C++ CI Workflow #1522
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name: C++ CI Workflow | |
# template derived from https://github.com/robotology/how-to-export-cpp-library/tree/master/.github/workflows | |
# and https://github.com/robotology/idyntree/blob/master/.github/workflows/ci.yml | |
on: | |
push: | |
pull_request: | |
schedule: | |
# run a cron job for a nightly build | |
# * is a special character in YAML so you have to quote this string | |
# Execute a "nightly" build at 2 AM UTC | |
- cron: '0 2 * * *' | |
env: | |
vcpkg_robotology_TAG: v0.10.1 | |
YCM_TAG: v0.15.3 | |
YARP_TAG: v3.8.1 | |
iDynTree_TAG: v9.1.0 | |
matioCpp_TAG: v0.2.2 | |
robometry_TAG: v1.2.1 | |
# Overwrite the VCPKG_INSTALLATION_ROOT env variable defined by Github Actions to point to our vcpkg | |
VCPKG_INSTALLATION_ROOT: C:\robotology\vcpkg | |
jobs: | |
build: | |
name: '[${{matrix.os}}@${{matrix.build_type}}]' | |
runs-on: ${{matrix.os}} | |
strategy: | |
matrix: | |
build_type: [Release] | |
os: [ubuntu-latest, windows-latest, macOS-latest] | |
fail-fast: false | |
steps: | |
# Clone the repository in $GITHUB_WORKSPACE | |
- uses: actions/checkout@master | |
- uses: conda-incubator/setup-miniconda@v2 | |
if: contains(matrix.os, 'windows') | |
with: | |
mamba-version: "*" | |
channels: conda-forge,defaults | |
channel-priority: true | |
activate-environment: wearables | |
python-version: 3.8 | |
# Print the environment variables to simplify development and debugging | |
- name: Environment Variables | |
# Use bash in order to have same basic commands in all OSs | |
shell: bash | |
run: env | |
# Remove apt repos on Ubuntu that are known to break from time to time | |
# See https://github.com/actions/virtual-environments/issues/323 | |
- name: Remove broken apt repos [Ubuntu] | |
if: matrix.os == 'ubuntu-latest' | |
run: | | |
for apt_file in `grep -lr microsoft /etc/apt/sources.list.d/`; do sudo rm $apt_file; done | |
# ============ | |
# DEPENDENCIES | |
# ============ | |
- name: Dependencies [macOS] | |
if: matrix.os == 'macOS-latest' | |
run: | | |
brew install ccache eigen ace tinyxml gsl boost libmatio pybind11 | |
- name: Dependencies [Ubuntu] | |
if: matrix.os == 'ubuntu-latest' | |
run: | | |
sudo apt update | |
sudo apt install git build-essential cmake libace-dev coinor-libipopt-dev libboost-system-dev libboost-filesystem-dev \ | |
libboost-thread-dev liborocos-kdl-dev libeigen3-dev swig qtbase5-dev qtdeclarative5-dev qtmultimedia5-dev libqt5charts5-dev \ | |
libxml2-dev liburdfdom-dev libtinyxml-dev liburdfdom-dev liboctave-dev python3-dev python3-pybind11 valgrind libassimp-dev libmatio-dev | |
- name: Cache Source-based dependencies [Ubuntu/macOS] | |
if: steps.cache-source-deps.outputs.cache-hit != 'true' && (contains(matrix.os, 'ubuntu') || contains(matrix.os, 'macOS')) | |
id: cache-source-deps | |
uses: actions/cache@v3 | |
with: | |
path: ${{ github.workspace }}/install/deps | |
# Including ${{ runner.temp }} is a workaround for https://github.com/robotology/whole-body-estimators/issues/60 | |
key: source-deps-${{runner.os}}-${{runner.temp}}-vcpkg-robotology-${{env.vcpkg_robotology_TAG}}-ycm-${{env.YCM_TAG}}-yarp-${{env.YARP_TAG}}-iDynTree-${{env.iDynTree_TAG}}-matioCpp-${{env.matioCpp_TAG}}-robometry-${{env.robometry_TAG}} | |
- name: Source-based Dependencies [Ubuntu/macOS] | |
if: steps.cache-source-deps.outputs.cache-hit != 'true' && (matrix.os == 'ubuntu-latest' || matrix.os == 'macOS-latest') | |
shell: bash | |
run: | | |
# YCM | |
cd ${GITHUB_WORKSPACE} | |
git clone -b ${YCM_TAG} https://github.com/robotology/ycm | |
cd ycm | |
mkdir -p build | |
cd build | |
cmake -DCMAKE_INSTALL_PREFIX=${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 ${YARP_TAG} | |
mkdir -p build | |
cd build | |
cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
cmake --build . --config ${{matrix.build_type}} --target install | |
# iDynTree | |
cd ${GITHUB_WORKSPACE} | |
git clone https://github.com/robotology/iDynTree | |
cd iDynTree | |
git checkout ${iDynTree_TAG} | |
mkdir -p build | |
cd build | |
cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
cmake --build . --config ${{matrix.build_type}} --target install | |
# matioCpp | |
cd ${GITHUB_WORKSPACE} | |
git clone https://github.com/dic-iit/matio-cpp | |
cd matio-cpp | |
git checkout ${matioCpp_TAG} | |
mkdir -p build | |
cd build | |
cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
cmake --build . --config ${{matrix.build_type}} --target install | |
# robometry | |
cd ${GITHUB_WORKSPACE} | |
git clone https://github.com/robotology/robometry | |
cd robometry | |
git checkout ${robometry_TAG} | |
mkdir -p build | |
cd build | |
cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
cmake --build . --config ${{matrix.build_type}} --target install | |
- name: Dependencies (using conda) [Windows] | |
if: steps.cache-source-deps.outputs.cache-hit != 'true' && contains(matrix.os, 'windows') | |
shell: bash -l {0} | |
run: | | |
# Compilation related dependencies | |
mamba install cmake compilers make ninja pkg-config | |
# Actual dependencies | |
mamba install -c robotology yarp idyntree matio-cpp robometry | |
# =================== | |
# CMAKE-BASED PROJECT | |
# =================== | |
# We will just configure and build the project now. Further modifications and tests can be added | |
# Configure step | |
- name: Configure [Windows] | |
if: matrix.os == 'windows-latest' | |
shell: bash -l {0} | |
run: | | |
mkdir -p build | |
cd build | |
cmake -G"Visual Studio 17 2022" -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
-DCMAKE_BUILD_TPYE=${{matrix.build_type}} \ | |
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install .. | |
- name: Configure [Ubuntu/macOS] | |
if: matrix.os == 'ubuntu-latest' || matrix.os == 'macOS-latest' | |
shell: bash | |
run: | | |
mkdir -p build | |
cd build | |
cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
-DWEARABLES_COMPILE_PYTHON_BINDINGS=ON \ | |
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install .. | |
# Build step | |
- name: Build | |
shell: bash | |
run: | | |
cd build | |
# Attempt of fix for using YARP idl generators (that link ACE) in Windows | |
# See https://github.com/robotology/idyntree/issues/569 | |
export PATH=$PATH:${GITHUB_WORKSPACE}/install/bin:${VCPKG_INSTALLATION_ROOT}/install/x64-windows/bin:${VCPKG_INSTALLATION_ROOT}/installed/x64-windows/debug/bin | |
cmake --build . --config ${{matrix.build_type}} |