Continuous Integration #197
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| name: Continuous Integration | |
| on: | |
| push: | |
| paths-ignore: | |
| - 'doc/**' | |
| - '**.md' | |
| pull_request: | |
| schedule: | |
| - cron: '0 0 * * FRI' | |
| workflow_dispatch: | |
| env: | |
| CMAKE_CCACHE_LAUNCHER: -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache | |
| jobs: | |
| maybe_skip: | |
| runs-on: ubuntu-latest | |
| outputs: | |
| should_skip: ${{steps.skip_check.outputs.should_skip}} | |
| steps: | |
| - uses: fkirc/skip-duplicate-actions@v5 | |
| id: skip_check | |
| with: | |
| cancel_others: 'true' | |
| build: | |
| name: build (${{matrix.os}}, ${{matrix.robotology.yarp}}, ${{matrix.compiler.cc}}) | |
| runs-on: ${{matrix.os}} | |
| needs: maybe_skip | |
| if: ${{needs.maybe_skip.outputs.should_skip != 'true'}} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: [ubuntu-20.04, ubuntu-22.04] | |
| robotology: | |
| - { yarp: yarp-3.7, cmake: 3.16.x } | |
| - { yarp: yarp-3.8, cmake: 3.16.x } | |
| - { yarp: master, cmake: 3.16.x } | |
| compiler: | |
| - { cc: gcc, cxx: g++ } | |
| - { cc: clang, cxx: clang++ } | |
| experimental: | |
| - ${{github.event_name == 'schedule' || github.event_name == 'workflow_dispatch'}} | |
| exclude: | |
| - { experimental: false, robotology: { yarp: master } } | |
| steps: | |
| - name: Check out openrave-yarp-plugins | |
| uses: actions/checkout@v3 | |
| - name: Check out YCM | |
| uses: actions/checkout@v3 | |
| with: | |
| repository: robotology/ycm | |
| path: .deps/ycm | |
| - name: Check out YARP | |
| uses: actions/checkout@v3 | |
| with: | |
| repository: robotology/yarp | |
| ref: ${{matrix.robotology.yarp}} | |
| path: .deps/yarp | |
| - name: Check out RapidJSON | |
| uses: actions/checkout@v3 | |
| with: | |
| repository: Tencent/rapidjson | |
| path: .deps/rapidjson | |
| - name: Check out OpenRAVE | |
| uses: actions/checkout@v3 | |
| with: | |
| repository: rdiankov/openrave | |
| path: .deps/openrave | |
| - name: Check out asrob-uc3m/yarp-devices | |
| uses: actions/checkout@v3 | |
| with: | |
| repository: asrob-uc3m/yarp-devices | |
| path: .deps/yarp-devices | |
| - name: Check out roboticslab-uc3m/vision | |
| uses: actions/checkout@v3 | |
| with: | |
| repository: roboticslab-uc3m/vision | |
| path: .deps/vision | |
| - name: Check out roboticslab-uc3m/kinematics-dynamics | |
| uses: actions/checkout@v3 | |
| with: | |
| repository: roboticslab-uc3m/kinematics-dynamics | |
| path: .deps/kinematics-dynamics | |
| - name: Install dependencies via apt | |
| run: sudo apt-get update && sudo apt-get install -qq ccache libboost-regex-dev libboost-filesystem-dev libboost-system-dev libboost-thread-dev libboost-iostreams-dev libboost-date-time-dev libxml2-dev libpcl-dev swig | |
| - name: Set up CMake | |
| uses: jwlawson/actions-setup-cmake@v1 | |
| with: | |
| cmake-version: ${{matrix.robotology.cmake}} | |
| - name: Set up Ccache | |
| uses: hendrikmuhs/ccache-action@v1 | |
| with: | |
| key: ${{matrix.os}}-${{matrix.robotology.yarp}}-${{matrix.compiler.cc}} | |
| - name: Set environment variables | |
| run: | | |
| echo "CC=${{matrix.compiler.cc}}" >> $GITHUB_ENV | |
| echo "CXX=${{matrix.compiler.cxx}}" >> $GITHUB_ENV | |
| - name: Build YCM | |
| run: | | |
| cmake -S .deps/ycm -B .deps/ycm/build | |
| cmake --build .deps/ycm/build | |
| sudo cmake --install .deps/ycm/build | |
| - name: Build YARP | |
| run: | | |
| cmake -S .deps/yarp -B .deps/yarp/build $CMAKE_CCACHE_LAUNCHER -DSKIP_ACE=ON -DYARP_DISABLE_VERSION_SOURCE=ON | |
| cmake --build .deps/yarp/build | |
| sudo cmake --install .deps/yarp/build | |
| - name: Build RapidJSON | |
| run: | | |
| cmake -S .deps/rapidjson -B .deps/rapidjson/build $CMAKE_CCACHE_LAUNCHER -DRAPIDJSON_BUILD_DOC=OFF -DRAPIDJSON_BUILD_EXAMPLES=OFF -DRAPIDJSON_BUILD_TESTS=OFF | |
| cmake --build .deps/rapidjson/build | |
| sudo cmake --install .deps/rapidjson/build | |
| - name: Build OpenRAVE | |
| run: | | |
| CFLAGS=-w CXXFLAGS=-w cmake -S .deps/openrave -B .deps/openrave/build $CMAKE_CCACHE_LAUNCHER -DOPT_VIDEORECORDING=OFF -DOPT_PLUGINS=OFF -DOPT_PYTHON=OFF -DOPT_PYTHON3=OFF -DOPT_COLLADA=OFF -DOPT_CBINDINGS=OFF -DOPT_MSGPACK=OFF | |
| cmake --build .deps/openrave/build | |
| sudo cmake --install .deps/openrave/build | |
| - name: Build asrob-uc3m/yarp-devices | |
| run: | | |
| cmake -S .deps/yarp-devices -B .deps/yarp-devices/build $CMAKE_CCACHE_LAUNCHER | |
| cmake --build .deps/yarp-devices/build | |
| sudo cmake --install .deps/yarp-devices/build | |
| - name: Build roboticslab-uc3m/vision | |
| run: | | |
| cmake -S .deps/vision -B .deps/vision/build $CMAKE_CCACHE_LAUNCHER -DDOWNLOAD_MODELS=OFF | |
| cmake --build .deps/vision/build | |
| sudo cmake --install .deps/vision/build | |
| - name: Build roboticslab-uc3m/kinematics-dynamics | |
| run: | | |
| cmake -S .deps/kinematics-dynamics -B .deps/kinematics-dynamics/build $CMAKE_CCACHE_LAUNCHER | |
| cmake --build .deps/kinematics-dynamics/build | |
| sudo cmake --install .deps/kinematics-dynamics/build | |
| - name: Configure openrave-yarp-plugins | |
| run: cmake -S . -B build $CMAKE_CCACHE_LAUNCHER -DCREATE_BINDINGS_PYTHON=ON -DENABLE_examples=ON | |
| - name: Compile openrave-yarp-plugins | |
| run: cmake --build build | |
| - name: Install openrave-yarp-plugins | |
| run: sudo cmake --install build && sudo ldconfig | |
| - name: Uninstall openrave-yarp-plugins | |
| run: sudo cmake --build build --target uninstall |