apt CI Workflow #891
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name: apt CI Workflow | |
on: | |
push: | |
branches: | |
- main | |
workflow_dispatch: | |
pull_request: | |
schedule: | |
# * is a special character in YAML so you have to quote this string | |
# Execute a "nightly" build at 2 AM UTC | |
- cron: '0 2 * * *' | |
jobs: | |
build: | |
name: '[${{ matrix.os }}@${{ matrix.build_type }}@yarp:${{ matrix.yarp_tag }}@gazebo:${{ matrix.gazebo_distro }}]' | |
runs-on: ${{ matrix.os }} | |
strategy: | |
fail-fast: false | |
matrix: | |
build_type: [Release, Debug] | |
os: [ubuntu-22.04] | |
ycm_tag: [v0.16.2] | |
yarp_tag: [v3.9.0] | |
gazebo_distro: [harmonic] | |
steps: | |
- uses: actions/checkout@v2 | |
# Print environment variables to simplify development and debugging | |
- name: Environment Variables | |
run: env | |
# ============ | |
# DEPENDENCIES | |
# ============ | |
- name: apt Dependencies | |
run: | | |
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-latest.list' | |
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - | |
sudo apt-get update | |
# YARP dependencies | |
sudo apt-get install git build-essential cmake ninja-build libace-dev libeigen3-dev libopencv-dev libtinyxml-dev | |
# gz-sim-yarp-plugins dependencies | |
sudo apt-get install gz-${{ matrix.gazebo_distro }} libcli11-dev | |
# Test dependencies | |
sudo apt-get install libgtest-dev | |
- name: Cache Source-based Dependencies | |
id: cache-source-deps | |
uses: actions/cache@v3 | |
with: | |
path: ${{ github.workspace }}/install/deps | |
key: source-deps-${{ runner.os }}-os-${{ matrix.os }}-build-type-${{ matrix.build_type }}-ycm-${{ matrix.ycm_tag }}-yarp-${{ matrix.yarp_tag }} | |
- name: Source-based Dependencies | |
if: steps.cache-source-deps.outputs.cache-hit != 'true' | |
run: | | |
# YCM | |
git clone https://github.com/robotology/ycm | |
cd ycm | |
git checkout ${{ matrix.ycm_tag }} | |
mkdir -p build | |
cd build | |
cmake -GNinja -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
cmake --build . --config ${{ matrix.build_type }} --target install | |
# YARP | |
cd ${GITHUB_WORKSPACE} | |
git clone https://github.com/robotology/yarp | |
cd yarp | |
git checkout ${{ matrix.yarp_tag }} | |
mkdir -p build | |
cd build | |
cmake -GNinja -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
cmake --build . --config ${{ matrix.build_type }} --target install | |
- name: Configure Environment variables for Source-based Dependencies | |
run: | | |
# Configure environment | |
echo "YARP_DATA_DIRS=${GITHUB_WORKSPACE}/install/deps/share/yarp" >> $GITHUB_ENV | |
# =================== | |
# CMAKE-BASED PROJECT | |
# =================== | |
- name: Configure | |
shell: bash | |
run: | | |
mkdir -p build | |
cd build | |
cmake -GNinja -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
-DCMAKE_CXX_FLAGS_DEBUG="--coverage -g -O0" -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DBUILD_TESTING:BOOL=ON .. | |
- name: Build | |
run: | | |
cd build | |
cmake --build . --config ${{ matrix.build_type }} | |
- name: Test (Release) | |
if: contains(matrix.build_type, 'Release') | |
run: | | |
cd build | |
# Deterministic tests | |
ctest -E "^CameraTest" --output-on-failure -C ${{ matrix.build_type }} . | |
# Non-deterministic tests | |
ctest -R "^CameraTest" --repeat until-pass:10 --output-on-failure -C ${{ matrix.build_type }} . | |
- name: Test (Debug) | |
if: contains(matrix.build_type, 'Debug') | |
run: | | |
cd build | |
# Deterministic tests | |
ctest -E "^CameraTest" -T Test -T Coverage --output-on-failure -C ${{ matrix.build_type }} . | |
# Non-deterministic tests | |
ctest -R "^CameraTest" -T Test -T Coverage --repeat until-pass:10 --output-on-failure -C ${{ matrix.build_type }} . | |
- name: Install | |
run: | | |
cd build | |
cmake --build . --config ${{ matrix.build_type }} --target install | |