From 581b3cf27ab188a319162dc13dc926503b52cda9 Mon Sep 17 00:00:00 2001
From: Atsushi Sakai <asakai.amsl+github@gmail.com>
Date: Wed, 30 Dec 2020 13:52:00 +0900
Subject: [PATCH] bump python version to 3.9. (#433)

---
 .circleci/config.yml           |  4 +++-
 .github/workflows/Linux_CI.yml |  6 ++++--
 .github/workflows/MacOS_CI.yml |  4 +++-
 README.md                      |  2 +-
 appveyor.yml                   | 16 ++++++----------
 docs/getting_started.rst       |  2 +-
 6 files changed, 18 insertions(+), 16 deletions(-)

diff --git a/.circleci/config.yml b/.circleci/config.yml
index d65f0fdf..0ec05a3a 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -6,10 +6,12 @@ orbs:
 jobs:
   build_doc:
     docker:
-      - image: circleci/python:3.8
+      - image: circleci/python:3.9
     steps:
+      - run: sudo apt-get update && sudo apt-get install -y cmake # TODO: remove after osqp wheels released
       - checkout
       - python/load-cache
+      - run: pip install numpy # TODO: remove after osqp wheels released
       - python/install-deps
       - python/save-cache
       - run: pip install sphinx sphinx-autobuild sphinx-rtd-theme
diff --git a/.github/workflows/Linux_CI.yml b/.github/workflows/Linux_CI.yml
index 1174438d..61be0991 100644
--- a/.github/workflows/Linux_CI.yml
+++ b/.github/workflows/Linux_CI.yml
@@ -8,7 +8,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        python-version: ['3.8']
+        python-version: ['3.9']
 
     name: Python ${{ matrix.python-version }} CI
 
@@ -21,9 +21,11 @@ jobs:
       with:
         python-version: ${{ matrix.python-version }}
     - name: Install dependencies
+      # TODO: remove numpy installation after fix cvxpy install issue
       run: |
         python -m pip install --upgrade pip
-        pip install -r requirements.txt
+        pip install numpy
+        python -m pip install -r requirements.txt
     - name: install coverage
       run: pip install coverage
     - name: install mypy
diff --git a/.github/workflows/MacOS_CI.yml b/.github/workflows/MacOS_CI.yml
index 3a28347b..84ef7515 100644
--- a/.github/workflows/MacOS_CI.yml
+++ b/.github/workflows/MacOS_CI.yml
@@ -11,7 +11,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        python-version: [ '3.8' ]
+        python-version: [ '3.9' ]
     name: Python ${{ matrix.python-version }} CI
     steps:
       - uses: actions/checkout@v2
@@ -23,8 +23,10 @@ jobs:
           python-version: ${{ matrix.python-version }}
 
       - name: Install dependencies
+        # TODO: remove numpy installation after fix cvxpy install issue
         run: |
           python -m pip install --upgrade pip
+          pip install numpy
           pip install -r requirements.txt
       - name: install coverage
         run: pip install coverage
diff --git a/README.md b/README.md
index 07dbf7ae..2dcb4bab 100644
--- a/README.md
+++ b/README.md
@@ -92,7 +92,7 @@ See this paper for more details:
 
 # Requirements
 
-- Python 3.8.x
+- Python 3.9.x
 
 - numpy
 
diff --git a/appveyor.yml b/appveyor.yml
index b883397d..9fd74302 100644
--- a/appveyor.yml
+++ b/appveyor.yml
@@ -8,11 +8,10 @@ environment:
     CMD_IN_ENV: "cmd /E:ON /V:ON /C .\\appveyor\\run_with_env.cmd"
 
   matrix:
-    - MINICONDA: C:\Miniconda38-x64
-      PYTHON_VERSION: "3.8"
+     - PYTHON_DIR: C:\Python39-x64
 
 init:
-  - "ECHO %MINICONDA% %PYTHON_VERSION% %PYTHON_ARCH%"
+  - "ECHO %PYTHON_DIR%"
 
 install:
   # If there is a newer build queued for the same PR, cancel this one.
@@ -30,15 +29,12 @@ install:
   # Prepend newly installed Python to the PATH of this build (this cannot be
   # done from inside the powershell script as it would require to restart
   # the parent CMD process).
-  - SET PATH=%MINICONDA%;%MINICONDA%\\Scripts;%PATH%
+  - SET PATH=%PYTHON_DIR%;%PYTHON_DIR%\\Scripts;%PATH%
   - SET PATH=%PYTHON%;%PYTHON%\Scripts;%PYTHON%\Library\bin;%PATH%
   - SET PATH=%PATH%;C:\Program Files (x86)\Microsoft Visual Studio 14.0\VC\bin
-  - conda config --set always_yes yes --set changeps1 no
-  - conda config --append channels conda-forge
-  - conda update -q conda
-  - conda info -a
-  - conda env create -f C:\\projects\pythonrobotics\environment.yml
-  - activate python_robotics
+  - "python -m pip install --upgrade pip"
+  - "pip install numpy" # TODO: remove this line after osqp wheel released
+  - "python -m pip install -r requirements.txt"
 
   # Check that we have the expected version and architecture for Python
   - "python --version"
diff --git a/docs/getting_started.rst b/docs/getting_started.rst
index 93ab7050..83565eb8 100644
--- a/docs/getting_started.rst
+++ b/docs/getting_started.rst
@@ -25,7 +25,7 @@ See this paper for more details:
 Requirements
 -------------
 
--  Python 3.6.x
+-  Python 3.9.x
 -  numpy
 -  scipy
 -  matplotlib