python-main.yml

name: Depthai Python CI/CD

# Controls when the action will run. Triggers the workflow on push
concurrency:
  group: depthai-python-${{ github.event.pull_request.number || github.ref }}
  cancel-in-progress: true

on:
  workflow_dispatch:
  push:
    branches:
      - main
      - develop
    tags:
      - 'v*'
  pull_request:
    branches:
      - main
      - develop
    types: [opened, reopened, labeled]

###################################
###################################

env:
  CMAKE_WINDOWS_SDK_VERSION: '10.0.18362.0'

# A workflow run is made up of one or more jobs that can run sequentially or in parallel
jobs:

  # The precheck job determines whether a workflow should be run in full
  precheck:
    runs-on: ubuntu-latest
    outputs:
      should_run: ${{ steps.check.outputs.should_run }}
    steps:
    - name: Evaluate trigger condition
      id: check
      run: |
        EVENT_NAME="${{ github.event_name }}"

        RAW_LABELS='${{ toJson(github.event.pull_request.labels) }}'
        if [[ "$RAW_LABELS" == "null" || -z "$RAW_LABELS" ]]; then
          LABELS="[]"
        else
          LABELS="$RAW_LABELS"
        fi

        SHOULD_RUN="true"
        if [[ "$EVENT_NAME" == "pull_request" ]]; then
          if ! echo "$LABELS" | jq -r '.[].name' | grep -q "testable"; then
            SHOULD_RUN="false"
          fi
        fi

        echo "should_run=$SHOULD_RUN" >> "$GITHUB_OUTPUT"

  # Job which builds docstrings for the rest of the wheel builds
  build-docstrings:
    runs-on: ubuntu-latest
    needs: [precheck]
    if: needs.precheck.outputs.should_run == 'true'
    env:
      VCPKG_BINARY_SOURCES: "clear;files,/home/runner/.vcpkg,readwrite"
    steps:
      - name: Setup cmake
        uses: jwlawson/actions-setup-cmake@v2
        with:
          cmake-version : '3.31.x'
      - name: Cache vcpkg folder
        uses: actions/cache@v3
        with:
          path: /home/runner/.vcpkg
          key: vcpkg-ubuntu-latest
      - name: List vcpkg cache directory
        run: ls -a -l /home/runner/.vcpkg || true
      - name: Export GitHub Actions cache environment variables
        uses: actions/github-script@v7
        with:
          script: |
           core.exportVariable('ACTIONS_CACHE_URL', process.env.ACTIONS_CACHE_URL || '');
           core.exportVariable('ACTIONS_RUNTIME_TOKEN', process.env.ACTIONS_RUNTIME_TOKEN || '');
      - uses: actions/checkout@v3
        with:
          submodules: 'recursive'
      - name: Set up Python
        uses: actions/setup-python@v4
        with:
          python-version: 3.8
      - name: Install dependencies
        run: |
          sudo apt update
          python -m pip install --upgrade pip
          sudo apt install libusb-1.0-0-dev pkg-config bison autoconf libtool libxi-dev libxtst-dev libxrandr-dev libx11-dev libxft-dev libxext-dev nasm flex libudev-dev automake libltdl-dev
          python -m pip install -r bindings/python/docs/requirements_mkdoc.txt
      - name: Configure project
        run: |
          cmake -S . \
            -B build \
            -DDEPTHAI_VCPKG_INTERNAL_ONLY=OFF \
            -DVCPKG_OVERLAY_TRIPLETS="$PWD/cmake/triplets/release" \
            -DDEPTHAI_BUILD_PYTHON=ON \
            -DDEPTHAI_PYTHON_FORCE_DOCSTRINGS=ON \
            -DDEPTHAI_BASALT_SUPPORT=ON \
            -DDEPTHAI_PCL_SUPPORT=ON \
            -DDEPTHAI_RTABMAP_SUPPORT=ON \
            -DDEPTHAI_PYTHON_DOCSTRINGS_OUTPUT="$PWD/bindings/python/docstrings/depthai_python_docstring.hpp"
      - name: Build target 'pybind11_mkdoc'
        run: cmake --build build --target pybind11_mkdoc --parallel 4
      - name: Print out vcpkg logs if building port fails
        if: failure()    # Only run this if the build step fails
        run: bash ./bindings/python/ci/show_vcpkg_logs.sh

      - name: Upload docstring artifacts
        uses: actions/upload-artifact@v4
        with:
          name: docstrings
          path: bindings/python/docstrings/
          retention-days: 1


  # Build and test bindings
  pytest:
    needs: build-docstrings
    env:
      VCPKG_BINARY_SOURCES: "clear;files,/home/runner/.vcpkg,readwrite"
    strategy:
      matrix:
        # os: [ubuntu-latest, windows-latest, macos-latest]
        os: [ubuntu-latest] # TODO(Morato) - re-enable windows & macos
    runs-on: ${{ matrix.os }}
    steps:
      - name: Setup cmake
        uses: jwlawson/actions-setup-cmake@v2
        with:
          cmake-version : '3.31.x'
      - name: Print home directory
        run: echo Home directory inside container $HOME

      - name: Cache vcpkg folder
        if: matrix.os != 'windows-latest'
        uses: actions/cache@v3
        with:
          path: /home/runner/.vcpkg/
          key: vcpkg-${{ matrix.os }}
      - name: Cache vcpkg folder
        if: matrix.os == 'windows-latest'
        uses: actions/cache@v3
        with:
          path: C:/.vcpkg/
          key: vcpkg-${{ matrix.os }}
      - name: Export GitHub Actions cache environment variables
        uses: actions/github-script@v7
        with:
          script: |
           core.exportVariable('ACTIONS_CACHE_URL', process.env.ACTIONS_CACHE_URL || '');
           core.exportVariable('ACTIONS_RUNTIME_TOKEN', process.env.ACTIONS_RUNTIME_TOKEN || '');

      - uses: actions/checkout@v3
        with:
          submodules: 'recursive'

      - uses: actions/download-artifact@v4
        with:
          name: 'docstrings'
          path: bindings/python/docstrings
      - name: Specify docstring to use while building the wheel
        run: echo "DEPTHAI_PYTHON_DOCSTRINGS_INPUT=$PWD/bindings/python/docstrings/depthai_python_docstring.hpp" >> $GITHUB_ENV

      - name: Set up Python ${{ matrix.python-version }}
        uses: actions/setup-python@v4
        with:
          python-version: "3.10"

      - name: Install dependencies (Ubuntu)
        if: matrix.os == 'ubuntu-latest'
        run: |
          sudo apt update
          python -m pip install --upgrade pip
          sudo apt install libusb-1.0-0-dev pkg-config bison autoconf libtool libxi-dev libxtst-dev libxrandr-dev libx11-dev libxft-dev libxext-dev nasm flex libudev-dev automake libltdl-dev

      - name: Install dependencies (MacOS)
        if: matrix.os == 'macos-latest'
        run: |
          python -m pip install --upgrade pip
          brew install libusb

      - name: Setup cmake
        if: matrix.os == 'macos-latest'
        uses: jwlawson/actions-setup-cmake@v1.13


      - name: Install pytest
        run: |
          python -m pip install pytest numpy opencv-python jinja2 websockets

      - name: Compile
        run: |
            cmake -S . \
            -B build \
            -DDEPTHAI_VCPKG_INTERNAL_ONLY=OFF \
            -DDEPTHAI_BUILD_PYTHON=ON \
            -D CMAKE_BUILD_TYPE=Release \
            -D VCPKG_OVERLAY_TRIPLETS="$PWD/cmake/triplets/release" \
            -D DEPTHAI_PYTHON_DOCSTRINGS_INPUT=$PWD/bindings/python/docstrings/depthai_python_docstring.hpp \
            -D DEPTHAI_PYTHON_ENABLE_TESTS=ON
            cmake --build build --parallel 4
      - name: Print out vcpkg logs if building port fails
        if: failure()    # Only run this if the build step fails
        run: cd bindings/python && bash ./ci/show_vcpkg_logs.sh
      - name: Test
        run: |
          cmake --build build --target pytest --config Release


  # This job builds wheels for Windows x86_64 arch
  build-windows-x86_64:
    needs: build-docstrings
    runs-on: windows-latest
    strategy:
      matrix:
        python-version: [3.9, '3.10', '3.11', '3.12', '3.13', '3.14']
        python-architecture: [x64] # TODO(Morato) - re-enable x86
      fail-fast: false
    env:
      DEPTHAI_BUILD_BASALT: OFF
      DEPTHAI_BUILD_PCL: ON
      DEPTHAI_BUILD_RTABMAP: ON
      DEPTHAI_BUILD_KOMPUTE: ON
      VCPKG_BINARY_SOURCES: "clear;files,C:\\.vcpkg,readwrite"
    steps:
      - name: Setup cmake
        uses: jwlawson/actions-setup-cmake@v2
        with:
          cmake-version : '3.31.x'
      - name: Cache vcpkg folder
        uses: actions/cache@v3
        with:
          path: C:/.vcpkg
          key: vcpkg-windows-latest
      - uses: actions/checkout@v3
        with:
          submodules: 'recursive'
      - name: Export GitHub Actions cache environment variables
        uses: actions/github-script@v7
        with:
          script: |
           core.exportVariable('ACTIONS_CACHE_URL', process.env.ACTIONS_CACHE_URL || '');
           core.exportVariable('ACTIONS_RUNTIME_TOKEN', process.env.ACTIONS_RUNTIME_TOKEN || '');

      - uses: actions/download-artifact@v4
        with:
          name: 'docstrings'
          path: bindings/python/docstrings
      - name: Specify docstring to use while building the wheel
        run: echo "DEPTHAI_PYTHON_DOCSTRINGS_INPUT=$PWD/bindings/python/docstrings/depthai_python_docstring.hpp" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append

      - name: Select Windows SDK
        run: echo "CMAKE_ARGS=-DCMAKE_SYSTEM_VERSION=${{ env.CMAKE_WINDOWS_SDK_VERSION }}" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append

      - name: Set up Python ${{ matrix.python-version }}
        uses: actions/setup-python@v4
        with:
          python-version: ${{ matrix.python-version }}
          architecture: ${{ matrix.python-architecture }}
      - name: Set UTF-8 encoding
        run: |
          echo "PYTHONIOENCODING=utf-8" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
          echo "PYTHONUTF8=1" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
      - name: Append build hash if not a tagged commit
        if: startsWith(github.ref, 'refs/tags/v') != true
        run: echo "BUILD_COMMIT_HASH=${{github.sha}}" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
      - name: Install dependencies
        run: |
          python -m pip install --upgrade pip
      - name: Building wheels
        run: cd bindings/python && python -m pip wheel . -w ./wheelhouse/ --no-deps --verbose
      - name: Print out vcpkg logs if building port fails
        if: failure()    # Only run this if the build step fails
        run: cd bindings/python && bash ./ci/show_vcpkg_logs.sh
      - name: Install delvewheel
        run: python -m pip install delvewheel
      - name: List wheelhouse
        run: cd bindings/python && ls ./wheelhouse
      - name: Auditing wheels
        shell: bash
        run: |
          cd bindings/python
          EXTRA_DLL_PATH=$(find ./build -type d -name "temp.win*" -exec ls -d {} \; | head -n 1)/Release/Release
          echo "delvewheel extra dll path: $EXTRA_DLL_PATH"
          for wheel in ./wheelhouse/*.whl; do
            delvewheel repair "$wheel" --add-path "$EXTRA_DLL_PATH" --include vcruntime140.dll --include vcruntime140_1.dll --include ucrtbase.dll -w wheelhouse/audited
          done
      - name: Archive wheel artifacts
        uses: actions/upload-artifact@v4
        with:
          name: audited-wheels-windows-${{ matrix.python-version }}
          path: bindings/python/wheelhouse/audited/*

  # This job builds wheels for macOS arch
  build-macos:
    needs: build-docstrings
    strategy:
      matrix:
        python-version: [3.9, '3.10', '3.11', '3.12', '3.13', '3.14']
        os: [macos-15-intel, macos-14]
      fail-fast: false
    runs-on: ${{ matrix.os }}
    env:
      VCPKG_BINARY_SOURCES: "clear;files,/Users/runner/.vcpkg,readwrite"
      DEPTHAI_BUILD_BASALT: ON
      DEPTHAI_BUILD_PCL: ON
      DEPTHAI_BUILD_RTABMAP: ON
      DEPTHAI_BUILD_KOMPUTE: ON
    steps:
      - name: Setup cmake
        uses: jwlawson/actions-setup-cmake@v2
        with:
          cmake-version : '3.31.x'
      - name: Cache vcpkg folder
        uses: actions/cache@v3
        with:
          path: /Users/runner/.vcpkg
          key: vcpkg-${{ matrix.os }}
      - name: List vcpkg cache directory
        run: |
          ls -a -l /Users/runner/.vcpkg || true
          echo "PATH=$PATH"
      - name: Export GitHub Actions cache environment variables
        uses: actions/github-script@v7
        with:
          script: |
           core.exportVariable('ACTIONS_CACHE_URL', process.env.ACTIONS_CACHE_URL || '');
           core.exportVariable('ACTIONS_RUNTIME_TOKEN', process.env.ACTIONS_RUNTIME_TOKEN || '');

      - uses: actions/checkout@v3
        with:
          submodules: 'recursive'

      - uses: actions/download-artifact@v4
        with:
          name: 'docstrings'
          path: bindings/python/docstrings
      - name: Specify docstring to use while building the wheel
        run: echo "DEPTHAI_PYTHON_DOCSTRINGS_INPUT=$PWD/bindings/python/docstrings/depthai_python_docstring.hpp" >> $GITHUB_ENV

      - name: Set up Python ${{ matrix.python-version }}
        uses: actions/setup-python@v4
        with:
          python-version: ${{ matrix.python-version }}
      - name: Append build hash if not a tagged commit
        if: startsWith(github.ref, 'refs/tags/v') != true
        run: echo "BUILD_COMMIT_HASH=${{github.sha}}" >> $GITHUB_ENV
      - name: Install dependencies
        run: |
          python -m pip install --upgrade pip
          brew install libusb
          brew install nasm
          python -m pip install delocate
      - name: Building wheels
        run: cd bindings/python && python -m pip wheel . -w ./wheelhouse/ --no-deps --verbose
      - name: Print out vcpkg logs if building port fails
        if: failure()    # Only run this if the build step fails
        run: cd bindings/python && bash ./ci/show_vcpkg_logs.sh
      - name: Auditing wheels
        run: cd bindings/python && ci/repair-whl-macos.sh `pwd`/wheelhouse/* `pwd`/wheelhouse/audited
      - name: Archive wheel artifacts
        uses: actions/upload-artifact@v4
        with:
          name: audited-wheels-macos-${{ matrix.os }}-${{ matrix.python-version }}
          path: bindings/python/wheelhouse/audited/*

  combine-macos-wheels:
    needs: build-macos
    strategy:
      matrix:
        os: [macos-15-intel, macos-14]
      fail-fast: false
    runs-on: ${{ matrix.os }}
    steps:
      - uses: actions/checkout@v3
      - name: Download audited wheels
        uses: actions/download-artifact@v4
        with:
          pattern: audited-wheels-macos-${{ matrix.os }}-*
          path: bindings/python/wheelhouse/audited/
          merge-multiple: true
      - name: Combine wheels
        run: |
          cd bindings/python && mv wheelhouse/audited wheelhouse/audited_pre && mkdir -p wheelhouse/audited
          echo "Combining repaired wheels into one master wheel"
          python3 ci/combine_wheels.py --input_folder=wheelhouse/audited_pre --output_folder=wheelhouse/audited
      - name: Upload combined wheels as an artifact
        uses: actions/upload-artifact@v4
        with:
          name: audited-wheels-combined-macos-${{ matrix.os }}
          path: bindings/python/wheelhouse/audited/*
      - name: Append build hash if not a tagged commit
        if: startsWith(github.ref, 'refs/tags/v') != true
        run: echo "BUILD_COMMIT_HASH=${{github.sha}}" >> $GITHUB_ENV
      - name: Install combined wheel and run a smoke-test
        if: startsWith(github.ref, 'refs/tags/v') != true
        env:
          ARTIFACTORY_URL: ${{ secrets.ARTIFACTORY_URL }}
        run: |
          set -euo pipefail

          # Resolve the exact dev version (includes commit hash)
          ver=$(python -c "import os,sys,pathlib; sys.path.insert(0, str(pathlib.Path('bindings/python').resolve())); import find_version as v; print(v.get_package_dev_version(os.environ['BUILD_COMMIT_HASH']))")
          echo "Installing depthai==$ver using $(python -V)"

          # Get the name of the one file in bindings/python/wheelhouse/audited
          wheel=$(ls bindings/python/wheelhouse/audited/*.whl)

          # Install wheel
          python -m pip install -U pip
          python -m pip install --force-reinstall $wheel

          EXPECTED_VERSION="$ver" python bindings/python/ci/smoke_depthai.py
      - name: Upload combined wheels to artifactory
        if: github.event_name == 'workflow_dispatch' || github.event_name == 'push'
        run: cd bindings/python && bash ./ci/upload-artifactory.sh --snapshot
        env:
          ARTIFACTORY_URL: ${{ secrets.ARTIFACTORY_URL }}
          ARTIFACTORY_USER: ${{ secrets.ARTIFACTORY_USER }}
          ARTIFACTORY_PASS: ${{ secrets.ARTIFACTORY_PASS }}

  # This job builds wheels for x86_64 arch
  build-linux-x86_64:
    needs: build-docstrings
    runs-on: ubuntu-latest
    container:
      image: quay.io/pypa/manylinux_2_28_x86_64:2025.11.10-2
      env:
        PLAT: manylinux_2_28_x86_64
    strategy:
      matrix:
        python-set: ["cp39-cp39", "cp310-cp310", "cp311-cp311", "cp312-cp312", "cp313-cp313", "cp314-cp314"]
    env:
      DEPTHAI_BUILD_BASALT: ON
      DEPTHAI_BUILD_PCL: ON
      DEPTHAI_BUILD_RTABMAP: ON
      DEPTHAI_BUILD_KOMPUTE: ON
      VCPKG_BINARY_SOURCES: "clear;files,/home/runner/.vcpkg,readwrite"
    steps:
      - name: Cache vcpkg folder
        uses: actions/cache@v3
        with:
          path: /home/runner/.vcpkg
          key: vcpkg-manylinux-x86_64
      - name: Export GitHub Actions cache environment variables
        uses: actions/github-script@v7
        with:
          script: |
           core.exportVariable('ACTIONS_CACHE_URL', process.env.ACTIONS_CACHE_URL || '');
           core.exportVariable('ACTIONS_RUNTIME_TOKEN', process.env.ACTIONS_RUNTIME_TOKEN || '');
      - uses: actions/checkout@v3
        with:
          submodules: 'recursive'
      - name: Installing libusb1-devel dependency
        run: yum install -y libusb1-devel perl-core curl zip unzip tar ninja-build  zlib-devel curl-devel xcb-util-renderutil-devel xcb-util-devel xcb-util-image-devel xcb-util-keysyms-devel xcb-util-wm-devel mesa-libGL-devel libxkbcommon-devel libxkbcommon-x11-devel libXi-devel libXrandr-devel libXtst-devel libudev-devel lapack-devel nasm libtool autoconf automake
      - name: Create folder structure
        run: cd bindings/python && mkdir -p wheelhouse/audited/

      - uses: actions/download-artifact@v4
        with:
          name: 'docstrings'
          path: bindings/python/docstrings
      - name: Specify docstring to use while building the wheel
        run: echo "DEPTHAI_PYTHON_DOCSTRINGS_INPUT=$PWD/bindings/python/docstrings/depthai_python_docstring.hpp" >> $GITHUB_ENV

      - name: Append build hash if not a tagged commit
        if: startsWith(github.ref, 'refs/tags/v') != true
        run: echo "BUILD_COMMIT_HASH=${{github.sha}}" >> $GITHUB_ENV

      - name: Building source distribution
        run: |
          cd bindings/python
          /opt/python/cp310-cp310/bin/python3.10 -m pip install --upgrade setuptools
          /opt/python/cp310-cp310/bin/python3.10 setup.py sdist --formats=gztar
          mv dist/* wheelhouse/audited/
      - name: Build wheels
        run: |
          cd bindings/python && for PYBIN in /opt/python/${{ matrix.python-set }}/bin; do "${PYBIN}/pip" wheel . -w ./wheelhouse/ --no-deps --verbose; done
      - name: Print out vcpkg logs if building port fails
        if: failure()    # Only run this if the build step fails
        run: cd bindings/python && bash ./ci/show_vcpkg_logs.sh

      - name: Audit wheels
        run: cd bindings/python && for whl in wheelhouse/*.whl; do auditwheel repair "$whl" --plat $PLAT --strip -w wheelhouse/audited/; done
      - name: Archive wheel artifacts
        uses: actions/upload-artifact@v4
        with:
          name: audited-wheels-linux-x86_64-${{ matrix.python-set }}
          path: bindings/python/wheelhouse/audited/*

  combine-linux-x86_64-wheels:
    needs: build-linux-x86_64
    runs-on: ubuntu-latest
    container:
      image: quay.io/pypa/manylinux_2_28_x86_64:2025.11.10-2
      env:
        PLAT: manylinux_2_28_x86_64
    steps:
      - uses: actions/checkout@v3
      - name: Download audited wheels
        uses: actions/download-artifact@v4
        with:
          pattern: audited-wheels-linux-x86_64-*
          path: bindings/python/wheelhouse/audited/
          merge-multiple: true
      - name: Install llvm-strip
        run: |
          yum install -y llvm # for llvm-strip, strip leads to "ELF load command address/offset not page-aligned" errors 
      - name: Combine wheels
        run: |
          cd bindings/python && mv wheelhouse/audited wheelhouse/audited_pre && mkdir -p wheelhouse/audited
          echo "Combining repaired wheels into one master wheel"
          python3 ci/combine_wheels.py --input_folder=wheelhouse/audited_pre --output_folder=wheelhouse/audited --strip
      - name: Upload combined wheels as an artifact
        uses: actions/upload-artifact@v4
        with:
          name: audited-wheels-combined-linux-x86_64
          path: bindings/python/wheelhouse/audited/*
      - name: Append build hash if not a tagged commit
        if: startsWith(github.ref, 'refs/tags/v') != true
        run: echo "BUILD_COMMIT_HASH=${{github.sha}}" >> $GITHUB_ENV
      - name: Install combined wheel and run a smoke-test
        if: startsWith(github.ref, 'refs/tags/v') != true
        env:
          ARTIFACTORY_URL: ${{ secrets.ARTIFACTORY_URL }}
        run: |
          set -euo pipefail

          PYBIN="/opt/python/cp310-cp310/bin/python"

          # Resolve the exact dev version (includes commit hash)
          ver=$("$PYBIN" -c "import os,sys,pathlib; sys.path.insert(0, str(pathlib.Path('bindings/python').resolve())); import find_version as v; print(v.get_package_dev_version(os.environ['BUILD_COMMIT_HASH']))")
          echo "Installing depthai==$ver using $($PYBIN -V)"

          # Get the name of the one file in bindings/python/wheelhouse/audited
          wheel=$(ls bindings/python/wheelhouse/audited/*.whl)

          "$PYBIN" -m ensurepip --upgrade || true
          "$PYBIN" -m pip install -U pip
          "$PYBIN" -m pip install --force-reinstall $wheel

          # Smoke test: fail hard on any exception or version mismatch
          EXPECTED_VERSION="$ver" "$PYBIN" bindings/python/ci/smoke_depthai.py
      - name: Upload combined wheels to artifactory
        if: github.event_name == 'workflow_dispatch' || github.event_name == 'push'
        run: cd bindings/python && bash ./ci/upload-artifactory.sh --snapshot
        env:
          ARTIFACTORY_URL: ${{ secrets.ARTIFACTORY_URL }}
          ARTIFACTORY_USER: ${{ secrets.ARTIFACTORY_USER }}
          ARTIFACTORY_PASS: ${{ secrets.ARTIFACTORY_PASS }}

  # This job builds wheels for ARM64 arch
  build-linux-arm64:
    needs: build-docstrings
    runs-on: ubuntu-24.04-arm
    timeout-minutes: 1440  # Set timeout to 24 hours
    container:
      image: quay.io/pypa/manylinux_2_28_aarch64:2025.11.10-2
      env:
        PLAT: manylinux_2_28_aarch64
    strategy:
      matrix:
        python-set: ["cp39-cp39", "cp310-cp310", "cp311-cp311", "cp312-cp312", "cp313-cp313", "cp314-cp314"]
    env:
      # workaround required for cache@v3, https://github.com/actions/cache/issues/1428
      VCPKG_FORCE_SYSTEM_BINARIES: "1" # Needed so vpckg can bootstrap itself
      VCPKG_BINARY_SOURCES: "clear;files,/home/runner/.vcpkg,readwrite"
      DEPTHAI_BUILD_BASALT: ON
      DEPTHAI_BUILD_PCL: ON
      DEPTHAI_BUILD_RTABMAP: ON
      DEPTHAI_BUILD_KOMPUTE: ON
    steps:
      - name: Cache vcpkg folder
        uses: actions/cache@v3
        with:
          path: /home/runner/.vcpkg
          key: vcpkg-manylinux-arm64
      - name: Export GitHub Actions cache environment variables
        uses: actions/github-script@v7
        with:
          script: |
           core.exportVariable('ACTIONS_CACHE_URL', process.env.ACTIONS_CACHE_URL || '');
           core.exportVariable('ACTIONS_RUNTIME_TOKEN', process.env.ACTIONS_RUNTIME_TOKEN || '');
      - uses: actions/checkout@v3
        with:
          submodules: 'recursive'
      - name: Installing libusb1-devel dependency
        run: yum install -y libusb1-devel perl-core curl zip unzip tar zlib-devel curl-devel libxcb-devel xcb-util-renderutil-devel xcb-util-devel xcb-util-image-devel xcb-util-keysyms-devel xcb-util-wm-devel mesa-libGL-devel libxkbcommon-devel libxkbcommon-x11-devel libXi-devel libXrandr-devel libXtst-devel libudev-devel lapack-devel nasm libtool autoconf automake libX11-devel pkgconfig 
      - name: Setup ninja required for arm64 builds
        run: |
          git clone https://github.com/ninja-build/ninja.git
          cd ninja
          git checkout v1.10.2
          cmake -Bbuild-cmake
          cmake --build build-cmake --target install
      - name: Create folder structure
        run: cd bindings/python && mkdir -p wheelhouse/audited/

      - uses: actions/download-artifact@v4
        with:
          name: 'docstrings'
          path: bindings/python/docstrings
      - name: Specify docstring to use while building the wheel
        run: echo "DEPTHAI_PYTHON_DOCSTRINGS_INPUT=$PWD/bindings/python/docstrings/depthai_python_docstring.hpp" >> $GITHUB_ENV

      - name: Append build hash if not a tagged commit
        if: startsWith(github.ref, 'refs/tags/v') != true
        run: echo "BUILD_COMMIT_HASH=${{github.sha}}" >> $GITHUB_ENV
      - name: Building wheels
        run: |
          cd bindings/python && for PYBIN in /opt/python/${{ matrix.python-set }}/bin; do "${PYBIN}/pip" wheel . -w ./wheelhouse/ --no-deps --verbose; done
      - name: Print out vcpkg logs if building port fails
        if: failure()    # Only run this if the build step fails
        run: cd bindings/python && bash ./ci/show_vcpkg_logs.sh

      - name: Auditing wheels
        run: cd bindings/python && for whl in wheelhouse/*.whl; do auditwheel repair "$whl" --plat $PLAT --strip -w wheelhouse/audited/; done
      - name: Archive wheel artifacts
        uses: actions/upload-artifact@v4
        with:
          name: audited-wheels-linux-arm64-${{ matrix.python-set }}
          path: bindings/python/wheelhouse/audited/*

  combine-linux-arm64-wheels:
    needs: build-linux-arm64
    runs-on: ubuntu-24.04-arm
    timeout-minutes: 1440  # Set timeout to 24 hours
    container:
      image: quay.io/pypa/manylinux_2_28_aarch64:2025.11.10-2
      env:
        PLAT: manylinux_2_28_aarch64
    steps:
      - uses: actions/checkout@v3
      - name: Download audited wheels
        uses: actions/download-artifact@v4
        with:
          pattern: audited-wheels-linux-arm64-*
          path: bindings/python/wheelhouse/audited/
          merge-multiple: true
      - name: Install llvm-strip
        run: |
          yum install -y llvm # for llvm-strip, strip leads to "ELF load command address/offset not page-aligned" errors
      - name: Combine wheels
        run: |
          cd bindings/python && mv wheelhouse/audited wheelhouse/audited_pre && mkdir -p wheelhouse/audited
          echo "Combining repaired wheels into one master wheel"
          python3 ci/combine_wheels.py --input_folder=wheelhouse/audited_pre --output_folder=wheelhouse/audited --strip
      - name: Upload combined wheels as an artifact
        uses: actions/upload-artifact@v4
        with:
          name: audited-wheels-combined-linux-arm64
          path: bindings/python/wheelhouse/audited/*
      - name: Append build hash if not a tagged commit
        if: startsWith(github.ref, 'refs/tags/v') != true
        run: echo "BUILD_COMMIT_HASH=${{github.sha}}" >> $GITHUB_ENV
      - name: Install combined wheel and run a smoke-test
        if: startsWith(github.ref, 'refs/tags/v') != true
        env:
          ARTIFACTORY_URL: ${{ secrets.ARTIFACTORY_URL }}
        run: |
          set -euo pipefail

          PYBIN="/opt/python/cp310-cp310/bin/python"

          # Resolve the exact dev version (includes commit hash)
          ver=$("$PYBIN" -c "import os,sys,pathlib; sys.path.insert(0, str(pathlib.Path('bindings/python').resolve())); import find_version as v; print(v.get_package_dev_version(os.environ['BUILD_COMMIT_HASH']))")
          echo "Installing depthai==$ver using $($PYBIN -V)"

          # Get the name of the one file in bindings/python/wheelhouse/audited
          wheel=$(ls bindings/python/wheelhouse/audited/*.whl)

          # Install combined wheel
          "$PYBIN" -m ensurepip --upgrade || true
          "$PYBIN" -m pip install -U pip
          "$PYBIN" -m pip install --force-reinstall $wheel

          EXPECTED_VERSION="$ver" "$PYBIN" bindings/python/ci/smoke_depthai.py
      - name: Upload combined wheels to artifactory
        if: github.event_name == 'workflow_dispatch' || github.event_name == 'push'
        run: cd bindings/python && bash ./ci/upload-artifactory.sh --snapshot
        env:
          ARTIFACTORY_URL: ${{ secrets.ARTIFACTORY_URL }}
          ARTIFACTORY_USER: ${{ secrets.ARTIFACTORY_USER }}
          ARTIFACTORY_PASS: ${{ secrets.ARTIFACTORY_PASS }}

  combine-windows-x86_64-wheels:
    needs: build-windows-x86_64
    runs-on: windows-latest
    steps:
      - uses: actions/checkout@v3
      - name: Download audited wheels
        uses: actions/download-artifact@v4
        with:
          pattern: audited-wheels-windows-*
          path: bindings/python/wheelhouse/audited/
          merge-multiple: true
      - name: Set up Python
        uses: actions/setup-python@v4
        with:
          python-version: "3.12"
      - name: Combine wheels
        run: |
          python -m pip install delvewheel # Install delvewheel for patching wheels
          cd bindings/python
          mv wheelhouse/audited wheelhouse/audited_pre
          mkdir -p wheelhouse/audited
          echo "Combining repaired wheels into one master wheel"
          python ci/combine_wheels.py --input_folder=wheelhouse/audited_pre --output_folder=wheelhouse/audited
      - name: Upload combined wheels as an artifact
        uses: actions/upload-artifact@v4
        with:
          name: audited-wheels-combined-windows-x86_64
          path: bindings/python/wheelhouse/audited/*
      - name: Append build hash if not a tagged commit
        if: startsWith(github.ref, 'refs/tags/v') != true
        run: echo "BUILD_COMMIT_HASH=${{github.sha}}" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
      - name: Install combined wheel and run a smoke-test
        if: startsWith(github.ref, 'refs/tags/v') != true
        shell: pwsh
        env:
          ARTIFACTORY_URL: ${{ secrets.ARTIFACTORY_URL }}
        run: |
          $env:PYTHONIOENCODING = 'utf-8'
          $ErrorActionPreference = "Stop"  # Fail on any error

          # Resolve the exact dev version (includes commit hash)
          $ver = python -c "import os,sys,pathlib; sys.path.insert(0,str(pathlib.Path('bindings/python').resolve())); import find_version as v; print(v.get_package_dev_version(os.environ['BUILD_COMMIT_HASH']))"
          Write-Host "Installing depthai==$ver using:"; python -VV

          # Get the name of the one file in bindings/python/wheelhouse/audited
          $wheel_name = (Get-ChildItem bindings/python/wheelhouse/audited/*.whl).Name

          # Install combined wheel
          python -m pip install -U pip
          python -m pip install --force-reinstall bindings/python/wheelhouse/audited/$wheel_name

          # Smoke test (no heredoc; YAML-safe). Fail on import error or version mismatch.
          $env:EXPECTED_VERSION = $ver
          python bindings/python/ci/smoke_depthai.py
      - name: Upload combined wheels to artifactory
        if: github.event_name == 'workflow_dispatch' || github.event_name == 'push'
        run: cd bindings/python && bash ./ci/upload-artifactory.sh --snapshot
        env:
          ARTIFACTORY_URL: ${{ secrets.ARTIFACTORY_URL }}
          ARTIFACTORY_USER: ${{ secrets.ARTIFACTORY_USER }}
          ARTIFACTORY_PASS: ${{ secrets.ARTIFACTORY_PASS }}

  notify-slack:
    if: github.event_name == 'workflow_dispatch' || github.event_name == 'push'
    needs: [combine-macos-wheels, combine-linux-x86_64-wheels, combine-linux-arm64-wheels, combine-windows-x86_64-wheels]
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v3

      - uses: actions/setup-python@v4
        with:
          python-version: '3.8'

      - name: Send Slack notification
        env:
          SLACK_BOT_TOKEN: ${{ secrets.SLACK_BOT_TOKEN }}
          SLACK_BOT_CHANNEL_ID: ${{ secrets.SLACK_BOT_CHANNEL_ID }}
        run: |
          # Branch or tag name
          if [[ "${{ github.event_name }}" == "pull_request" ]]; then
            BRANCH="${{ github.head_ref }}"
          else
            BRANCH="${{ github.ref_name }}"
          fi

          # Determine the version and the install command
          if [[ "${{ github.ref }}" == refs/tags/v* ]]; then
            VERSION=$(cd bindings/python && python3.8 -c "import find_version as v; print(v.get_package_version())")
            INSTALL_COMMAND="\`python3 -m pip install depthai==$VERSION\`"
          else
            VERSION=$(cd bindings/python && python3.8 -c "import find_version as v; print(v.get_package_dev_version('${{github.sha}}'))")
            INSTALL_COMMAND="\`python3 -m pip install --extra-index-url https://artifacts.luxonis.com/artifactory/luxonis-python-snapshot-local/ depthai==$VERSION\`"
          fi

          MESSAGE="*A new DepthAI build is ready!*
          Source Branch or Tag: $BRANCH
          
          It can be installed using:
          $INSTALL_COMMAND"
          
          jq -n --arg user_id "$SLACK_BOT_CHANNEL_ID" --arg message "$MESSAGE" \
            '{"channel": $user_id, "text": $message}' > payload.json
          
          curl -X POST https://slack.com/api/chat.postMessage \
            -H "Authorization: Bearer $SLACK_BOT_TOKEN" \
            -H "Content-type: application/json" \
            --data @payload.json

  release:
    if: startsWith(github.ref, 'refs/tags/v')
    # needs: [pytest, build-linux-armhf, build-windows-x86_64, build-macos-x86_64, build-macos-arm64, build-linux-x86_64, build-linux-arm64]
    # needs: [pytest, build-windows-x86_64, build-macos, build-linux-x86_64, build-linux-arm64]
    needs: [combine-macos-wheels, combine-linux-x86_64-wheels, combine-linux-arm64-wheels, combine-windows-x86_64-wheels]
    runs-on: ubuntu-latest

    steps:
    - uses: actions/checkout@v3
      with:
        submodules: 'recursive'

    - uses: actions/setup-python@v4
      with:
        python-version: '3.8'

    - name: Check if version matches
      run: cd bindings/python && python3.8 -c 'import find_version as v; exit(0) if "${{ github.ref_name }}" == f"v{v.get_package_version()}" else exit(1)'

  # Deploy to PyPi and Artifactory. Only when a commit is tagged
  deploy:
    if: startsWith(github.ref, 'refs/tags/v')
    needs: [release]
    runs-on: ubuntu-latest
    steps:
      - uses: actions/checkout@v3
        with:
          submodules: 'recursive'
      - uses: actions/download-artifact@v4
        with:
          pattern: audited-wheels-combined-*
          merge-multiple: true
          path: bindings/python/wheelhouse/audited/
      - name: List files
        run: ls -lah
      - name: Run deploy to PyPi
        run: cd bindings/python && bash ./ci/upload-pypi.sh
        if: ${{!contains(github.ref, 'alpha') && !contains(github.ref, 'beta') && !contains(github.ref, 'rc')}}
        env:
          PYPI_SERVER: ${{ secrets.PYPI_SERVER }}
          PYPI_USER: ${{ secrets.PYPI_USER }}
          PYPI_PASSWORD: ${{ secrets.PYPI_PASSWORD }}
      - name: Run deploy to Artifactory
        run: cd bindings/python && bash ./ci/upload-artifactory.sh --release
        env:
          ARTIFACTORY_URL: ${{ secrets.ARTIFACTORY_URL }}
          ARTIFACTORY_USER: ${{ secrets.ARTIFACTORY_USER }}
          ARTIFACTORY_PASS: ${{ secrets.ARTIFACTORY_PASS }}

  dispatch-bom-tests:
    needs: [build-linux-x86_64, deploy]
    runs-on: ubuntu-latest
    if: ${{ github.event_name == 'push' && !failure() && !cancelled() }}
    outputs:
      runner_conclusion: ${{ steps.get_runner.outputs.runner_conclusion }}
    steps:
      - uses: actions/checkout@v3

      - uses: actions/setup-python@v4
        with:
          python-version: '3.8'

      - name: Get dev version from script
        id: get_version
        run: |
          if [[ "${{ github.ref }}" == refs/tags/v* ]]; then
            VERSION=$(cd bindings/python && python3.8 -c "import find_version as v; print(v.get_package_version())")
          else
            VERSION=$(cd bindings/python && python3.8 -c "import find_version as v; print(v.get_package_dev_version('${{github.sha}}'))")
          fi
          echo "VERSION=$VERSION"
          echo "version=$VERSION" >> "$GITHUB_OUTPUT"


      - name: Dispatch action and get run ID
        uses: codex-/return-dispatch@v2
        id: return_dispatch
        with:
          token: ${{ secrets.BOM_GITHUB_TOKEN }}
          ref: "main"
          repo: "luxonis-bom"
          owner: "luxonis"
          workflow: "dispatch_main.yml"
          workflow_timeout_seconds: 120
          workflow_job_steps_retry_seconds: 2
          workflow_inputs: '{"depthai": "${{ github.ref_name }}", "depthai_version_dependencies": "${{ steps.get_version.outputs.version }}", "depthai_nodes": "latest", "luxonis_os": "latest", "test_experiments": "true" }'

      - name: Wait for the dispatched workflow to complete
        id: get_runner
        run: |
            RUN_ID=${{ steps.return_dispatch.outputs.run_id }}
            TOKEN=${{ secrets.BOM_GITHUB_TOKEN }}
            OWNER="luxonis"
            REPO="luxonis-bom"

            echo "STARTING TO WAIT FOR RUN https://github.com/$OWNER/$REPO/actions/runs/$RUN_ID"

            STATUS=$(curl -s --header "Authorization: Bearer $TOKEN" "https://api.github.com/repos/$OWNER/$REPO/actions/runs/$RUN_ID" | jq -r .status)

            while [ "$STATUS" != "completed" ]; do
              echo "Waiting for the workflow run to complete..."
              sleep 60
              STATUS=$(curl -s -H "Authorization: Bearer $TOKEN" "https://api.github.com/repos/$OWNER/$REPO/actions/runs/$RUN_ID" | jq -r .status)
              echo "Current status $STATUS"
            done
            CONCLUSION=$(curl -s -H "Authorization: Bearer $TOKEN" "https://api.github.com/repos/$OWNER/$REPO/actions/runs/$RUN_ID" | jq -r .conclusion)

            echo "Run $RUN_ID is completed. Conclusion is $CONCLUSION"

            # Set outputs for the job using GITHUB_OUTPUT file
            echo "runner_conclusion=$CONCLUSION" >> $GITHUB_OUTPUT
            if [ "$CONCLUSION" != "success" ] && [ "$CONCLUSION" != "skipped" ]; then
                echo "Failed job"
                exit 1
            fi