf..c89d0e03ab 100644
--- a/.github/scripts/unix.sh
+++ b/.github/scripts/unix.sh
@@ -37,11 +37,13 @@ function configure()
 
   # GTSAM_BUILD_WITH_MARCH_NATIVE=OFF: to avoid crashes in builder VMs
   # CMAKE_CXX_FLAGS="-w": Suppress warnings to avoid IO latency in CI logs
+  # note explicit BUILD_SHARED_LIBS=OFF.
   export CMAKE_GENERATOR=Ninja
   cmake $GITHUB_WORKSPACE \
       -B build \
       -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE:-Debug} \
       -DCMAKE_CXX_FLAGS="-w" \
+      -DBUILD_SHARED_LIBS=OFF \
       -DGTSAM_BUILD_TESTS=${GTSAM_BUILD_TESTS:-OFF} \
       -DGTSAM_BUILD_UNSTABLE=${GTSAM_BUILD_UNSTABLE:-ON} \
       -DGTSAM_WITH_TBB=${GTSAM_WITH_TBB:-OFF} \
diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index 20b4a846f9..d2e3d985a3 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -115,6 +115,7 @@ jobs:
                 -S . \
                 -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
                 -DGTSAM_ALLOW_DEPRECATED_SINCE_V43=OFF \
+                -DBUILD_SHARED_LIBS=ON \
                 -DBOOST_ROOT="${BOOST_ROOT}" \
                 -DBOOST_INCLUDEDIR="${BOOST_ROOT}\boost\include" \
                 -DBOOST_LIBRARYDIR="${BOOST_ROOT}\lib"

From 7812a4737023745070126d8e1275276eeb670758 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Thu, 28 Nov 2024 13:32:13 -0800
Subject: [PATCH 82/97] comment out a broken test for now

---
 .github/workflows/build-linux.yml | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/build-linux.yml b/.github/workflows/build-linux.yml
index da398ad235..d77f6a12d4 100644
--- a/.github/workflows/build-linux.yml
+++ b/.github/workflows/build-linux.yml
@@ -89,5 +89,8 @@ jobs:
         run: |
           sudo apt-get -y install libboost-all-dev
 
-      - name: Build and Test
+      - name: Build
+        run: bash .github/scripts/unix.sh -b
+
+      - name: Test
         run: bash .github/scripts/unix.sh -t

From 1fe978c916c8327cf3765ef9baf924ab5d30ec14 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Thu, 28 Nov 2024 16:50:42 -0800
Subject: [PATCH 83/97] turn off broken test temporarily

---
 python/gtsam/tests/test_VisualISAMExample.py | 36 ++++++++++----------
 1 file changed, 18 insertions(+), 18 deletions(-)

diff --git a/python/gtsam/tests/test_VisualISAMExample.py b/python/gtsam/tests/test_VisualISAMExample.py
index dcf1af6f2d..e371dbade2 100644
--- a/python/gtsam/tests/test_VisualISAMExample.py
+++ b/python/gtsam/tests/test_VisualISAMExample.py
@@ -61,30 +61,30 @@ def test_VisualISAMExample(self):
             point_j = result.atPoint3(symbol('l', j))
             self.gtsamAssertEquals(point_j, expected_point, 1e-5)
 
-    def test_isam2_error(self):
-        """Test for isam2 error() method."""
-        # Initialize iSAM with the first pose and points
-        isam, result, nextPose = visual_isam.initialize(
-            self.data, self.truth, self.isamOptions)
+    # def test_isam2_error(self):
+    #     """Test for isam2 error() method."""
+    #     # Initialize iSAM with the first pose and points
+    #     isam, result, nextPose = visual_isam.initialize(
+    #         self.data, self.truth, self.isamOptions)
 
-        # Main loop for iSAM: stepping through all poses
-        for currentPose in range(nextPose, self.options.nrCameras):
-            isam, result = visual_isam.step(self.data, isam, result,
-                                            self.truth, currentPose)
+    #     # Main loop for iSAM: stepping through all poses
+    #     for currentPose in range(nextPose, self.options.nrCameras):
+    #         isam, result = visual_isam.step(self.data, isam, result,
+    #                                         self.truth, currentPose)
 
-        values = gtsam.VectorValues()
+    #     values = gtsam.VectorValues()
 
-        estimate = isam.calculateBestEstimate()
+    #     estimate = isam.calculateBestEstimate()
 
-        for key in estimate.keys():
-            try:
-                v = gtsam.Pose3.Logmap(estimate.atPose3(key))
-            except RuntimeError:
-                v = estimate.atPoint3(key)
+    #     for key in estimate.keys():
+    #         try:
+    #             v = gtsam.Pose3.Logmap(estimate.atPose3(key))
+    #         except RuntimeError:
+    #             v = estimate.atPoint3(key)
 
-            values.insert(key, v)
+    #         values.insert(key, v)
 
-        self.assertAlmostEqual(isam.error(values), 34212421.14732)
+    #     self.assertAlmostEqual(isam.error(values), 34212421.14732)
 
     def test_isam2_update(self):
         """

From ed2630b817f9fb84e968247f13423900996e2531 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Thu, 28 Nov 2024 22:34:47 -0800
Subject: [PATCH 84/97] break system packages

---
 .github/workflows/arm-nightly.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/arm-nightly.yml b/.github/workflows/arm-nightly.yml
index b7c38826b5..041c5b395d 100644
--- a/.github/workflows/arm-nightly.yml
+++ b/.github/workflows/arm-nightly.yml
@@ -70,7 +70,7 @@ jobs:
             echo "=== TEST ==="
             bash .github/scripts/python.sh -t
             echo "=== INSTALL AUDITWHEEL ==="
-            python3 -m pip install --upgrade pip auditwheel
+            python3 -m pip install --break-system-packages --upgrade pip auditwheel
             echo "=== BUILD WHEEL ==="
             python3 -m pip wheel build/python -w build/python/dist
             echo "=== CHECK LDD VERSION ==="

From 5a13013f63b703dda56796e6c8cba72d3186ab60 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Fri, 29 Nov 2024 09:37:19 -0800
Subject: [PATCH 85/97] install patchelf

---
 .github/workflows/arm-nightly.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/arm-nightly.yml b/.github/workflows/arm-nightly.yml
index 041c5b395d..449f29436b 100644
--- a/.github/workflows/arm-nightly.yml
+++ b/.github/workflows/arm-nightly.yml
@@ -70,7 +70,7 @@ jobs:
             echo "=== TEST ==="
             bash .github/scripts/python.sh -t
             echo "=== INSTALL AUDITWHEEL ==="
-            python3 -m pip install --break-system-packages --upgrade pip auditwheel
+            python3 -m pip install --break-system-packages --upgrade pip auditwheel patchelf
             echo "=== BUILD WHEEL ==="
             python3 -m pip wheel build/python -w build/python/dist
             echo "=== CHECK LDD VERSION ==="

From 2ba85622dc79a83b69bd732e6067a7af78dc3d1d Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Fri, 29 Nov 2024 09:42:16 -0800
Subject: [PATCH 86/97] install patchelf with apt

---
 .github/workflows/arm-nightly.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/arm-nightly.yml b/.github/workflows/arm-nightly.yml
index 449f29436b..74830deb81 100644
--- a/.github/workflows/arm-nightly.yml
+++ b/.github/workflows/arm-nightly.yml
@@ -56,7 +56,7 @@ jobs:
             echo "=== INSTALL 2 ==="
             sudo apt-get -y install libboost-all-dev ninja-build 
             echo "=== INSTALL 3 ==="
-            sudo apt-get -y install g++
+            sudo apt-get -y install g++ patchelf
             echo "=== DEPEND ==="
             bash .github/scripts/python.sh -d
             echo "=== REQ ==="
@@ -70,7 +70,7 @@ jobs:
             echo "=== TEST ==="
             bash .github/scripts/python.sh -t
             echo "=== INSTALL AUDITWHEEL ==="
-            python3 -m pip install --break-system-packages --upgrade pip auditwheel patchelf
+            python3 -m pip install --break-system-packages --upgrade pip auditwheel
             echo "=== BUILD WHEEL ==="
             python3 -m pip wheel build/python -w build/python/dist
             echo "=== CHECK LDD VERSION ==="

From d7e5d22aeacd5fb1eb0be323c1aa120098674abc Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Fri, 29 Nov 2024 13:10:10 -0800
Subject: [PATCH 87/97] turn on uploading

---
 .github/workflows/arm-nightly.yml | 54 +++++++++++++++----------------
 1 file changed, 27 insertions(+), 27 deletions(-)

diff --git a/.github/workflows/arm-nightly.yml b/.github/workflows/arm-nightly.yml
index 74830deb81..84c3bbde85 100644
--- a/.github/workflows/arm-nightly.yml
+++ b/.github/workflows/arm-nightly.yml
@@ -79,33 +79,33 @@ jobs:
             python3 -m auditwheel repair --plat manylinux_2_35_aarch64 -w build/python/repaired/ build/python/dist/truher_gtsam_nightly*
 
 
-      # - name: Upload Artifacts
-      #   uses: actions/upload-artifact@v4
-      #   with:
-      #     # TODO: define the name as ENV, use it in CMakeLists.txt 
-      #     name: artifact311
-      #     # name: artifact${{matrix.python_version}}
-      #     path: build/python/repaired/truher_gtsam_nightly*
+      - name: Upload Artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          # TODO: define the name as ENV, use it in CMakeLists.txt 
+          name: artifact311
+          # name: artifact${{matrix.python_version}}
+          path: build/python/repaired/truher_gtsam_nightly*
       
 
-  # upload_all:
-  #   # Waits for all the builds to finish
-  #   # Downloads all their wheels
-  #   # Uploads them all at once.
-  #   name: Upload All
-  #   needs: build
-  #   runs-on: ubuntu-latest
-  #   permissions:
-  #     id-token: write
-  #   steps:
-  #     - name: Download Artifacts
-  #       uses: actions/download-artifact@v4
-  #       with:
-  #         path: dist/
-  #         merge-multiple: true
+  upload_all:
+    # Waits for all the builds to finish
+    # Downloads all their wheels
+    # Uploads them all at once.
+    name: Upload All
+    needs: build
+    runs-on: ubuntu-latest
+    permissions:
+      id-token: write
+    steps:
+      - name: Download Artifacts
+        uses: actions/download-artifact@v4
+        with:
+          path: dist/
+          merge-multiple: true
 
-  #     - name: Publish
-  #       uses: pypa/gh-action-pypi-publish@release/v1
-  #       with:
-  #         packages-dir: dist/
-  #         repository-url: https://test.pypi.org/legacy/
\ No newline at end of file
+      - name: Publish
+        uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          packages-dir: dist/
+          repository-url: https://test.pypi.org/legacy/
\ No newline at end of file

From 963f62bb2ba10b4f3101f18db9ca4e0018e51466 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Fri, 29 Nov 2024 18:43:56 -0800
Subject: [PATCH 88/97] add BatchFixedLagSmoother.getFactors() to nightly2 to
 make more  tests pass

---
 gtsam/nonlinear/nonlinear.i | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/gtsam/nonlinear/nonlinear.i b/gtsam/nonlinear/nonlinear.i
index 09c234630e..5d15c11634 100644
--- a/gtsam/nonlinear/nonlinear.i
+++ b/gtsam/nonlinear/nonlinear.i
@@ -715,6 +715,9 @@ virtual class BatchFixedLagSmoother : gtsam::FixedLagSmoother {
   void print(string s = "BatchFixedLagSmoother:\n") const;
 
   gtsam::LevenbergMarquardtParams params() const;
+
+  gtsam::NonlinearFactorGraph getFactors() const;
+
   template <VALUE = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
                      gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2,
                      gtsam::Vector, gtsam::Matrix}>

From 7f4cfba5b21cce237ea292b16bd4361075683de1 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Sat, 30 Nov 2024 09:19:21 -0800
Subject: [PATCH 89/97] add const to getFactors()

---
 gtsam/nonlinear/nonlinear.i | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/nonlinear/nonlinear.i b/gtsam/nonlinear/nonlinear.i
index 5d15c11634..77a9ac9a41 100644
--- a/gtsam/nonlinear/nonlinear.i
+++ b/gtsam/nonlinear/nonlinear.i
@@ -716,7 +716,7 @@ virtual class BatchFixedLagSmoother : gtsam::FixedLagSmoother {
 
   gtsam::LevenbergMarquardtParams params() const;
 
-  gtsam::NonlinearFactorGraph getFactors() const;
+  const gtsam::NonlinearFactorGraph getFactors() const;
 
   template <VALUE = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
                      gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2,

From 70cfc3e8d09e88f63269fee063865cf85b2f895f Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Sat, 30 Nov 2024 19:24:26 -0800
Subject: [PATCH 90/97] separate sh for nightly with switches; put the other
 stuff back

---
 .github/scripts/nightly.sh          | 106 ++++++++++++++++++++++++++++
 .github/scripts/python.sh           |   2 -
 .github/scripts/unix.sh             |   2 -
 .github/workflows/arm-nightly.yml   |   6 +-
 .github/workflows/build-windows.yml |   1 -
 cmake/HandleGeneralOptions.cmake    |   3 +-
 python/pyproject.toml.in            |   3 +-
 7 files changed, 112 insertions(+), 11 deletions(-)
 create mode 100644 .github/scripts/nightly.sh

diff --git a/.github/scripts/nightly.sh b/.github/scripts/nightly.sh
new file mode 100644
index 0000000000..ec5ba9af7b
--- /dev/null
+++ b/.github/scripts/nightly.sh
@@ -0,0 +1,106 @@
+#!/bin/bash
+
+##########################################################
+# Build and test the GTSAM Python wrapper.
+##########################################################
+
+set -x -e
+
+# install TBB with _debug.so files
+function install_tbb()
+{
+  echo install_tbb
+  if [ "$(uname)" == "Linux" ]; then
+    sudo apt-get -y install libtbb-dev
+
+  elif [ "$(uname)" == "Darwin" ]; then
+    brew install tbb
+  fi
+}
+
+if [ -z ${PYTHON_VERSION+x} ]; then
+    echo "Please provide the Python version to build against!"
+    exit 127
+fi
+
+export PYTHON="python${PYTHON_VERSION}"
+
+function install_dependencies()
+{
+  if [[ $(uname) == "Darwin" ]]; then
+    brew install wget
+  else
+    # Install a system package required by our library
+    sudo apt-get install -y wget libicu-dev python3-pip python3-setuptools
+  fi
+
+  export PATH=$PATH:$($PYTHON -c "import site; print(site.USER_BASE)")/bin
+
+  if [ "${GTSAM_WITH_TBB:-OFF}" == "ON" ]; then
+    install_tbb
+  fi
+}
+
+# Chirality exception is thrown by the camera projection when the solver
+# randomly places the camera such that the landmarks are behind it.
+# This breaks the dependent python custom factor with numeric derivatives.
+
+# Build needs to be static to be included in the wheel at the end.
+
+function build()
+{
+  export CMAKE_GENERATOR=Ninja
+  BUILD_PYBIND="ON"
+  cmake $GITHUB_WORKSPACE \
+      -B build \
+      -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} \
+      -DGTSAM_BUILD_TESTS=OFF \
+      -DGTSAM_FORCE_SHARED_LIB=OFF \
+      -DGTSAM_BUILD_UNSTABLE=${GTSAM_BUILD_UNSTABLE:-ON} \
+      -DGTSAM_THROW_CHEIRALITY_EXCEPTION=OFF \
+      -DGTSAM_USE_QUATERNIONS=OFF \
+      -DGTSAM_WITH_TBB=${GTSAM_WITH_TBB:-OFF} \
+      -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
+      -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
+      -DGTSAM_BUILD_PYTHON=${BUILD_PYBIND} \
+      -DBUILD_SHARED_LIBS=OFF \
+      -DBUILD_STATIC_METIS=ON \
+      -DGTSAM_UNSTABLE_BUILD_PYTHON=${GTSAM_BUILD_UNSTABLE:-ON} \
+      -DGTSAM_PYTHON_VERSION=$PYTHON_VERSION \
+      -DPYTHON_EXECUTABLE:FILEPATH=$(which $PYTHON) \
+      -DGTSAM_ALLOW_DEPRECATED_SINCE_V43=OFF \
+      -DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/gtsam_install
+
+
+  # Set to 2 cores so that Actions does not error out during resource provisioning.
+  cmake --build build -j2
+
+  cmake --build build --target python-install
+}
+
+function test()
+{
+  cd $GITHUB_WORKSPACE/python/gtsam/tests
+  $PYTHON -m unittest discover -v
+  cd $GITHUB_WORKSPACE
+
+  cd $GITHUB_WORKSPACE/python/gtsam_unstable/tests
+  $PYTHON -m unittest discover -v
+  cd $GITHUB_WORKSPACE
+
+  # cmake --build build --target python-test
+  # cmake --build build --target python-test-unstable
+}
+
+# select between build or test
+case $1 in
+  -d)
+    install_dependencies
+    ;;
+  -b)
+    build
+    ;;
+  -t)
+    test
+    ;;
+esac
diff --git a/.github/scripts/python.sh b/.github/scripts/python.sh
index 4958b5ddb0..0c04eeec3d 100644
--- a/.github/scripts/python.sh
+++ b/.github/scripts/python.sh
@@ -55,8 +55,6 @@ function build()
       -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
       -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
       -DGTSAM_BUILD_PYTHON=${BUILD_PYBIND} \
-      -DBUILD_SHARED_LIBS=OFF \
-      -DBUILD_STATIC_METIS=ON \
       -DGTSAM_UNSTABLE_BUILD_PYTHON=${GTSAM_BUILD_UNSTABLE:-ON} \
       -DGTSAM_PYTHON_VERSION=$PYTHON_VERSION \
       -DPYTHON_EXECUTABLE:FILEPATH=$(which $PYTHON) \
diff --git a/.github/scripts/unix.sh b/.github/scripts/unix.sh
index c89d0e03ab..09fcd788bf 100644
--- a/.github/scripts/unix.sh
+++ b/.github/scripts/unix.sh
@@ -37,13 +37,11 @@ function configure()
 
   # GTSAM_BUILD_WITH_MARCH_NATIVE=OFF: to avoid crashes in builder VMs
   # CMAKE_CXX_FLAGS="-w": Suppress warnings to avoid IO latency in CI logs
-  # note explicit BUILD_SHARED_LIBS=OFF.
   export CMAKE_GENERATOR=Ninja
   cmake $GITHUB_WORKSPACE \
       -B build \
       -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE:-Debug} \
       -DCMAKE_CXX_FLAGS="-w" \
-      -DBUILD_SHARED_LIBS=OFF \
       -DGTSAM_BUILD_TESTS=${GTSAM_BUILD_TESTS:-OFF} \
       -DGTSAM_BUILD_UNSTABLE=${GTSAM_BUILD_UNSTABLE:-ON} \
       -DGTSAM_WITH_TBB=${GTSAM_WITH_TBB:-OFF} \
diff --git a/.github/workflows/arm-nightly.yml b/.github/workflows/arm-nightly.yml
index 84c3bbde85..348db80447 100644
--- a/.github/workflows/arm-nightly.yml
+++ b/.github/workflows/arm-nightly.yml
@@ -58,7 +58,7 @@ jobs:
             echo "=== INSTALL 3 ==="
             sudo apt-get -y install g++ patchelf
             echo "=== DEPEND ==="
-            bash .github/scripts/python.sh -d
+            bash .github/scripts/nightly.sh -d
             echo "=== REQ ==="
             python3 -m pip install --break-system-packages -r python/dev_requirements.txt
             echo "=== PWD ==="
@@ -66,9 +66,9 @@ jobs:
             echo "=== ls ==="
             ls -R
             echo "=== BUILD ==="
-            bash .github/scripts/python.sh -b
+            bash .github/scripts/nightly.sh -b
             echo "=== TEST ==="
-            bash .github/scripts/python.sh -t
+            bash .github/scripts/nightly.sh -t
             echo "=== INSTALL AUDITWHEEL ==="
             python3 -m pip install --break-system-packages --upgrade pip auditwheel
             echo "=== BUILD WHEEL ==="
diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index d2e3d985a3..20b4a846f9 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -115,7 +115,6 @@ jobs:
                 -S . \
                 -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
                 -DGTSAM_ALLOW_DEPRECATED_SINCE_V43=OFF \
-                -DBUILD_SHARED_LIBS=ON \
                 -DBOOST_ROOT="${BOOST_ROOT}" \
                 -DBOOST_INCLUDEDIR="${BOOST_ROOT}\boost\include" \
                 -DBOOST_LIBRARYDIR="${BOOST_ROOT}\lib"
diff --git a/cmake/HandleGeneralOptions.cmake b/cmake/HandleGeneralOptions.cmake
index 8cfc7ed64a..8c56ae242e 100644
--- a/cmake/HandleGeneralOptions.cmake
+++ b/cmake/HandleGeneralOptions.cmake
@@ -26,8 +26,7 @@ if(GTSAM_UNSTABLE_AVAILABLE)
     option(GTSAM_UNSTABLE_BUILD_PYTHON       "Enable/Disable Python wrapper for libgtsam_unstable" ON)
     option(GTSAM_UNSTABLE_INSTALL_MATLAB_TOOLBOX "Enable/Disable MATLAB wrapper for libgtsam_unstable" OFF)
 endif()
-# Don't force anything, set BUILD_SHARED_LIBS in python.sh
-option(GTSAM_FORCE_SHARED_LIB               "Force gtsam to be a shared library, overriding BUILD_SHARED_LIBS" OFF)
+option(GTSAM_FORCE_SHARED_LIB               "Force gtsam to be a shared library, overriding BUILD_SHARED_LIBS" ON)
 option(GTSAM_FORCE_STATIC_LIB               "Force gtsam to be a static library, overriding BUILD_SHARED_LIBS" OFF)
 option(GTSAM_USE_QUATERNIONS                "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices. If enable, Rot3::EXPMAP is enforced by default." OFF)
 option(GTSAM_POSE3_EXPMAP                   "Enable/Disable using Pose3::EXPMAP as the default mode. If disabled, Pose3::FIRST_ORDER will be used." ON)
diff --git a/python/pyproject.toml.in b/python/pyproject.toml.in
index 7ebde8f15a..c9081bf3ed 100644
--- a/python/pyproject.toml.in
+++ b/python/pyproject.toml.in
@@ -39,7 +39,8 @@ Homepage = "https://gtsam.org/"
 
 [tool.setuptools]
 ext-modules = [
-  {name = "gtsam", sources = []}
+  {name = "gtsam", sources = []},
+  {name = "gtsam_unstable", sources = []}
 ]
 
 [tool.setuptools.packages.find]

From 9e288fcc1c19462a2ae5a14aaa56593c06fad30a Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Sat, 30 Nov 2024 22:43:41 -0800
Subject: [PATCH 91/97] re-enable test_VisualISAMExample

---
 python/gtsam/tests/test_VisualISAMExample.py | 36 ++++++++++----------
 1 file changed, 18 insertions(+), 18 deletions(-)

diff --git a/python/gtsam/tests/test_VisualISAMExample.py b/python/gtsam/tests/test_VisualISAMExample.py
index e371dbade2..dcf1af6f2d 100644
--- a/python/gtsam/tests/test_VisualISAMExample.py
+++ b/python/gtsam/tests/test_VisualISAMExample.py
@@ -61,30 +61,30 @@ def test_VisualISAMExample(self):
             point_j = result.atPoint3(symbol('l', j))
             self.gtsamAssertEquals(point_j, expected_point, 1e-5)
 
-    # def test_isam2_error(self):
-    #     """Test for isam2 error() method."""
-    #     # Initialize iSAM with the first pose and points
-    #     isam, result, nextPose = visual_isam.initialize(
-    #         self.data, self.truth, self.isamOptions)
+    def test_isam2_error(self):
+        """Test for isam2 error() method."""
+        # Initialize iSAM with the first pose and points
+        isam, result, nextPose = visual_isam.initialize(
+            self.data, self.truth, self.isamOptions)
 
-    #     # Main loop for iSAM: stepping through all poses
-    #     for currentPose in range(nextPose, self.options.nrCameras):
-    #         isam, result = visual_isam.step(self.data, isam, result,
-    #                                         self.truth, currentPose)
+        # Main loop for iSAM: stepping through all poses
+        for currentPose in range(nextPose, self.options.nrCameras):
+            isam, result = visual_isam.step(self.data, isam, result,
+                                            self.truth, currentPose)
 
-    #     values = gtsam.VectorValues()
+        values = gtsam.VectorValues()
 
-    #     estimate = isam.calculateBestEstimate()
+        estimate = isam.calculateBestEstimate()
 
-    #     for key in estimate.keys():
-    #         try:
-    #             v = gtsam.Pose3.Logmap(estimate.atPose3(key))
-    #         except RuntimeError:
-    #             v = estimate.atPoint3(key)
+        for key in estimate.keys():
+            try:
+                v = gtsam.Pose3.Logmap(estimate.atPose3(key))
+            except RuntimeError:
+                v = estimate.atPoint3(key)
 
-    #         values.insert(key, v)
+            values.insert(key, v)
 
-    #     self.assertAlmostEqual(isam.error(values), 34212421.14732)
+        self.assertAlmostEqual(isam.error(values), 34212421.14732)
 
     def test_isam2_update(self):
         """

From 14cf8e7e416f19c846734ae1af9faa132056b0f8 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Sun, 1 Dec 2024 03:38:54 -0800
Subject: [PATCH 92/97] fix linux-nightly.yml

---
 .github/workflows/linux-nightly.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/linux-nightly.yml b/.github/workflows/linux-nightly.yml
index b960776df2..24bb78dfd4 100644
--- a/.github/workflows/linux-nightly.yml
+++ b/.github/workflows/linux-nightly.yml
@@ -44,7 +44,7 @@ jobs:
           swap-size-gb: 6
 
       - name: Install System Dependencies
-        run: bash .github/scripts/python.sh -d
+        run: bash .github/scripts/nightly.sh -d
 
       - name: Install Python Dependencies
         shell: bash
@@ -56,7 +56,7 @@ jobs:
       - name: Build
         # Builds the cmake "python-install" target which is a local install.
         shell: bash
-        run: bash .github/scripts/python.sh -b
+        run: bash .github/scripts/nightly.sh -b
 
       - name: Test
         # Uses the local install for python3 -m unittest.

From 7d9ad6736131bd7468d0eff4ca36186538ca3525 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Sun, 1 Dec 2024 12:08:08 -0800
Subject: [PATCH 93/97] add workflow_dispatch

---
 .github/workflows/build-linux.yml   | 2 +-
 .github/workflows/build-macos.yml   | 2 +-
 .github/workflows/build-python.yml  | 2 +-
 .github/workflows/build-special.yml | 2 +-
 .github/workflows/build-windows.yml | 2 +-
 5 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/build-linux.yml b/.github/workflows/build-linux.yml
index d77f6a12d4..e170d156a5 100644
--- a/.github/workflows/build-linux.yml
+++ b/.github/workflows/build-linux.yml
@@ -1,6 +1,6 @@
 name: Linux CI
 
-on: [pull_request]
+on: [pull_request, workflow_dispatch]
 
 # Every time you make a push to your PR, it cancel immediately the previous checks, 
 # and start a new one. The other runner will be available more quickly to your PR. 
diff --git a/.github/workflows/build-macos.yml b/.github/workflows/build-macos.yml
index e519164ec3..233cb9b4a7 100644
--- a/.github/workflows/build-macos.yml
+++ b/.github/workflows/build-macos.yml
@@ -1,6 +1,6 @@
 name: macOS CI
 
-on: [pull_request]
+on: [pull_request, workflow_dispatch]
 
 # Every time you make a push to your PR, it cancel immediately the previous checks, 
 # and start a new one. The other runner will be available more quickly to your PR. 
diff --git a/.github/workflows/build-python.yml b/.github/workflows/build-python.yml
index 24a7f6c90e..f9ced83256 100644
--- a/.github/workflows/build-python.yml
+++ b/.github/workflows/build-python.yml
@@ -1,6 +1,6 @@
 name: Python CI
 
-on: [pull_request]
+on: [pull_request, workflow_dispatch]
 
 # Every time you make a push to your PR, it cancel immediately the previous checks,
 # and start a new one. The other runner will be available more quickly to your PR.
diff --git a/.github/workflows/build-special.yml b/.github/workflows/build-special.yml
index 3a7dd974dc..abd0af7fc4 100644
--- a/.github/workflows/build-special.yml
+++ b/.github/workflows/build-special.yml
@@ -1,6 +1,6 @@
 name: Special Cases CI
 
-on: [pull_request]
+on: [pull_request, workflow_dispatch]
 
 # Every time you make a push to your PR, it cancel immediately the previous checks, 
 # and start a new one. The other runner will be available more quickly to your PR. 
diff --git a/.github/workflows/build-windows.yml b/.github/workflows/build-windows.yml
index 20b4a846f9..89cbe61edd 100644
--- a/.github/workflows/build-windows.yml
+++ b/.github/workflows/build-windows.yml
@@ -1,6 +1,6 @@
 name: Windows CI
 
-on: [pull_request]
+on: [pull_request, workflow_dispatch]
 
 # Every time you make a push to your PR, it cancel immediately the previous checks, 
 # and start a new one. The other runner will be available more quickly to your PR. 

From 792a459bd46f967053405d6e683fce5021d30f12 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Sun, 1 Dec 2024 14:54:54 -0800
Subject: [PATCH 94/97] try to fix the CI

---
 gtsam/3rdparty/cephes/CMakeLists.txt | 10 +++++++---
 python/CMakeLists.txt                | 12 ++++++++----
 python/setup.py.in                   |  3 +--
 3 files changed, 16 insertions(+), 9 deletions(-)

diff --git a/gtsam/3rdparty/cephes/CMakeLists.txt b/gtsam/3rdparty/cephes/CMakeLists.txt
index abb6c7379c..aafc45aa9c 100644
--- a/gtsam/3rdparty/cephes/CMakeLists.txt
+++ b/gtsam/3rdparty/cephes/CMakeLists.txt
@@ -89,9 +89,13 @@ set(CEPHES_SOURCES
     cephes/zetac.c)
 
 # Add library source files
-# Needs to be static for the python build to work.
-add_definitions(-fPIC)
-add_library(cephes-gtsam STATIC ${CEPHES_SOURCES})
+if (DEFINED ENV{NIGHTLY})
+  # Needs to be static for the nightly build to work.
+  add_definitions(-fPIC)
+  add_library(cephes-gtsam STATIC ${CEPHES_SOURCES})
+else()
+  add_library(cephes-gtsam SHARED ${CEPHES_SOURCES})
+endif()
 
 # Add include directory (aka headers)
 target_include_directories(
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index 27eb035f76..40686d37ee 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -7,11 +7,15 @@ endif()
 
 # Generate setup.py.
 file(READ "${PROJECT_SOURCE_DIR}/README.md" README_CONTENTS)
-# configure_file(${PROJECT_PYTHON_SOURCE_DIR}/setup.py.in
-#                ${GTSAM_PYTHON_BUILD_DIRECTORY}/setup.py)
 
-configure_file(${PROJECT_PYTHON_SOURCE_DIR}/pyproject.toml.in
-               ${GTSAM_PYTHON_BUILD_DIRECTORY}/pyproject.toml)
+if (DEFINED ENV{NIGHTLY})
+  # TODO: move all the builds to pyproject.toml
+  configure_file(${PROJECT_PYTHON_SOURCE_DIR}/pyproject.toml.in
+                 ${GTSAM_PYTHON_BUILD_DIRECTORY}/pyproject.toml)
+else()
+  configure_file(${PROJECT_PYTHON_SOURCE_DIR}/setup.py.in
+                 ${GTSAM_PYTHON_BUILD_DIRECTORY}/setup.py)
+endif()
 
 
 # Supply MANIFEST.in for older versions of Python
diff --git a/python/setup.py.in b/python/setup.py.in
index 088d1b465a..8cd9c8fec2 100644
--- a/python/setup.py.in
+++ b/python/setup.py.in
@@ -25,7 +25,6 @@ setup(
     name='${SETUP_NAME}',
     description='Georgia Tech Smoothing And Mapping library',
     url='https://gtsam.org/',
-    # This is set in the top-level CMakeLists.txt.
     version='${GTSAM_VERSION_STRING}',  # https://www.python.org/dev/peps/pep-0440/
     author='Frank Dellaert et. al.',
     author_email='frank.dellaert@gtsam.org',
@@ -43,7 +42,7 @@ setup(
         'Operating System :: Microsoft :: Windows',
         'Operating System :: POSIX',
         'License :: OSI Approved :: BSD License',
-        'Programming Language :: Python :: ${GTSAM_PYTHON_VERSION}',
+        'Programming Language :: Python :: 3',
     ],
     packages=packages,
     include_package_data=True,

From 21f692d24f98fbe83db6380e62ab103298079f72 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Sun, 1 Dec 2024 16:12:51 -0800
Subject: [PATCH 95/97] repair CI

---
 python/CMakeLists.txt | 11 ++++++++++-
 1 file changed, 10 insertions(+), 1 deletion(-)

diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index 40686d37ee..f5ddf95712 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -308,11 +308,20 @@ endif()
 # Note below we make sure to install with --user iff not in a virtualenv
 set(GTSAM_PYTHON_INSTALL_TARGET python-install)
 
-add_custom_target(${GTSAM_PYTHON_INSTALL_TARGET}
+if (DEFINED ENV{NIGHTLY})
+    # nightly requires breaking?  TODO: figure this out
+    add_custom_target(${GTSAM_PYTHON_INSTALL_TARGET}
         COMMAND ${PYTHON_EXECUTABLE} -c "import sys, subprocess; cmd = [sys.executable, '-m', 'pip', 'install', '--break-system-packages']; has_venv = hasattr(sys, 'real_prefix') or (hasattr(sys, 'base_prefix') and sys.base_prefix != sys.prefix); cmd.append('--user' if not has_venv else ''); cmd.append('.'); subprocess.check_call([c for c in cmd if c])"
         DEPENDS ${GTSAM_PYTHON_DEPENDENCIES} ${GTSAM_PYTHON_INSTALL_EXTRA}
         WORKING_DIRECTORY ${GTSAM_PYTHON_BUILD_DIRECTORY}
         VERBATIM)
+else()
+    add_custom_target(${GTSAM_PYTHON_INSTALL_TARGET}
+        COMMAND ${PYTHON_EXECUTABLE} -c "import sys, subprocess; cmd = [sys.executable, '-m', 'pip', 'install']; has_venv = hasattr(sys, 'real_prefix') or (hasattr(sys, 'base_prefix') and sys.base_prefix != sys.prefix); cmd.append('--user' if not has_venv else ''); cmd.append('.'); subprocess.check_call([c for c in cmd if c])"
+        DEPENDS ${GTSAM_PYTHON_DEPENDENCIES} ${GTSAM_PYTHON_INSTALL_EXTRA}
+        WORKING_DIRECTORY ${GTSAM_PYTHON_BUILD_DIRECTORY}
+        VERBATIM)
+endif()
 
 # Custom make command to run all GTSAM Python tests
 add_custom_target(

From 9c809fa8a4b2419724a411b9c946557ae75e696e Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Mon, 2 Dec 2024 10:00:14 -0800
Subject: [PATCH 96/97] revert build-linux.yml

---
 .github/workflows/build-linux.yml | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/.github/workflows/build-linux.yml b/.github/workflows/build-linux.yml
index e170d156a5..6d1c4ce0c5 100644
--- a/.github/workflows/build-linux.yml
+++ b/.github/workflows/build-linux.yml
@@ -89,8 +89,5 @@ jobs:
         run: |
           sudo apt-get -y install libboost-all-dev
 
-      - name: Build
-        run: bash .github/scripts/unix.sh -b
-
-      - name: Test
+      - name: Build and Test
         run: bash .github/scripts/unix.sh -t

From b7c5f3058aaa6b2376728d0f6b2f969d96d06927 Mon Sep 17 00:00:00 2001
From: Joel Truher <joel@truher.org>
Date: Mon, 2 Dec 2024 10:45:08 -0800
Subject: [PATCH 97/97] fix merge conflict

---
 gtsam/nonlinear/nonlinear.i | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/nonlinear/nonlinear.i b/gtsam/nonlinear/nonlinear.i
index 77a9ac9a41..5d15c11634 100644
--- a/gtsam/nonlinear/nonlinear.i
+++ b/gtsam/nonlinear/nonlinear.i
@@ -716,7 +716,7 @@ virtual class BatchFixedLagSmoother : gtsam::FixedLagSmoother {
 
   gtsam::LevenbergMarquardtParams params() const;
 
-  const gtsam::NonlinearFactorGraph getFactors() const;
+  gtsam::NonlinearFactorGraph getFactors() const;
 
   template <VALUE = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
                      gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2,