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C++ CI Workflow

C++ CI Workflow #1789

Workflow file for this run

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: v0.2.4
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}}