ci: update workflows (#175)

.github/workflows/build-release.yaml

@@ -3,24 +3,68 @@ name: Build and Push Multi-Arch Images
 on:
   push:
     branches:
-      - develop
       - main
-    tags:
-      - "v*.*.*"
 
 jobs:
-  get-tag:
-    runs-on: ubuntu-latest
-    name: Get tag
+  check-version:
+    name: Check if the version has been updated
     outputs:
-      tag: ${{ steps.parse-tag.outputs.tag }}
+      has_changed: ${{ steps.check.outputs.has_changed }}
+      version: ${{ steps.versions.outputs.new_version }}
+    runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v3
-      - uses: aica-technology/.github/.github/actions/docker-tag-from-git@v0.6.1
-        id: parse-tag
+        with:
+          fetch-depth: 2
+      - id: versions
+        run: |
+          PREV_VERSION=$(git show HEAD^:VERSION)
+          NEW_VERSION=$(git show HEAD:VERSION)
+          echo "prev_version=${PREV_VERSION}" >> $GITHUB_OUTPUT
+          echo "new_version=${NEW_VERSION}" >> $GITHUB_OUTPUT
+        shell: bash
+      - uses: aica-technology/.github/.github/actions/compare-versions@v0.11.0
+        id: check
+        with:
+          previous_version: ${{ steps.versions.outputs.prev_version }}
+          new_version: ${{ steps.versions.outputs.new_version }}
+
+  metadata:
+    name: Get metadata
+    needs: check-version
+    runs-on: ubuntu-latest
+    outputs:
+      image_name: ${{ steps.ensure-image.outputs.image_name }}
+      image_tags: ${{ steps.tags.outputs.image_tags }}
+      create_tag: ${{ steps.tags.outputs.create_tag }}
+      git_tag: ${{ steps.tags.outputs.git_tag }}
+    steps:
+      - uses: aica-technology/.github/.github/actions/ghcr-ensure-prefix@v0.6.0
+        id: ensure-image
+        with:
+          image_name: aica-technology/control-libraries
+
+      - run: |
+          CREATE_TAG=false
+          GIT_TAG=""
+          if [ ${{ needs.check-version.outputs.has_changed }} = 'true' ]; then
+            CREATE_TAG=true
+            GIT_TAG="v${{ needs.check-version.outputs.version }}"
+            IMAGE_TAGS=latest,"${GIT_TAG}",rolling
+          else
+            IMAGE_TAGS=rolling
+          fi
+          echo "Image tags: ${IMAGE_TAGS}"
+          echo "Create tag: ${CREATE_TAG}"
+          echo "Git tag: ${GIT_TAG}"
+          echo "image_tags=${IMAGE_TAGS}" >> $GITHUB_OUTPUT
+          echo "create_tag=${CREATE_TAG}" >> $GITHUB_OUTPUT
+          echo "git_tag=${GIT_TAG}" >> $GITHUB_OUTPUT
+        id: tags
+        shell: bash
 
   build:
-    needs: [get-tag]
+    needs: metadata
     strategy:
       matrix:
         arch: [amd64, arm64]
@@ -38,25 +82,25 @@ jobs:
       - uses: aica-technology/.github/.github/actions/list-add-suffixes@v0.6.1
         id: merge-tags
         with:
-          list: ${{ needs.get-tag.outputs.tag }}
+          list: ${{ needs.metadata.outputs.image_tags }}
           suffixes: ${{ matrix.arch }}
           glue_separator: "-"
 
       - uses: aica-technology/.github/.github/actions/ghcr-build@v0.6.1
         with:
-          image_name: aica-technology/control-libraries
+          image_name: ${{ needs.metadata.outputs.image_name }}
           image_tags: ${{ steps.merge-tags.outputs.list }}
           dockerfile_path: Dockerfile
           token: ${{ secrets.GITHUB_TOKEN }}
 
   multi-arch:
     runs-on: ubuntu-latest
     name: Merge into a multi-arch image
-    needs: [get-tag, build]
+    needs: [ metadata, build ]
     steps:
       - uses: aica-technology/.github/.github/actions/ghcr-manifest-merge@v0.6.1
         with:
-          image_name: aica-technology/control-libraries
-          image_tags: ${{ needs.get-tag.outputs.tag }}
+          image_name: ${{ needs.metadata.outputs.image_name }}
+          image_tags: ${{ needs.metadata.outputs.image_tags }}
           archs: amd64,arm64
           token: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/build-test.yml

@@ -4,40 +4,70 @@ on:
   push:
     branches:
       - main
-      - develop
   pull_request:
   workflow_dispatch:
 
 jobs:
 
-  check-contribution:
-    name: Check if changelog and version have been updated
+  check-changelog:
+    name: Check if changelog has been updated
     runs-on: ubuntu-latest
     steps:
       - name: Checkout
         uses: actions/checkout@v4
 
-      - name: Check contributions
+      - name: Check changelog
         if: ${{ github.event.pull_request.base.sha }}
         run: |
-          git config user.name github-actions[bot]
-          git config user.email github-actions[bot]@users.noreply.github.com
-          git fetch origin main ${{ github.event.pull_request.base.sha }} ${{ github.head_ref }}
-          git checkout ${{ github.head_ref }}
-          VER_DIFF=$(git diff ${{ github.event.pull_request.base.sha }} ${{ github.sha }} -- ./VERSION)
-          if ! [ "${VER_DIFF}" ]; then
-            bash update_version.sh --commit && git push
-          fi
-          CL_DIFF=$(git diff ${{ github.event.pull_request.base.sha }} ${{ github.sha }} -- ./CHANGELOG.md)
+          git fetch origin main ${{ github.event.pull_request.base.sha }}
+          CL_DIFF=$(git diff ${{ github.event.pull_request.base.sha }} ${{ github.sha }} -- CHANGELOG.md)
           if ! [ "${CL_DIFF}" ]; then
-            SEARCH_STRING="## Upcoming changes (in development)"
-            NEW_TITLE="${{ github.event.pull_request.title }} (#${{ github.event.pull_request.number }})"
-            sed -z "s/${SEARCH_STRING}\n/${SEARCH_STRING}\n\n- ${NEW_TITLE}/" -i CHANGELOG.md
-            git add CHANGELOG.md && git commit -m "Update CHANGELOG" && git push
+            echo "::error file="CHANGELOG.md",title=Check failed::CHANGELOG.md must be updated!"
+            exit 1
+          fi
+        shell: bash
+
+  check-version:
+    name: Check if version has been updated
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - name: Check version
+        if: ${{ github.event.pull_request.base.sha }}
+        run: |
+          VERSION=$(echo $(<VERSION) | tr -d -c 0-9)
+          MESSAGE="Set the desired version correctly using the 'update_version' script!"
+          SOURCE_CMAKE="./source/CMakeLists.txt"
+          if [ $(echo $(grep "project(control_libraries VERSION" "${SOURCE_CMAKE}") | tr -d -c 0-9) -ne "${VERSION}" ]; then
+            echo "::error file="${SOURCE_CMAKE}",title=Check failed::Version in "${SOURCE_CMAKE}" does not correspond to VERSION. ${MESSAGE}"
+            exit 1
+          fi
+          PROTO_CMAKE="./protocol/clproto_cpp/CMakeLists.txt"
+          if [ $(echo $(grep "project(clproto VERSION" "${PROTO_CMAKE}") | tr -d -c 0-9) -ne "${VERSION}" ]; then
+            echo "::error file="${PROTO_CMAKE}",title=Check failed::Version in "${PROTO_CMAKE}" does not correspond to VERSION. ${MESSAGE}"
+            exit 1
+          fi
+          PY_SETUP="./python/setup.py"
+          if [ $(echo $(grep "__version__ =" "${PY_SETUP}") | tr -d -c 0-9) -ne "${VERSION}" ]; then
+            echo "::error file="${PY_SETUP}",title=Check failed::Version in "${PY_SETUP}" does not correspond to VERSION. ${MESSAGE}"
+            exit 1
+          fi
+          DOXY="./doxygen/doxygen.conf"
+          if [ $(echo $(echo $(grep "PROJECT_NUMBER =" "${DOXY}") | tr -d -c 0-9) | tr -d '\0' ) -ne "${VERSION}" ]; then
+            echo "::error file="${DOXY}",title=Check failed::Version in "${DOXY}" does not correspond to VERSION. ${MESSAGE}"
+            exit 1
+          fi
+          DEMO_CMAKE="./demos/CMakeLists.txt"
+          if [ $(echo $(grep "project(clproto VERSION" "${DEMO_CMAKE}") | tr -d -c 0-9) -ne "${VERSION}" ]; then
+            echo "::error file="${DEMO_CMAKE}",title=Check failed::Version in "${DEMO_CMAKE}" does not correspond to VERSION. ${MESSAGE}"
+            exit 1
           fi
         shell: bash
 
   check-skippable-changes:
+    needs: [ check-changelog, check-version ]
     name: Check skippable changes
     runs-on: ubuntu-latest
     outputs:

.github/workflows/generate-docs.yml

@@ -1,43 +1,55 @@
 name: Generate and Deploy Documentation
 on:
-  push:
+  push:   
     branches:
       - main
-      - develop
-  release:
-    types: [published]
-  workflow_dispatch:
 
 jobs:
+  check-version:
+    name: Check if the version has been updated
+    outputs:
+      has_changed: ${{ steps.check.outputs.has_changed }}
+      version: ${{ steps.versions.outputs.new_version }}
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          fetch-depth: 2
+      - id: versions
+        run: |
+          PREV_VERSION=$(git show HEAD^:VERSION)
+          NEW_VERSION=$(git show HEAD:VERSION)
+          echo "prev_version=${PREV_VERSION}" >> $GITHUB_OUTPUT
+          echo "new_version=${NEW_VERSION}" >> $GITHUB_OUTPUT
+        shell: bash
+      - uses: aica-technology/.github/.github/actions/compare-versions@v0.11.0
+        id: check
+        with:
+          previous_version: ${{ steps.versions.outputs.prev_version }}
+          new_version: ${{ steps.versions.outputs.new_version }}
+
   deploy:
+    needs: check-version
     name: Generate and Deploy
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@master
+      - uses: actions/checkout@v3
 
       - name: Generate docs
         uses: mattnotmitt/doxygen-action@v1
         with:
           working-directory: 'doxygen'
           doxyfile-path: 'doxygen.conf'
 
-      - name: Tag release version
-        if: ${{ github.event_name == 'release' }}
-        shell: bash
-        run: |
-          TAG="${GITHUB_REF#refs/tags/}"
-          TAG="${TAG/\//-}"
-          mkdir -p doxygen/docs/versions
-          sudo mv doxygen/docs/html doxygen/docs/versions/${TAG}
-
-      - name: Tag branch version
-        if: ${{ github.event_name == 'push' || github.event_name == 'workflow_dispatch' }}
+      - name: Tag version
         shell: bash
         run: |
-          BRANCH="${GITHUB_REF#refs/heads/}"
-          BRANCH="${BRANCH/\//-}"
           mkdir -p doxygen/docs/versions
-          sudo mv doxygen/docs/html doxygen/docs/versions/${BRANCH}
+          sudo mv doxygen/docs/html doxygen/docs/versions/rolling
+          if [ ${{ needs.check-version.outputs.has_changed }} ]; then
+            sudo cp doxygen/docs/versions/rolling doxygen/docs/versions/latest
+            sudo cp doxygen/docs/versions/rolling doxygen/docs/versions/${{ needs.check-version.outputs.version }}
+          fi
 
       - name: Deploy to documentation branch
         uses: peaceiris/actions-gh-pages@v3

CHANGELOG.md

@@ -13,6 +13,7 @@ Release Versions:
 
 ## Upcoming changes (in development)
 
+- ci: update workflows (#175)
 - feat: integrate collision detection feature into robot model (#163)
 - feat: add IO states to state representation (py) (#173)
 - ci: use caching from docker to run tests in CI (#429)

VERSION

@@ -1 +1 @@
-7.3.10
+7.3.11

demos/CMakeLists.txt

@@ -15,7 +15,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-find_package(control_libraries 7.3.10 CONFIG REQUIRED)
+find_package(control_libraries 7.3.11 CONFIG REQUIRED)
 
 set(DEMOS_SCRIPTS
   task_space_control_loop

doxygen/doxygen.conf

@@ -38,7 +38,7 @@ PROJECT_NAME           = "Control Libraries"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER = 7.3.10
+PROJECT_NUMBER = 7.3.11
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

protocol/clproto_cpp/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.15)
 
-project(clproto VERSION 7.3.10)
+project(clproto VERSION 7.3.11)
 
 # Default to C99
 if(NOT CMAKE_C_STANDARD)

python/setup.py

@@ -11,7 +11,7 @@
 # names of the environment variables that define osqp and openrobots include directories
 osqp_path_var = 'OSQP_INCLUDE_DIR'
 
-__version__ = "7.3.10"
+__version__ = "7.3.11"
 __libraries__ = ['state_representation', 'clproto', 'controllers', 'dynamical_systems', 'robot_model']
 __include_dirs__ = ['include']
 

source/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.15)
 
-project(control_libraries VERSION 7.3.10)
+project(control_libraries VERSION 7.3.11)
 
 # Build options
 option(BUILD_TESTING "Build all tests." OFF)