C++ CI Workflow #1621
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| 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: | |
| 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 | |
| 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: mamba-org/setup-micromamba@v1 | |
| if: matrix.os == 'windows-latest' || matrix.os == 'macOS-latest' | |
| with: | |
| environment-file: ci_env.yml | |
| # Print the environment variables to simplify development and debugging | |
| - name: Environment Variables | |
| if: matrix.os == 'ubuntu-latest' | |
| # Use bash in order to have same basic commands in all OSs | |
| shell: bash | |
| run: env | |
| # ============ | |
| # DEPENDENCIES | |
| # ============ | |
| - 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: Source-based Dependencies [Ubuntu] | |
| if: steps.cache-source-deps.outputs.cache-hit != 'true' && (matrix.os == 'ubuntu-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 ${{matrix.build_type}} --target install | |
| # =================== | |
| # CMAKE-BASED PROJECT | |
| # =================== | |
| # We will just configure and build the project now. Further modifications and tests can be added | |
| # Configure step | |
| - name: Configure [Windows] | |
| if: matrix.os == 'windows-latest' | |
| shell: bash -l {0} | |
| run: | | |
| mkdir -p build | |
| cd build | |
| cmake -G"Visual Studio 17 2022" -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
| -DCMAKE_BUILD_TPYE=${{matrix.build_type}} \ | |
| -DWEARABLES_COMPILE_PYTHON_BINDINGS=ON \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install .. | |
| - name: Configure [Ubuntu/macOS] | |
| if: matrix.os == 'ubuntu-latest' || matrix.os == 'macOS-latest' | |
| shell: bash -l {0} | |
| run: | | |
| mkdir -p build | |
| cd build | |
| cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
| -DCMAKE_BUILD_TPYE=${{matrix.build_type}} \ | |
| -DWEARABLES_COMPILE_PYTHON_BINDINGS=ON \ | |
| -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install .. | |
| # Build step | |
| - name: Build | |
| shell: bash | |
| run: | | |
| cd build | |
| cmake --build . --config ${{matrix.build_type}} |