Add velocityThres param for torque control #2681
Workflow file for this run
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| name: CI Workflow | |
| on: | |
| push: | |
| pull_request_target: | |
| types: [opened, synchronize, reopened] | |
| branches: | |
| - 'master' | |
| - 'yarp-*' | |
| - 'feature/*' | |
| - 'CI/*' | |
| release: | |
| types: [published] | |
| jobs: | |
| select_environment: | |
| name: 'Prepare Environment' | |
| runs-on: ubuntu-20.04 | |
| outputs: | |
| timestamp: ${{ steps.select.outputs.timestamp }} | |
| repository_owner: ${{ steps.select.outputs.repository_owner }} | |
| repository_name: ${{ steps.select.outputs.repository_name }} | |
| repository: ${{ steps.select.outputs.repository }} | |
| ref: ${{ steps.select.outputs.ref }} | |
| environment: ${{ steps.select.outputs.environment }} | |
| sha: ${{ steps.select.outputs.sha }} | |
| head_ref: ${{ steps.select.outputs.head_ref }} | |
| base_ref: ${{ steps.select.outputs.base_ref }} | |
| pr_number: ${{ steps.select.outputs.pr_number }} | |
| yarp_version: ${{ steps.select.outputs.yarp_version }} | |
| steps: | |
| - name: "Set output variables" | |
| id: select | |
| run: | | |
| echo "timestamp=$(/bin/date -u +%Y%m%d-%H%M%S)" >> $GITHUB_OUTPUT | |
| echo "repository_owner=${{ github.repository_owner }}" >> $GITHUB_OUTPUT | |
| echo "repository_name=$(cat $GITHUB_EVENT_PATH | jq -r .repository.name)" >> $GITHUB_OUTPUT | |
| echo "repository=${{ github.repository }}" >> $GITHUB_OUTPUT | |
| if [[ "$GITHUB_EVENT_NAME" = "pull_request_target" ]]; then | |
| echo "environment=code-analysis_unsafe" >> $GITHUB_OUTPUT | |
| echo "ref=refs/pull/$(cat $GITHUB_EVENT_PATH | jq -r .number)/merge" >> $GITHUB_OUTPUT | |
| else | |
| echo "environment=code-analysis" >> $GITHUB_OUTPUT | |
| echo "ref=${{ github.ref }}" >> $GITHUB_OUTPUT | |
| fi | |
| if [[ "$GITHUB_EVENT_NAME" = "pull_request" || "$GITHUB_EVENT_NAME" == "pull_request_target" ]]; then | |
| echo "sha=${{ github.event.pull_request.head.sha }}" >> $GITHUB_OUTPUT | |
| echo "head_ref=${GITHUB_HEAD_REF}" >> $GITHUB_OUTPUT | |
| echo "base_ref=${GITHUB_BASE_REF}" >> $GITHUB_OUTPUT | |
| echo "pr_number=$(cat $GITHUB_EVENT_PATH | jq -r .number)" >> $GITHUB_OUTPUT | |
| else | |
| echo "sha=${{ github.sha }}" >> $GITHUB_OUTPUT | |
| fi | |
| # Get YARP Project Version | |
| if [[ "$GITHUB_EVENT_NAME" = "release" ]]; then | |
| echo "yarp_version=$(awk '/ VERSION /{print $2}' CMakeLists.txt)" >> $GITHUB_OUTPUT | |
| fi | |
| - name: 'Debug output variables' | |
| env: | |
| TIMESTAMP: ${{ steps.select.outputs.timestamp }} | |
| REPOSITORY_OWNER: ${{ steps.select.outputs.repository_owner }} | |
| REPOSITORY_NAME: ${{ steps.select.outputs.repository_name }} | |
| REPOSITORY: ${{ steps.select.outputs.repository }} | |
| REF: ${{ steps.select.outputs.ref }} | |
| ENVIRONMENT: ${{ steps.select.outputs.environment }} | |
| SHA: ${{ steps.select.outputs.sha }} | |
| HEAD_REF: ${{ steps.select.outputs.head_ref }} | |
| BASE_REF: ${{ steps.select.outputs.base_ref }} | |
| PR_NUMBER: ${{ steps.select.outputs.pr_number }} | |
| YARP_VERSION: ${{ steps.select.outputs.yarp_version }} | |
| run: | | |
| echo "TIMESTAMP = ${TIMESTAMP}" | |
| echo "REPOSITORY_OWNER = ${REPOSITORY_OWNER}" | |
| echo "REPOSITORY_NAME = ${REPOSITORY_NAME}" | |
| echo "REPOSITORY = ${REPOSITORY}" | |
| echo "REF = ${REF}" | |
| echo "ENVIRONMENT = ${ENVIRONMENT}" | |
| echo "SHA = ${SHA}" | |
| echo "HEAD_REF = ${HEAD_REF}" | |
| echo "BASE_REF = ${BASE_REF}" | |
| echo "PR_NUMBER = ${PR_NUMBER}" | |
| echo "YARP_VERSION = ${YARP_VERSION}" | |
| - name: "Print Environment" | |
| run: | | |
| env | |
| - name: "Print Event Json" | |
| run: | | |
| echo "::group::install jq" | |
| sudo apt-get update -qq | |
| sudo apt-get install -qq -y jq | |
| echo "::endgroup::" | |
| cat $GITHUB_EVENT_PATH | jq -C | |
| check-license: | |
| name: 'Check License' | |
| needs: select_environment | |
| runs-on: ubuntu-20.04 | |
| steps: | |
| - name: Clone repository | |
| uses: actions/checkout@v3 | |
| with: | |
| repository: ${{ needs.select_environment.outputs.repository }} | |
| ref: ${{ needs.select_environment.outputs.ref }} | |
| - name: Install Dependencies | |
| run: | | |
| sudo apt-get update -qq | |
| sudo apt-get install -qq -y perl | |
| - name: Check License | |
| run: | | |
| tests/misc/check_license.pl | |
| check-style: | |
| name: 'Check Style' | |
| needs: select_environment | |
| runs-on: ubuntu-20.04 | |
| steps: | |
| - name: Clone repository | |
| uses: actions/checkout@v3 | |
| with: | |
| repository: ${{ needs.select_environment.outputs.repository }} | |
| ref: ${{ needs.select_environment.outputs.ref }} | |
| - name: Install Dependencies | |
| run: | | |
| sudo apt-get update -qq | |
| sudo apt-get install -qq -y perl | |
| - name: Check Style | |
| run: | | |
| tests/misc/check_style.pl | |
| check-tests: | |
| name: 'Check Devices Tests' | |
| needs: select_environment | |
| runs-on: ubuntu-20.04 | |
| steps: | |
| - name: Clone repository | |
| uses: actions/checkout@v3 | |
| with: | |
| repository: ${{ needs.select_environment.outputs.repository }} | |
| ref: ${{ needs.select_environment.outputs.ref }} | |
| - name: Install Dependencies | |
| run: | | |
| sudo apt-get update -qq | |
| sudo apt-get install -qq -y python3 | |
| - name: Check Devices Tests | |
| run: | | |
| python3 tests/misc/check_tests.py | |
| run-cmake: | |
| name: 'Run CMake [CMake ${{ matrix.config.cmake_version }} (${{ matrix.config.cmake_generator }}), YCM ${{ matrix.config.ycm_version }}]' | |
| needs: [select_environment, check-license, check-style] | |
| runs-on: ubuntu-20.04 | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| config: | |
| - { | |
| cmake_version: "3.16.*", | |
| cmake_generator: "Unix Makefiles", | |
| ycm_version: "0.15.1", | |
| } | |
| - { | |
| cmake_version: "3.17.*", | |
| cmake_generator: "Unix Makefiles", | |
| ycm_version: "0.15.1", | |
| } | |
| - { | |
| cmake_version: "3.18.*", | |
| cmake_generator: "Unix Makefiles", | |
| ycm_version: "0.15.1", | |
| } | |
| - { | |
| cmake_version: "3.19.*", | |
| cmake_generator: "Unix Makefiles", | |
| ycm_version: "0.15.1", | |
| } | |
| - { | |
| cmake_version: "3.20.*", | |
| cmake_generator: "Unix Makefiles", | |
| ycm_version: "0.15.1", | |
| } | |
| - { | |
| cmake_version: "3.20.*", | |
| cmake_generator: "Ninja", | |
| ycm_version: "0.15.1", | |
| } | |
| - { | |
| cmake_version: "3.21.*", | |
| cmake_generator: "Unix Makefiles", | |
| ycm_version: "0.15.1", | |
| } | |
| - { | |
| cmake_version: "3.22.*", | |
| cmake_generator: "Unix Makefiles", | |
| ycm_version: "0.15.1", | |
| } | |
| - { | |
| cmake_version: "3.23.*", | |
| cmake_generator: "Unix Makefiles", | |
| ycm_version: "0.15.1", | |
| } | |
| - { | |
| cmake_version: "3.24.*", | |
| cmake_generator: "Unix Makefiles", | |
| ycm_version: "0.15.1", | |
| } | |
| - { | |
| cmake_version: "3.25.*", | |
| cmake_generator: "Unix Makefiles", | |
| ycm_version: "0.15.1", | |
| } | |
| steps: | |
| - name: remove any previous installation of cmake | |
| run: | | |
| sudo rm /usr/local/bin/cmake | |
| - name: install cmake | |
| run: | | |
| wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | sudo tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null | |
| echo 'deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ focal main' | sudo tee /etc/apt/sources.list.d/kitware.list >/dev/null | |
| sudo apt-get update | |
| sudo rm /usr/share/keyrings/kitware-archive-keyring.gpg | |
| sudo apt-get -y install kitware-archive-keyring | |
| sudo apt-cache policy cmake-data | |
| sudo apt-cache policy cmake | |
| sudo apt-get -y install cmake-data=${{matrix.config.cmake_version}} | |
| sudo apt-get -y -f install cmake=${{matrix.config.cmake_version}} | |
| - name: Print CMake version | |
| run: | | |
| which cmake | |
| cmake --version | |
| /usr/bin/cmake --version | |
| - name: Get YCM package | |
| run: | | |
| wget -nv https://github.com/robotology/ycm/releases/download/v0.15.1/ycm-cmake-modules-0.15.1-all.deb | |
| sudo dpkg -i ycm-cmake-modules-0.15.1-all.deb | |
| - name: Print YCM version | |
| run: | | |
| grep YCM_VERSION /usr/share/cmake/YCM/YCMConfig.cmake | |
| - name: Clone Yarp repository | |
| uses: actions/checkout@v3 | |
| with: | |
| repository: ${{ needs.select_environment.outputs.repository }} | |
| ref: ${{ needs.select_environment.outputs.ref }} | |
| - name: Run CMake | |
| run: | | |
| mkdir build | |
| cd build | |
| cmake .. -DSKIP_ACE=ON | |
| build: | |
| name: '[${{ matrix.config.id }}][${{ matrix.config.os }}|${{ matrix.config.cc }}|${{ matrix.config.cmake_generator }} (${{ matrix.config.cmake_toolset }} ${{ matrix.config.cmake_platform }})|${{ matrix.config.build_type }}] ${{ matrix.config.description }}' | |
| needs: [select_environment, run-cmake] | |
| runs-on: ${{ matrix.config.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| config: | |
| - { | |
| id: '01', | |
| os: ubuntu-20.04, | |
| build_type: "Release", | |
| cc: "gcc", | |
| cxx: "g++", | |
| cmake_generator: "Unix Makefiles", | |
| cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake", | |
| test_external_bindings: true, | |
| } | |
| - { | |
| id: '02', | |
| os: ubuntu-20.04, | |
| build_type: "Release", | |
| cc: "clang", | |
| cxx: "clang++", | |
| cmake_generator: "Unix Makefiles", | |
| cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake", | |
| test_external_bindings: true, | |
| } | |
| - { | |
| id: '03', | |
| description: 'No ACE', | |
| os: ubuntu-20.04, | |
| build_type: "Release", | |
| cc: "gcc", | |
| cxx: "g++", | |
| cmake_generator: "Unix Makefiles", | |
| cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake", | |
| cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_ACE=ON | |
| -DSKIP_ACE:BOOL=ON", | |
| test_external_bindings: true, | |
| } | |
| - { | |
| id: '04', | |
| description: 'No ACE', | |
| os: ubuntu-20.04, | |
| build_type: "Release", | |
| cc: "clang", | |
| cxx: "clang++", | |
| cmake_generator: "Unix Makefiles", | |
| cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake", | |
| cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_ACE:BOOL=ON | |
| -DSKIP_ACE:BOOL=ON", | |
| test_external_bindings: true, | |
| } | |
| - { | |
| id: '05', | |
| description: 'No YARP_math (bindings disabled)', | |
| os: ubuntu-20.04, | |
| build_type: "Release", | |
| cc: "gcc", | |
| cxx: "g++", | |
| cmake_generator: "Unix Makefiles", | |
| cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake", | |
| cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_Eigen:BOOL=ON | |
| -DCMAKE_DISABLE_FIND_PACKAGE_GSL:BOOL=ON | |
| -DYARP_COMPILE_libYARP_math:BOOL=OFF | |
| -DYARP_COMPILE_BINDINGS:BOOL=OFF", | |
| } | |
| - { | |
| id: '06', | |
| description: 'No YARP_math (bindings disabled)', | |
| os: ubuntu-20.04, | |
| build_type: "Release", | |
| cc: "clang", | |
| cxx: "clang++", | |
| cmake_generator: "Unix Makefiles", | |
| cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake", | |
| cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_Eigen:BOOL=ON | |
| -DCMAKE_DISABLE_FIND_PACKAGE_GSL:BOOL=ON | |
| -DYARP_COMPILE_libYARP_math:BOOL=OFF | |
| -DYARP_COMPILE_BINDINGS:BOOL=OFF", | |
| } | |
| - { | |
| id: '07', | |
| description: 'CLEAN_API (unit tests and bindings disabled)', | |
| os: ubuntu-20.04, | |
| build_type: "Release", | |
| cc: "gcc", | |
| cxx: "g++", | |
| cmake_generator: "Unix Makefiles", | |
| cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake", | |
| cmake_extra_options: "-DYARP_CLEAN_API:BOOL=ON | |
| -DYARP_COMPILE_TESTS:BOOL=OFF | |
| -DYARP_COMPILE_BINDINGS:BOOL=OFF", | |
| } | |
| - { | |
| id: '08', | |
| description: 'CLEAN_API (unit tests and bindings disabled)', | |
| os: ubuntu-20.04, | |
| build_type: "Release", | |
| cc: "clang", | |
| cxx: "clang++", | |
| cmake_generator: "Unix Makefiles", | |
| cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake", | |
| cmake_extra_options: "-DYARP_CLEAN_API:BOOL=ON | |
| -DYARP_COMPILE_TESTS:BOOL=OFF | |
| -DYARP_COMPILE_BINDINGS:BOOL=OFF", | |
| } | |
| - { | |
| id: '09', | |
| description: 'Static', | |
| os: ubuntu-20.04, | |
| build_type: "Release", | |
| cc: "gcc", | |
| cxx: "g++", | |
| cmake_generator: "Unix Makefiles", | |
| cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake", | |
| cmake_extra_options: "-DBUILD_SHARED_LIBS:BOOL=OFF", | |
| } | |
| - { | |
| id: '10', | |
| description: 'Static', | |
| os: ubuntu-20.04, | |
| build_type: "Release", | |
| cc: "clang", | |
| cxx: "clang++", | |
| cmake_generator: "Unix Makefiles", | |
| cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake", | |
| cmake_extra_options: "-DBUILD_SHARED_LIBS:BOOL=OFF", | |
| } | |
| - { | |
| id: '11', | |
| description: 'Static, no ACE (bindings disabled)', | |
| os: ubuntu-20.04, | |
| build_type: "Release", | |
| cc: "gcc", | |
| cxx: "g++", | |
| cmake_generator: "Unix Makefiles", | |
| cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake", | |
| cmake_extra_options: "-DBUILD_SHARED_LIBS:BOOL=OFF | |
| -DCMAKE_DISABLE_FIND_PACKAGE_ACE:BOOL=ON | |
| -DSKIP_ACE:BOOL=ON | |
| -DYARP_COMPILE_BINDINGS:BOOL=OFF", | |
| } | |
| - { | |
| id: '12', | |
| description: 'Static, no ACE (bindings disabled)', | |
| os: ubuntu-20.04, | |
| build_type: "Release", | |
| cc: "clang", | |
| cxx: "clang++", | |
| cmake_generator: "Unix Makefiles", | |
| cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake", | |
| cmake_extra_options: "-DBUILD_SHARED_LIBS:BOOL=OFF | |
| -DCMAKE_DISABLE_FIND_PACKAGE_ACE:BOOL=ON | |
| -DSKIP_ACE:BOOL=ON | |
| -DYARP_COMPILE_BINDINGS:BOOL=OFF", | |
| } | |
| - { | |
| id: '13', | |
| description: 'No deprecated', | |
| os: ubuntu-20.04, | |
| build_type: "Release", | |
| cc: "gcc", | |
| cxx: "g++", | |
| cmake_generator: "Unix Makefiles", | |
| cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake", | |
| cmake_extra_options: "-DYARP_NO_DEPRECATED:BOOL=ON", | |
| } | |
| - { | |
| id: '14', | |
| description: 'No deprecated', | |
| os: ubuntu-20.04, | |
| build_type: "Release", | |
| cc: "clang", | |
| cxx: "clang++", | |
| cmake_generator: "Unix Makefiles", | |
| cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake", | |
| cmake_extra_options: "-DYARP_NO_DEPRECATED:BOOL=ON", | |
| } | |
| - { | |
| id: '15', | |
| description: 'No executables (unit tests disabled)', | |
| os: ubuntu-20.04, | |
| build_type: "Release", | |
| cc: "gcc", | |
| cxx: "g++", | |
| cmake_generator: "Unix Makefiles", | |
| cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake", | |
| cmake_extra_options: "-DYARP_COMPILE_EXECUTABLES:BOOL=OFF | |
| -DYARP_COMPILE_TESTS:BOOL=OFF", | |
| } | |
| - { | |
| id: '16', | |
| description: 'No executables (unit tests disabled)', | |
| os: ubuntu-20.04, | |
| build_type: "Release", | |
| cc: "clang", | |
| cxx: "clang++", | |
| cmake_generator: "Unix Makefiles", | |
| cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake", | |
| cmake_extra_options: "-DYARP_COMPILE_EXECUTABLES:BOOL=OFF | |
| -DYARP_COMPILE_TESTS:BOOL=OFF", | |
| } | |
| - { | |
| id: '17', | |
| description: 'Build extern dependencies', | |
| os: ubuntu-20.04, | |
| build_type: "Release", | |
| cc: "gcc", | |
| cxx: "g++", | |
| cmake_generator: "Unix Makefiles", | |
| cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake", | |
| cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_SQLite:BOOL=ON | |
| -DCMAKE_DISABLE_FIND_PACKAGE_TinyXML:BOOL=ON | |
| -DCMAKE_DISABLE_FIND_PACKAGE_QCustomPlot:BOOL=ON", | |
| } | |
| - { | |
| id: '18', | |
| description: 'Build extern dependencies', | |
| os: ubuntu-20.04, | |
| build_type: "Release", | |
| cc: "clang", | |
| cxx: "clang++", | |
| cmake_generator: "Unix Makefiles", | |
| cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake", | |
| cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_SQLite:BOOL=ON | |
| -DCMAKE_DISABLE_FIND_PACKAGE_TinyXML:BOOL=ON | |
| -DCMAKE_DISABLE_FIND_PACKAGE_QCustomPlot:BOOL=ON", | |
| } | |
| - { | |
| id: '19', | |
| os: ubuntu-20.04, | |
| build_type: "Release", | |
| cc: "gcc", | |
| cxx: "g++", | |
| cmake_generator: "Ninja", | |
| cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake", | |
| } | |
| - { | |
| id: '20', | |
| os: ubuntu-20.04, | |
| build_type: "Release", | |
| cc: "clang", | |
| cxx: "clang++", | |
| cmake_generator: "Ninja", | |
| cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake", | |
| } | |
| - { | |
| id: '21', | |
| description: 'Valgrind (bindings, failing tests and examples as tests disabled)', | |
| os: ubuntu-20.04, | |
| build_type: "Debug", | |
| cc: "gcc", | |
| cxx: "g++", | |
| cmake_generator: "Unix Makefiles", | |
| cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake", | |
| # These devices link to glib/gobject causing some memory leak on | |
| # valgrind, therefore they are not enabled on valgrind builds | |
| cmake_extra_options: "-DYARP_VALGRIND_TESTS:BOOL=ON | |
| -DYARP_DISABLE_FAILING_TESTS:BOOL=ON | |
| -DYARP_ENABLE_EXAMPLES_AS_TESTS:BOOL=OFF | |
| -DYARP_COMPILE_BINDINGS:BOOL=OFF | |
| -DCMAKE_DISABLE_FIND_PACKAGE_FFMPEG=ON | |
| -DENABLE_yarpcar_h264:BOOL=OFF | |
| -DENABLE_yarpcar_mjpeg:BOOL=OFF | |
| -DENABLE_yarppm_image_compression_ffmpeg:BOOL=OFF | |
| -DENABLE_yarpmod_usbCamera:BOOL=OFF | |
| -DENABLE_yarpmod_usbCameraRaw:BOOL=OFF | |
| -DENABLE_yarpmod_ffmpeg_grabber:BOOL=OFF | |
| -DENABLE_yarpmod_ffmpeg_writer:BOOL=OFF | |
| -DENABLE_yarpmod_portaudio:BOOL=OFF | |
| -DENABLE_yarpmod_portaudioPlayer:BOOL=OFF | |
| -DENABLE_yarpmod_portaudioRecorder:BOOL=OFF | |
| -DENABLE_yarpmod_fakeMicrophone:BOOL=OFF | |
| -DENABLE_yarpmod_opencv_grabber:BOOL=OFF", | |
| } | |
| - { | |
| id: '22', | |
| description: 'Valgrind, No ACE (bindings, failing tests and examples as tests disabled)', | |
| os: ubuntu-20.04, | |
| build_type: "Debug", | |
| cc: "gcc", | |
| cxx: "g++", | |
| cmake_generator: "Unix Makefiles", | |
| cmake_initial_cache_file: ".ci/initial-cache.gh.linux.cmake", | |
| # These devices link to glib/gobject causing some memory leak on | |
| # valgrind, therefore they are not enabled on valgrind builds | |
| cmake_extra_options: "-DCMAKE_DISABLE_FIND_PACKAGE_ACE:BOOL=ON | |
| -DSKIP_ACE:BOOL=ON | |
| -DYARP_VALGRIND_TESTS:BOOL=ON | |
| -DYARP_DISABLE_FAILING_TESTS:BOOL=ON | |
| -DYARP_ENABLE_EXAMPLES_AS_TESTS:BOOL=OFF | |
| -DYARP_COMPILE_BINDINGS:BOOL=OFF | |
| -DCMAKE_DISABLE_FIND_PACKAGE_FFMPEG=ON | |
| -DENABLE_yarpcar_h264:BOOL=OFF | |
| -DENABLE_yarpcar_mjpeg:BOOL=OFF | |
| -DENABLE_yarppm_image_compression_ffmpeg:BOOL=OFF | |
| -DENABLE_yarpmod_usbCamera:BOOL=OFF | |
| -DENABLE_yarpmod_usbCameraRaw:BOOL=OFF | |
| -DENABLE_yarpmod_ffmpeg_grabber:BOOL=OFF | |
| -DENABLE_yarpmod_ffmpeg_writer:BOOL=OFF | |
| -DENABLE_yarpmod_portaudio:BOOL=OFF | |
| -DENABLE_yarpmod_portaudioPlayer:BOOL=OFF | |
| -DENABLE_yarpmod_portaudioRecorder:BOOL=OFF | |
| -DENABLE_yarpmod_fakeMicrophone:BOOL=OFF | |
| -DENABLE_yarpmod_opencv_grabber:BOOL=OFF", | |
| } | |
| - { | |
| id: '23', | |
| os: windows-2019, | |
| build_type: "Release", | |
| cc: "cl", | |
| cxx: "cl", | |
| cmake_generator: "Visual Studio 16 2019", | |
| cmake_toolset: "v142", | |
| cmake_platform: "x64", | |
| cmake_toolchain_file: "C:/robotology/vcpkg/scripts/buildsystems/vcpkg.cmake", | |
| cmake_initial_cache_file: ".ci/initial-cache.gh.windows.cmake", | |
| environment_script: "C:/Program Files (x86)/Microsoft Visual Studio/2019/Enterprise/VC/Auxiliary/Build/vcvars64.bat", | |
| } | |
| - { | |
| id: '24', | |
| os: windows-2019, | |
| build_type: "Release", | |
| cc: "cl", | |
| cxx: "cl", | |
| cmake_generator: "Visual Studio 16 2019", | |
| cmake_toolset: "v141", | |
| cmake_platform: "x64", | |
| cmake_toolchain_file: "C:/robotology/vcpkg/scripts/buildsystems/vcpkg.cmake", | |
| cmake_initial_cache_file: ".ci/initial-cache.gh.windows.cmake", | |
| environment_script: "C:/Program Files (x86)/Microsoft Visual Studio/2019/Enterprise/VC/Auxiliary/Build/vcvars64.bat", | |
| } | |
| - { | |
| id: '25', | |
| os: windows-2019, | |
| build_type: "Release", | |
| cc: "cl", | |
| cxx: "cl", | |
| cmake_generator: "Ninja", | |
| cmake_toolset: "v142", | |
| cmake_toolchain_file: "C:/robotology/vcpkg/scripts/buildsystems/vcpkg.cmake", | |
| cmake_initial_cache_file: ".ci/initial-cache.gh.windows.cmake", | |
| environment_script: "C:/Program Files (x86)/Microsoft Visual Studio/2019/Enterprise/VC/Auxiliary/Build/vcvars64.bat", | |
| } | |
| - { | |
| id: '26', | |
| os: windows-2019, | |
| build_type: "Release", | |
| cc: "cl", | |
| cxx: "cl", | |
| cmake_generator: "Ninja", | |
| cmake_toolset: "v141", | |
| cmake_toolchain_file: "C:/robotology/vcpkg/scripts/buildsystems/vcpkg.cmake", | |
| cmake_initial_cache_file: ".ci/initial-cache.gh.windows.cmake", | |
| environment_script: "C:/Program Files (x86)/Microsoft Visual Studio/2019/Enterprise/VC/Auxiliary/Build/vcvars64.bat", | |
| } | |
| - { | |
| id: '27', | |
| os: macos-latest, | |
| build_type: "Release", | |
| cc: "clang", | |
| cxx: "clang++", | |
| cmake_generator: "Unix Makefiles", | |
| cmake_initial_cache_file: ".ci/initial-cache.gh.macos.cmake", | |
| } | |
| - { | |
| id: '28', | |
| os: macos-latest, | |
| build_type: "Release", | |
| cc: "clang", | |
| cxx: "clang++", | |
| cmake_generator: "Xcode", | |
| cmake_initial_cache_file: ".ci/initial-cache.gh.macos.cmake", | |
| } | |
| - { | |
| id: '29', | |
| os: macos-11.0, | |
| build_type: "Release", | |
| cc: "clang", | |
| cxx: "clang++", | |
| cmake_generator: "Unix Makefiles", | |
| cmake_initial_cache_file: ".ci/initial-cache.gh.macos.cmake", | |
| } | |
| - { | |
| id: '30', | |
| os: macos-11.0, | |
| build_type: "Release", | |
| cc: "clang", | |
| cxx: "clang++", | |
| cmake_generator: "Xcode", | |
| cmake_initial_cache_file: ".ci/initial-cache.gh.macos.cmake", | |
| } | |
| steps: | |
| - name: Clone repository | |
| uses: actions/checkout@v3 | |
| with: | |
| repository: ${{ needs.select_environment.outputs.repository }} | |
| ref: ${{ needs.select_environment.outputs.ref }} | |
| - name: Handle cache | |
| uses: actions/cache@v3 | |
| with: | |
| path: | | |
| .ccache | |
| key: build-${{ matrix.config.id }}-ccache-${{ github.ref }}-${{ needs.select_environment.outputs.timestamp }} | |
| restore-keys: | | |
| build-${{ matrix.config.id }}-${{ github.base_ref }}-ccache- | |
| build-${{ matrix.config.id }}-${{ github.ref }}-ccache- | |
| - name: Dependencies [Linux] | |
| if: runner.os == 'Linux' | |
| shell: bash | |
| run: | | |
| # Install Robotology dependencies from robotology ppa | |
| sudo apt-add-repository -y ppa:robotology/ppa | |
| sudo apt-get install -qq -y librobottestingframework-dev | |
| # Install cmake | |
| sudo apt-get install -qq -y cmake | |
| which cmake | |
| cmake --version | |
| /usr/bin/cmake --version | |
| # Install ycm | |
| wget -nv https://github.com/robotology/ycm/releases/download/v0.15.1/ycm-cmake-modules-0.15.1-all.deb | |
| sudo dpkg -i ycm-cmake-modules-0.15.1-all.deb | |
| # Install build tools | |
| sudo apt-get install -qq -y ccache \ | |
| ninja-build \ | |
| valgrind | |
| sudo apt-get install -y libace-dev \ | |
| sudo apt-get install -qq -y libsqlite3-dev \ | |
| libtinyxml-dev \ | |
| libedit-dev \ | |
| qtbase5-dev \ | |
| qtdeclarative5-dev \ | |
| qtmultimedia5-dev \ | |
| libqt5opengl5-dev \ | |
| libqcustomplot-dev \ | |
| libopencv-dev \ | |
| libeigen3-dev \ | |
| libgraphviz-dev \ | |
| libgstreamer1.0-dev \ | |
| libgstreamer-plugins-base1.0-dev \ | |
| libpng-dev \ | |
| libv4l-dev \ | |
| libavcodec-dev \ | |
| libavdevice-dev \ | |
| libavformat-dev \ | |
| libavutil-dev \ | |
| portaudio19-dev \ | |
| libsdl1.2-dev \ | |
| libopenni2-dev \ | |
| libftdi-dev \ | |
| libi2c-dev \ | |
| libfuse-dev \ | |
| libjpeg-dev \ | |
| libpcl-dev \ | |
| libsoxr-dev | |
| # Install SWIG and bindings dependencies | |
| sudo apt-get install -qq -y swig \ | |
| mono-mcs \ | |
| liblua5.3-dev \ | |
| lua5.3 \ | |
| tcl-dev \ | |
| tk-dev \ | |
| python3-dev \ | |
| liboctave-dev \ | |
| default-jdk \ | |
| ruby-dev \ | |
| ruby \ | |
| perl | |
| # Other tools useful in github actions | |
| sudo apt-get install -qq -y jq \ | |
| wget \ | |
| curl \ | |
| lcov \ | |
| gcovr \ | |
| wget \ | |
| curl \ | |
| clang-11 \ | |
| clang-tidy-11 \ | |
| xsltproc \ | |
| libxml2-utils \ | |
| source-highlight | |
| # Remove old packages from apt cache | |
| sudo apt-get autoclean -qq | |
| - name: Dependencies [Windows] | |
| if: runner.os == 'Windows' | |
| run: | | |
| echo "To avoid spending a huge time compiling vcpkg dependencies, we download a root that comes precompiled with all the ports that we need" | |
| choco install --no-progress -y wget 7zip | |
| echo "" | |
| echo " Download and install SWIG" | |
| wget -nv https://sourceforge.net/projects/swig/files/swigwin/swigwin-4.0.2/swigwin-4.0.2.zip -O swigwin.zip | |
| 7z x swigwin.zip | |
| mv swigwin-4.0.2/swig.exe swig.exe | |
| echo "" | |
| echo " To avoid problems with non-relocatable packages, we unzip the archive exactly in the same C:/robotology/vcpkg that has been used to create the pre-compiled archive" | |
| wget -nv https://github.com/robotology/robotology-superbuild-dependencies-vcpkg/releases/download/v0.6.0/vcpkg-robotology-yarp-only.zip | |
| 7z x -oC:\ vcpkg-robotology-yarp-only.zip | |
| echo "" | |
| echo " Download and install YCM " | |
| wget -nv https://github.com/robotology/ycm/releases/download/v0.15.1/ycm-cmake-modules-0.15.1-all.tar.gz -O ycm.tar.gz | |
| 7z x ycm.tar.gz | |
| 7z x -ttar -oC:\robotology ycm.tar | |
| echo "" | |
| echo " Download and install ccache " | |
| wget -nv https://github.com/cristianadam/ccache/releases/download/v3.7.7/Windows.tar.xz -O ccache.tar.xz | |
| 7z x ccache.tar.xz | |
| 7z x -ttar ccache.tar | |
| - name: Dependencies [macOS] | |
| if: runner.os == 'macOS' | |
| run: | | |
| # Temporary workaround for https://github.com/actions/setup-python/issues/577 | |
| rm -f /usr/local/bin/2to3 | |
| rm -f /usr/local/bin/idle3 | |
| rm -f /usr/local/bin/pydoc3 | |
| rm -f /usr/local/bin/python3 | |
| rm -f /usr/local/bin/python3-config | |
| rm -f /usr/local/bin/2to3-3.11 | |
| rm -f /usr/local/bin/idle3.11 | |
| rm -f /usr/local/bin/pydoc3.11 | |
| rm -f /usr/local/bin/python3.11 | |
| rm -f /usr/local/bin/python3.11-config | |
| wget -nv https://github.com/robotology/ycm/releases/download/v0.15.1/ycm-cmake-modules-0.15.1-all.tar.gz -O /Users/runner/work/yarp/ycm.tar.gz | |
| 7z x /Users/runner/work/yarp/ycm.tar.gz -o/Users/runner/work/yarp | |
| 7z x -ttar /Users/runner/work/yarp/ycm.tar -o/Users/runner/work/yarp | |
| brew update | |
| brew install ccache | |
| brew install ace | |
| brew install sqlite tinyxml libedit libpng qt5 opencv eigen graphviz libsoxr | |
| - name: Prepare Environment Script | |
| id: prepare_environment_script | |
| shell: cmake -P {0} | |
| run: | | |
| cmake_minimum_required(VERSION 3.17) | |
| set(_env_script ${CMAKE_CURRENT_LIST_DIR}/environment_script.cmake) | |
| file(WRITE "${_env_script}" "") | |
| # if YCM is installed manually, set YCM_DIR to allow CMake to find it | |
| if("${{ runner.os }}" STREQUAL "Windows") | |
| file(APPEND "${_env_script}" "set(ENV{YCM_DIR} \"C:\\\\robotology\\\\YCM-0.15.1-all\")\n") | |
| elseif("${{ runner.os }}" STREQUAL "macOS") | |
| file(APPEND "${_env_script}" "set(ENV{YCM_DIR} \"/Users/runner/work/yarp/YCM-0.15.1-all\")\n") | |
| endif() | |
| if("${{ runner.os }}" STREQUAL "Windows" AND NOT "${{ matrix.config.environment_script }}" STREQUAL "") | |
| execute_process( | |
| COMMAND "${{ matrix.config.environment_script }}" && set | |
| OUTPUT_FILE environment_script_output.txt | |
| ) | |
| file(STRINGS environment_script_output.txt output_lines) | |
| foreach(line IN LISTS output_lines) | |
| if(line MATCHES "^([a-zA-Z0-9_-]+)=(.*)$") | |
| set(_key "${CMAKE_MATCH_1}") | |
| set(_value "${CMAKE_MATCH_2}") | |
| string(REPLACE "\\" "\\\\" _value "${_value}") | |
| file(APPEND "${_env_script}" "set(ENV{${_key}} \"${_value}\")\n") | |
| endif() | |
| endforeach() | |
| # Ninja and other tools are downloaded in $GITHUB_WORKSPACE | |
| file(APPEND "${_env_script}" "set(ENV{PATH} \"\$ENV{PATH};\$ENV{GITHUB_WORKSPACE}\")\n") | |
| # Append vcpkg bin directory to the PATH | |
| if("${{ matrix.config.build_type }}" STREQUAL "Release") | |
| file(APPEND "${_env_script}" "set(ENV{PATH} \"\$ENV{PATH};C:\\\\robotology\\\\vcpkg\\\\installed\\\\x64-windows\\\\bin\")\n") | |
| else() | |
| file(APPEND "${_env_script}" "set(ENV{PATH} \"\$ENV{PATH};C:\\\\robotology\\\\vcpkg\\\\installed\\\\x64-windows\\\\debug\\\\bin\")\n") | |
| endif() | |
| # Append output bin directory to the PATH | |
| if("${{ matrix.config.cmake_generator }}" MATCHES "Visual Studio") | |
| file(APPEND "${_env_script}" "set(ENV{PATH} \"\$ENV{PATH};\$ENV{GITHUB_WORKSPACE}\\\\build\\\\bin\\\\${{ matrix.config.build_type }}\")\n") | |
| elseif("${{ matrix.config.cmake_generator }}" MATCHES "Ninja") | |
| file(APPEND "${_env_script}" "set(ENV{PATH} \"\$ENV{PATH};\$ENV{GITHUB_WORKSPACE}\\\\build\\\\bin\")\n") | |
| endif() | |
| endif() | |
| file(APPEND "${_env_script}" "set(ENV{CC} ${{ matrix.config.cc }})\n") | |
| file(APPEND "${_env_script}" "set(ENV{CXX} ${{ matrix.config.cxx }})\n") | |
| if("${{ matrix.config.cc }}" MATCHES "gcc") | |
| file(APPEND "${_env_script}" "set(ENV{CFLAGS} -fdiagnostics-color=always)\n") | |
| file(APPEND "${_env_script}" "set(ENV{CXXFLAGS} -fdiagnostics-color=always)\n") | |
| elseif("${{ matrix.config.cc }}" MATCHES "clang") | |
| file(APPEND "${_env_script}" "set(ENV{CFLAGS} -fcolor-diagnostics)\n") | |
| file(APPEND "${_env_script}" "set(ENV{CXXFLAGS} -fcolor-diagnostics)\n") | |
| endif() | |
| file(APPEND "${_env_script}" "file(TO_CMAKE_PATH \"\$ENV{GITHUB_WORKSPACE}\" ccache_basedir)\n") | |
| file(APPEND "${_env_script}" "set(ENV{CCACHE_BASEDIR} \"\${ccache_basedir}\")\n") | |
| file(APPEND "${_env_script}" "set(ENV{CCACHE_DIR} \"\${ccache_basedir}/.ccache\")\n") | |
| file(APPEND "${_env_script}" "set(ENV{CCACHE_COMPRESS} \"true\")\n") | |
| file(APPEND "${_env_script}" "set(ENV{CCACHE_COMPRESSLEVEL} \"6\")\n") | |
| if("${{ matrix.config.cxx }}" STREQUAL "cl") | |
| file(APPEND "${_env_script}" "set(ENV{CCACHE_MAXSIZE} \"600M\")\n") | |
| else() | |
| file(APPEND "${_env_script}" "set(ENV{CCACHE_MAXSIZE} \"400M\")\n") | |
| endif() | |
| # Force ccache to build the original cpp file instead of the pre-processed file | |
| file(APPEND "${_env_script}" "set(ENV{CCACHE_CPP2} \"yes\")\n") | |
| # Prepend ccache lib dir on Linux and macOS | |
| if("${{ runner.os }}" STREQUAL "Linux") | |
| file(APPEND "${_env_script}" "set(ENV{PATH} \"/usr/lib/ccache:\$ENV{PATH}\")\n") | |
| elseif("${{ runner.os }}" STREQUAL "macOS") | |
| file(APPEND "${_env_script}" "set(ENV{PATH} \"/usr/local/opt/ccache/libexec:\$ENV{PATH}\")\n") | |
| endif() | |
| # CMake/CTest variables | |
| file(APPEND "${_env_script}" "set(ENV{CTEST_OUTPUT_ON_FAILURE} \"1\")\n") | |
| file(APPEND "${_env_script}" "set(ENV{CLICOLOR_FORCE} \"1\")\n") | |
| # YARP variables | |
| file(APPEND "${_env_script}" "set(ENV{YARP_PORT_RANGE} \"20000\")\n") | |
| # Add execute_process_x() macro | |
| file(APPEND "${_env_script}" " | |
| function(execute_process_x) | |
| set(_options) | |
| set(_oneValueArgs RESULT_VARIABLE WORKING_DIRECTORY) | |
| set(_multiValueArgs COMMAND) | |
| cmake_parse_arguments(_x \"\${_options}\" \"\${_oneValueArgs}\" \"\${_multiValueArgs}\" \${ARGN}) | |
| string(REPLACE \";\" \" \" _cmd \"\${_x_COMMAND}\") | |
| string(REPLACE \"\\\\\" \"\\\\\\\\\" _cmd \"\${_cmd}\") | |
| message(STATUS \"\\n\$ \${_cmd}\") | |
| if(DEFINED _x_WORKING_DIRECTORY) | |
| set(_wd WORKING_DIRECTORY \"\${_x_WORKING_DIRECTORY}\") | |
| endif() | |
| execute_process(COMMAND \${_x_COMMAND} | |
| \${_wd} | |
| RESULT_VARIABLE _result) | |
| if(NOT _result EQUAL 0) | |
| message(WARNING \"The command \\\"\${_cmd}\\\" failed with result \\\"\${_result}\\\"\") | |
| endif() | |
| if(DEFINED _x_RESULT_VARIABLE) | |
| set(\${_x_RESULT_VARIABLE} \${_result} PARENT_SCOPE) | |
| endif() | |
| endfunction() | |
| ") | |
| message("::set-output name=environment_script::${_env_script}") | |
| - name: Print Environment Script | |
| shell: cmake -P {0} | |
| run: | | |
| cmake_minimum_required(VERSION 3.17) | |
| file(READ "${{ steps.prepare_environment_script.outputs.environment_script }}" _out) | |
| message("${_out}") | |
| - name: Print system information | |
| shell: cmake -P {0} | |
| run: | | |
| cmake_minimum_required(VERSION 3.17) | |
| include(${{ steps.prepare_environment_script.outputs.environment_script }}) | |
| set(_which_cmd which) | |
| set(_env_cmd env) | |
| if("${{ runner.os }}" STREQUAL "Windows") | |
| set(_which_cmd where) | |
| set(_env_cmd env) | |
| endif() | |
| if(UNIX) | |
| execute_process_x(COMMAND uname -a) | |
| endif() | |
| if("${{ runner.os }}" STREQUAL "Linux") | |
| execute_process_x(COMMAND lsb_release -a) | |
| execute_process_x(COMMAND cat /etc/apt/sources.list) | |
| execute_process_x(COMMAND ls -la --color=always /etc/apt/sources.list.d) | |
| file(GLOB _list_files "/etc/apt/sources.list.d/*.list") | |
| foreach(_list_file IN LISTS _list_files) | |
| execute_process_x(COMMAND cat ${_list_file}) | |
| endforeach() | |
| elseif("${{ runner.os }}" STREQUAL "macOS") | |
| execute_process_x(COMMAND system_profiler SPSoftwareDataType) | |
| elseif("${{ runner.os }}" STREQUAL "Windows") | |
| execute_process_x(COMMAND Systeminfo) | |
| endif() | |
| execute_process_x(COMMAND ${_which_cmd} cmake) | |
| execute_process_x(COMMAND cmake --version) | |
| if("${{ matrix.config.cmake_generator }}" MATCHES "Visual Studio") | |
| execute_process_x(COMMAND ${_which_cmd} msbuild) | |
| execute_process_x(COMMAND msbuild /version) | |
| elseif("${{ matrix.config.cmake_generator }}" MATCHES "Ninja") | |
| execute_process_x(COMMAND ${_which_cmd} ninja) | |
| execute_process_x(COMMAND ninja --version) | |
| elseif("${{ matrix.config.cmake_generator }}" MATCHES "Unix Makefiles") | |
| execute_process_x(COMMAND ${_which_cmd} make) | |
| execute_process_x(COMMAND make --version) | |
| elseif("${{ matrix.config.cmake_generator }}" MATCHES "Xcode") | |
| execute_process_x(COMMAND ${_which_cmd} xcodebuild) | |
| execute_process_x(COMMAND xcodebuild -version) | |
| endif() | |
| execute_process_x(COMMAND ${_which_cmd} $ENV{CC}) | |
| execute_process_x(COMMAND ${_which_cmd} $ENV{CXX}) | |
| if("$ENV{CC}" STREQUAL "cl") | |
| execute_process_x(COMMAND $ENV{CC}) | |
| execute_process_x(COMMAND $ENV{CXX}) | |
| else() | |
| execute_process_x(COMMAND $ENV{CC} --version) | |
| execute_process_x(COMMAND $ENV{CXX} --version) | |
| endif() | |
| execute_process_x(COMMAND ${_which_cmd} ccache) | |
| execute_process_x(COMMAND ccache --version) | |
| execute_process_x(COMMAND ccache -p) | |
| if("${{ runner.os }}" STREQUAL "Linux") | |
| execute_process_x(COMMAND ls -la --color=always /usr/lib/ccache) | |
| execute_process_x(COMMAND ls -la --color=always $ENV{HOME}/lib/ccache) | |
| endif() | |
| execute_process_x(COMMAND ${_which_cmd} swig) | |
| execute_process_x(COMMAND swig -version) | |
| execute_process_x(COMMAND ${_which_cmd} javac) | |
| execute_process_x(COMMAND javac -version) | |
| if("${{ runner.os }}" STREQUAL "Linux") | |
| execute_process_x(COMMAND netstat -tulpn) | |
| endif() | |
| execute_process_x(COMMAND ${_env_cmd}) | |
| - name: Configure | |
| shell: cmake -P {0} | |
| run: | | |
| cmake_minimum_required(VERSION 3.17) | |
| include(${{ steps.prepare_environment_script.outputs.environment_script }}) | |
| set(_generator) | |
| if(NOT "${{ matrix.config.cmake_generator }}" STREQUAL "") | |
| set(_generator -G "${{ matrix.config.cmake_generator }}") | |
| endif() | |
| set(_toolset) | |
| if(NOT "${{ matrix.config.cmake_toolset }}" STREQUAL "") | |
| list(APPEND toolset -T ${{ matrix.config.cmake_toolset }}) | |
| endif() | |
| set(_platform) | |
| if(NOT "${{ matrix.config.cmake_platform }}" STREQUAL "") | |
| list(APPEND _platform -A ${{ matrix.config.cmake_platform }}) | |
| endif() | |
| set(_initial_cache_file) | |
| if(NOT "${{ matrix.config.cmake_initial_cache_file }}" STREQUAL "") | |
| set(_initial_cache_file -C "${{ matrix.config.cmake_initial_cache_file }}") | |
| endif() | |
| set(_toolchain_file) | |
| if(NOT "${{ matrix.config.cmake_toolchain_file }}" STREQUAL "") | |
| set(_toolchain_file -D CMAKE_TOOLCHAIN_FILE=${{ matrix.config.cmake_toolchain_file }}) | |
| endif() | |
| set(_build_type) | |
| if(NOT "${{ matrix.config.build_type }}" STREQUAL "") | |
| set(_build_type -D CMAKE_BUILD_TYPE=${{ matrix.config.build_type }}) | |
| endif() | |
| file(TO_CMAKE_PATH "$ENV{GITHUB_WORKSPACE}/install" _install_prefix) | |
| set(_install_prefix -D CMAKE_INSTALL_PREFIX=${_install_prefix}) | |
| set(_cmake_compiler_lauchers ) | |
| if("${{ runner.os }}" STREQUAL "Windows") | |
| find_program(_ccache_cmd ccache PATHS ENV GITHUB_WORKSPACE) | |
| set(_cmake_compiler_lauchers -D CMAKE_C_COMPILER_LAUNCHER=${_ccache_cmd} | |
| -D CMAKE_CXX_COMPILER_LAUNCHER=${_ccache_cmd}) | |
| endif() | |
| set(_cmake_extra_options) | |
| if(NOT "${{ matrix.config.cmake_extra_options }}" STREQUAL "") | |
| set(_cmake_extra_options ${{ matrix.config.cmake_extra_options }}) | |
| endif() | |
| execute_process_x( | |
| COMMAND ${CMAKE_COMMAND} | |
| -S . | |
| -B build | |
| ${_generator} | |
| ${_toolset} | |
| ${_platform} | |
| ${_initial_cache_file} | |
| ${_toolchain_file} | |
| ${_build_type} | |
| ${_install_prefix} | |
| ${_cmake_compiler_lauchers} | |
| ${_cmake_extra_options} | |
| RESULT_VARIABLE _result | |
| ) | |
| if(NOT _result EQUAL 0) | |
| message(FATAL_ERROR "Configure step failed") | |
| endif() | |
| - name: Build | |
| shell: cmake -P {0} | |
| run: | | |
| cmake_minimum_required(VERSION 3.17) | |
| include(${{ steps.prepare_environment_script.outputs.environment_script }}) | |
| execute_process_x( | |
| COMMAND ${CMAKE_COMMAND} | |
| --build build | |
| --config ${{ matrix.config.build_type }} | |
| RESULT_VARIABLE _result | |
| ) | |
| if(NOT _result EQUAL 0) | |
| message(FATAL_ERROR "Build step failed") | |
| endif() | |
| # Print ccache stats | |
| execute_process_x(COMMAND ccache -s) | |
| # Reset ccache stats before uploading | |
| execute_process_x(COMMAND ccache -z) | |
| - name: Run tests | |
| shell: cmake -P {0} | |
| run: | | |
| cmake_minimum_required(VERSION 3.17) | |
| include(${{ steps.prepare_environment_script.outputs.environment_script }}) | |
| execute_process_x( | |
| COMMAND ${CMAKE_CTEST_COMMAND} | |
| --build-config ${{ matrix.config.build_type }} | |
| # We have random race conditions. | |
| # Allow up to 3 run of the same test | |
| --repeat until-pass:3 | |
| --output-on-failure | |
| WORKING_DIRECTORY build | |
| RESULT_VARIABLE result | |
| ) | |
| if(NOT result EQUAL 0) | |
| message(FATAL_ERROR "Test step failed") | |
| endif() | |
| - name: Status Check | |
| shell: cmake -P {0} | |
| run: | | |
| cmake_minimum_required(VERSION 3.17) | |
| include(${{ steps.prepare_environment_script.outputs.environment_script }}) | |
| execute_process_x( | |
| COMMAND git status --porcelain=v1 | |
| WORKING_DIRECTORY . | |
| RESULT_VARIABLE result | |
| OUTPUT_VARIABLE output | |
| ) | |
| if(NOT result EQUAL 0) | |
| message(FATAL_ERROR "Test step failed") | |
| endif() | |
| string(REGEX REPLACE "\n" ";" output "${output}") | |
| foreach(f IN LISTS output) | |
| string(REGEX REPLACE ".+ " "" f "${f}") | |
| message("::error file=${f},line=1,col=1::File modified.") | |
| endforeach() | |
| list(LENGTH output output_size) | |
| if(NOT output_size EQUAL 0) | |
| message(FATAL_ERROR "During build and tests, ${output_size} files were modified") | |
| endif() | |
| - name: Test installation | |
| shell: cmake -P {0} | |
| run: | | |
| cmake_minimum_required(VERSION 3.17) | |
| include(${{ steps.prepare_environment_script.outputs.environment_script }}) | |
| execute_process_x( | |
| COMMAND ${CMAKE_COMMAND} | |
| --install build | |
| --config ${{ matrix.config.build_type }} | |
| --strip | |
| RESULT_VARIABLE _result | |
| ) | |
| if(NOT _result EQUAL 0) | |
| message(FATAL_ERROR "Installation step failed") | |
| endif() | |
| - name: Test bindings from build tree | |
| if: matrix.config.test_external_bindings | |
| shell: cmake -P {0} | |
| run: | | |
| cmake_minimum_required(VERSION 3.17) | |
| include(${{ steps.prepare_environment_script.outputs.environment_script }}) | |
| ### FIXME Can we avoid this duplication? | |
| set(_generator) | |
| if(NOT "${{ matrix.config.cmake_generator }}" STREQUAL "") | |
| set(_generator -G "${{ matrix.config.cmake_generator }}") | |
| endif() | |
| set(_toolset) | |
| if(NOT "${{ matrix.config.cmake_toolset }}" STREQUAL "") | |
| list(APPEND toolset -T ${{ matrix.config.cmake_toolset }}) | |
| endif() | |
| set(_platform) | |
| if(NOT "${{ matrix.config.cmake_platform }}" STREQUAL "") | |
| list(APPEND _platform -A ${{ matrix.config.cmake_platform }}) | |
| endif() | |
| set(_initial_cache_file -C "$ENV{GITHUB_WORKSPACE}/.ci/bindings-cache.cmake") | |
| file(TO_CMAKE_PATH "$ENV{GITHUB_WORKSPACE}/install" _install_prefix) | |
| set(_install_prefix -D CMAKE_INSTALL_PREFIX=${_install_prefix}) | |
| set(_toolchain_file) | |
| if(NOT "${{ matrix.config.cmake_toolchain_file }}" STREQUAL "") | |
| set(_toolchain_file -D CMAKE_TOOLCHAIN_FILE=${{ matrix.config.cmake_toolchain_file }}) | |
| endif() | |
| set(_build_type) | |
| if(NOT "${{ matrix.config.build_type }}" STREQUAL "") | |
| set(_build_type -D CMAKE_BUILD_TYPE=${{ matrix.config.build_type }}) | |
| endif() | |
| set(_cmake_compiler_lauchers ) | |
| if("${{ runner.os }}" STREQUAL "Windows") | |
| find_program(_ccache_cmd ccache PATHS ENV GITHUB_WORKSPACE) | |
| set(_cmake_compiler_lauchers -D CMAKE_C_COMPILER_LAUNCHER=${_ccache_cmd} | |
| -D CMAKE_CXX_COMPILER_LAUNCHER=${_ccache_cmd}) | |
| endif() | |
| execute_process_x( | |
| COMMAND ${CMAKE_COMMAND} | |
| -S bindings | |
| -B build-bindings-build-tree | |
| ${_generator} | |
| ${_toolset} | |
| ${_platform} | |
| ${_initial_cache_file} | |
| ${_toolchain_file} | |
| ${_build_type} | |
| ${_install_prefix} | |
| ${_cmake_compiler_lauchers} | |
| ${_cmake_extra_options} | |
| -DYARP_DIR=$ENV{GITHUB_WORKSPACE}/build | |
| RESULT_VARIABLE _result | |
| ) | |
| if(NOT _result EQUAL 0) | |
| message(FATAL_ERROR "Configure bindings from build tree step failed") | |
| endif() | |
| execute_process_x( | |
| COMMAND ${CMAKE_COMMAND} | |
| --build build-bindings-build-tree | |
| --config ${{ matrix.config.build_type }} | |
| RESULT_VARIABLE _result | |
| ) | |
| if(NOT _result EQUAL 0) | |
| message(FATAL_ERROR "Build bindings from build tree step failed") | |
| endif() | |
| - name: Test bindings from install tree | |
| if: matrix.config.test_external_bindings | |
| shell: cmake -P {0} | |
| run: | | |
| cmake_minimum_required(VERSION 3.17) | |
| include(${{ steps.prepare_environment_script.outputs.environment_script }}) | |
| ### FIXME Can we avoid this duplication? | |
| set(_generator) | |
| if(NOT "${{ matrix.config.cmake_generator }}" STREQUAL "") | |
| set(_generator -G "${{ matrix.config.cmake_generator }}") | |
| endif() | |
| set(_toolset) | |
| if(NOT "${{ matrix.config.cmake_toolset }}" STREQUAL "") | |
| list(APPEND toolset -T ${{ matrix.config.cmake_toolset }}) | |
| endif() | |
| set(_platform) | |
| if(NOT "${{ matrix.config.cmake_platform }}" STREQUAL "") | |
| list(APPEND _platform -A ${{ matrix.config.cmake_platform }}) | |
| endif() | |
| set(_initial_cache_file -C "$ENV{GITHUB_WORKSPACE}/.ci/bindings-cache.cmake") | |
| file(TO_CMAKE_PATH "$ENV{GITHUB_WORKSPACE}/install" _install_prefix) | |
| set(_install_prefix -D CMAKE_INSTALL_PREFIX=${_install_prefix}) | |
| set(_toolchain_file) | |
| if(NOT "${{ matrix.config.cmake_toolchain_file }}" STREQUAL "") | |
| set(_toolchain_file -D CMAKE_TOOLCHAIN_FILE=${{ matrix.config.cmake_toolchain_file }}) | |
| endif() | |
| set(_build_type) | |
| if(NOT "${{ matrix.config.build_type }}" STREQUAL "") | |
| set(_build_type -D CMAKE_BUILD_TYPE=${{ matrix.config.build_type }}) | |
| endif() | |
| set(_cmake_compiler_lauchers ) | |
| if("${{ runner.os }}" STREQUAL "Windows") | |
| find_program(_ccache_cmd ccache PATHS ENV GITHUB_WORKSPACE) | |
| set(_cmake_compiler_lauchers -D CMAKE_C_COMPILER_LAUNCHER=${_ccache_cmd} | |
| -D CMAKE_CXX_COMPILER_LAUNCHER=${_ccache_cmd}) | |
| endif() | |
| execute_process_x( | |
| COMMAND ${CMAKE_COMMAND} | |
| -S bindings | |
| -B build-bindings-install-tree | |
| ${_generator} | |
| ${_toolset} | |
| ${_platform} | |
| ${_initial_cache_file} | |
| ${_toolchain_file} | |
| ${_build_type} | |
| ${_install_prefix} | |
| ${_cmake_compiler_lauchers} | |
| ${_cmake_extra_options} | |
| -DYARP_DIR=$ENV{GITHUB_WORKSPACE}/install/lib/cmake/YARP | |
| RESULT_VARIABLE _result | |
| ) | |
| if(NOT _result EQUAL 0) | |
| message(FATAL_ERROR "Configure bindings from install tree step failed") | |
| endif() | |
| execute_process_x( | |
| COMMAND ${CMAKE_COMMAND} | |
| --build build-bindings-install-tree | |
| --config ${{ matrix.config.build_type }} | |
| RESULT_VARIABLE _result | |
| ) | |
| if(NOT _result EQUAL 0) | |
| message(FATAL_ERROR "Build bindings from build tree step failed") | |
| endif() | |
| - name: Compress installation files | |
| shell: cmake -P {0} | |
| run: | | |
| cmake_minimum_required(VERSION 3.17) | |
| include(${{ steps.prepare_environment_script.outputs.environment_script }}) | |
| execute_process_x( | |
| COMMAND ${CMAKE_COMMAND} -E tar cvf $ENV{GITHUB_WORKSPACE}/install.tar --format=gnutar --files-from=$ENV{GITHUB_WORKSPACE}/build/install_manifest.txt | |
| WORKING_DIRECTORY "$ENV{GITHUB_WORKSPACE}/install" | |
| ) | |
| - name: Upload artifact | |
| uses: actions/upload-artifact@v3 | |
| with: | |
| name: installation-${{ matrix.config.id }} | |
| path: install.tar | |
| retention-days: 2 | |
| - name: Cleanup | |
| shell: cmake -P {0} | |
| run: | | |
| cmake_minimum_required(VERSION 3.17) | |
| include(${{ steps.prepare_environment_script.outputs.environment_script }}) | |
| # Reset ccache stats before uploading | |
| execute_process_x(COMMAND ccache -z) | |
| codacy-clang-tidy: | |
| environment: code-analysis | |
| name: 'Codacy - clang-tidy' | |
| needs: [select_environment, run-cmake] | |
| runs-on: ubuntu-20.04 | |
| steps: | |
| - name: Clone repository | |
| uses: actions/checkout@v3 | |
| with: | |
| repository: ${{ needs.select_environment.outputs.repository }} | |
| ref: ${{ needs.select_environment.outputs.ref }} | |
| # This step is copied from the build step, please keep them in sync until we | |
| # find a better way to do it automatically | |
| - name: Dependencies [Linux] | |
| if: runner.os == 'Linux' | |
| shell: bash | |
| run: | | |
| # Install Robotology dependencies from robotology ppa | |
| sudo apt-add-repository -y ppa:robotology/ppa | |
| sudo apt-get install -qq -y librobottestingframework-dev | |
| # Install cmake | |
| sudo apt-get install -qq -y cmake | |
| which cmake | |
| cmake --version | |
| /usr/bin/cmake --version | |
| # Install ycm | |
| wget -nv https://github.com/robotology/ycm/releases/download/v0.15.1/ycm-cmake-modules-0.15.1-all.deb | |
| sudo dpkg -i ycm-cmake-modules-0.15.1-all.deb | |
| # Install build tools | |
| sudo apt-get install -qq -y ccache \ | |
| ninja-build \ | |
| valgrind | |
| sudo apt-get install -qq -y libace-dev \ | |
| libsqlite3-dev \ | |
| libtinyxml-dev \ | |
| libedit-dev \ | |
| qtbase5-dev \ | |
| qtdeclarative5-dev \ | |
| qtmultimedia5-dev \ | |
| libqt5opengl5-dev \ | |
| libqcustomplot-dev \ | |
| libopencv-dev \ | |
| libeigen3-dev \ | |
| libgraphviz-dev \ | |
| libgstreamer1.0-dev \ | |
| libgstreamer-plugins-base1.0-dev \ | |
| libpng-dev \ | |
| libv4l-dev \ | |
| libavcodec-dev \ | |
| libavdevice-dev \ | |
| libavformat-dev \ | |
| libavutil-dev \ | |
| portaudio19-dev \ | |
| libsdl1.2-dev \ | |
| libopenni2-dev \ | |
| libftdi-dev \ | |
| libi2c-dev \ | |
| libfuse-dev \ | |
| libjpeg-dev \ | |
| libpcl-dev | |
| # Install SWIG and bindings dependencies | |
| sudo apt-get install -qq -y swig \ | |
| mono-mcs \ | |
| liblua5.3-dev \ | |
| lua5.3 \ | |
| tcl-dev \ | |
| tk-dev \ | |
| python3-dev \ | |
| liboctave-dev \ | |
| default-jdk \ | |
| ruby-dev \ | |
| ruby \ | |
| perl | |
| # Other tools useful in github actions | |
| sudo apt-get install -qq -y jq \ | |
| wget \ | |
| curl \ | |
| lcov \ | |
| gcovr \ | |
| wget \ | |
| curl \ | |
| clang-11 \ | |
| clang-tidy-11 \ | |
| xsltproc \ | |
| libxml2-utils \ | |
| source-highlight | |
| # Remove old packages from apt cache | |
| sudo apt-get autoclean -qq | |
| - name: Prepare environment | |
| env: | |
| CODACY_TOKEN: ${{ secrets.CODACY_TOKEN }} | |
| CLANG_VERSION: 10 | |
| CODACY_CLANG_TIDY_VERSION: 1.2.1 | |
| run: | | |
| echo "CLANG_VERSION=${CLANG_VERSION}" >> $GITHUB_ENV | |
| echo "CC=/usr/bin/clang-${CLANG_VERSION}" >> $GITHUB_ENV | |
| echo "CXX=/usr/bin/clang++-${CLANG_VERSION}" >> $GITHUB_ENV | |
| echo "CFLAGS=-fcolor-diagnostics" >> $GITHUB_ENV | |
| echo "CXXFLAGS=-fcolor-diagnostics" >> $GITHUB_ENV | |
| echo "CLANG_TIDY=/usr/bin/clang-tidy-${CLANG_VERSION}" >> $GITHUB_ENV | |
| echo "RUN_CLANG_TIDY=/usr/bin/run-clang-tidy-${CLANG_VERSION}" >> $GITHUB_ENV | |
| echo "COLORCLI=1" >> $GITHUB_ENV | |
| echo "CLICOLOR=1" >> $GITHUB_ENV | |
| echo "CLICOLOR_FORCE=1" >> $GITHUB_ENV | |
| echo "YARP_COLORED_OUTPUT=1" >> $GITHUB_ENV | |
| echo "PROJECT_TOKEN=${CODACY_TOKEN}" >> $GITHUB_ENV | |
| echo "COMMIT=${{ needs.select_environment.outputs.sha }}" >> $GITHUB_ENV | |
| echo "CODACY_URL=https://api.codacy.com" >> $GITHUB_ENV | |
| echo "CODACY_CLANG_TIDY_VERSION=${CODACY_CLANG_TIDY_VERSION}" >> $GITHUB_ENV | |
| - name: Download codacy-clang-tidy | |
| if: runner.os == 'Linux' | |
| shell: bash | |
| run: | | |
| # Download extra packages required | |
| sudo apt-get install -qq -y clang-${CLANG_VERSION} \ | |
| clang-tidy-${CLANG_VERSION} | |
| # Download codacy-clang-tidy | |
| sudo wget https://github.com/codacy/codacy-clang-tidy/releases/download/${CODACY_CLANG_TIDY_VERSION}/codacy-clang-tidy-${CODACY_CLANG_TIDY_VERSION} -O /usr/local/bin/codacy-clang-tidy-${CODACY_CLANG_TIDY_VERSION} | |
| sudo chmod -v +x /usr/local/bin/codacy-clang-tidy-${CODACY_CLANG_TIDY_VERSION} | |
| - name: Run CMake | |
| run: | | |
| /usr/bin/cmake -S. -Bbuild \ | |
| -C .ci/initial-cache.gh.linux.cmake \ | |
| -DCMAKE_EXPORT_COMPILE_COMMANDS:BOOL=ON \ | |
| -DYARP_NO_DEPRECATED:BOOL=ON \ | |
| -DYARP_COMPILE_BINDINGS:BOOL=OFF | |
| - name: Link compile_commands.json in the source directory | |
| run: | | |
| ln -s build/compile_commands.json . | |
| - name: Run make (required for files generated at build time) | |
| run: | | |
| (cd build && make) | |
| - name: List clang-tidy checks | |
| run: | | |
| # Fix .clang-tidy for clang 10 (see https://reviews.llvm.org/D75621) | |
| sed -i 's/;h;hh;hpp;hxx/,h,hh,hpp,hxx/g' .clang-tidy | |
| # Print the .clang-tidy file | |
| cat .clang-tidy | |
| echo | |
| # List checks | |
| ${CLANG_TIDY} -list-checks | |
| - name: Run clang-tidy | |
| run: | | |
| ${RUN_CLANG_TIDY} | sed "s|${PWD}/||g" | tee /tmp/out1 | |
| - name: Convert the clang-tidy output to a format that the Codacy API accepts | |
| run: | | |
| cat /tmp/out1 | \ | |
| /usr/local/bin/codacy-clang-tidy-${CODACY_CLANG_TIDY_VERSION} | tee /tmp/out2 | |
| - name: Send the results to Codacy | |
| run: | | |
| set -x | |
| cat /tmp/out2 | \ | |
| curl --silent --show-error --fail \ | |
| -XPOST -L -H "project-token: ${PROJECT_TOKEN}" \ | |
| -H "Content-type: application/json" -d @- \ | |
| "${CODACY_URL}/2.0/commit/${COMMIT}/issuesRemoteResults" | |
| echo | |
| - name: Signal that Codacy can use the sent results and start a new analysis | |
| run: | | |
| set -x | |
| curl --silent --show-error --fail \ | |
| -XPOST -L -H "project-token: ${PROJECT_TOKEN}" \ | |
| -H "Content-type: application/json" \ | |
| "${CODACY_URL}/2.0/commit/${COMMIT}/resultsFinal" | |
| echo | |
| codacy-coverage: | |
| environment: code-analysis | |
| name: 'Codacy - coverage' | |
| needs: [select_environment, run-cmake] | |
| runs-on: ubuntu-20.04 | |
| steps: | |
| - name: Clone repository | |
| uses: actions/checkout@v3 | |
| with: | |
| repository: ${{ needs.select_environment.outputs.repository }} | |
| ref: ${{ needs.select_environment.outputs.ref }} | |
| # This step is copied from the build step, please keep them in sync until we | |
| # find a better way to do it automatically | |
| - name: Dependencies [Linux] | |
| if: runner.os == 'Linux' | |
| shell: bash | |
| run: | | |
| # Install Robotology dependencies from robotology ppa | |
| sudo apt-add-repository -y ppa:robotology/ppa | |
| sudo apt-get install -qq -y librobottestingframework-dev | |
| # Install cmake | |
| sudo apt-get install -qq -y cmake | |
| which cmake | |
| cmake --version | |
| /usr/bin/cmake --version | |
| # Install ycm | |
| wget -nv https://github.com/robotology/ycm/releases/download/v0.15.1/ycm-cmake-modules-0.15.1-all.deb | |
| sudo dpkg -i ycm-cmake-modules-0.15.1-all.deb | |
| # Install build tools | |
| sudo apt-get install -qq -y ccache \ | |
| ninja-build \ | |
| valgrind | |
| sudo apt-get install -qq -y libace-dev \ | |
| libsqlite3-dev \ | |
| libtinyxml-dev \ | |
| libedit-dev \ | |
| qtbase5-dev \ | |
| qtdeclarative5-dev \ | |
| qtmultimedia5-dev \ | |
| libqt5opengl5-dev \ | |
| libqcustomplot-dev \ | |
| libopencv-dev \ | |
| libeigen3-dev \ | |
| libgraphviz-dev \ | |
| libgstreamer1.0-dev \ | |
| libgstreamer-plugins-base1.0-dev \ | |
| libpng-dev \ | |
| libv4l-dev \ | |
| libavcodec-dev \ | |
| libavdevice-dev \ | |
| libavformat-dev \ | |
| libavutil-dev \ | |
| portaudio19-dev \ | |
| libsdl1.2-dev \ | |
| libopenni2-dev \ | |
| libftdi-dev \ | |
| libi2c-dev \ | |
| libfuse-dev \ | |
| libjpeg-dev \ | |
| libpcl-dev | |
| # Install SWIG and bindings dependencies | |
| sudo apt-get install -qq -y swig \ | |
| mono-mcs \ | |
| liblua5.3-dev \ | |
| lua5.3 \ | |
| tcl-dev \ | |
| tk-dev \ | |
| python3-dev \ | |
| liboctave-dev \ | |
| default-jdk \ | |
| ruby-dev \ | |
| ruby \ | |
| perl | |
| # Other tools useful in github actions | |
| sudo apt-get install -qq -y jq \ | |
| wget \ | |
| curl \ | |
| lcov \ | |
| gcovr \ | |
| wget \ | |
| curl \ | |
| clang-11 \ | |
| clang-tidy-11 \ | |
| xsltproc \ | |
| libxml2-utils \ | |
| source-highlight | |
| # Remove old packages from apt cache | |
| sudo apt-get autoclean -qq | |
| - name: Build | |
| run: | | |
| export CLICOLOR_FORCE=1 | |
| export YARP_COLORED_OUTPUT=1 | |
| /usr/bin/cmake -S. -Bbuild \ | |
| -C .ci/initial-cache.gh.linux.cmake \ | |
| -DCMAKE_C_FLAGS=-fdiagnostics-color=always \ | |
| -DCMAKE_CXX_FLAGS=-fdiagnostics-color=always \ | |
| -DCMAKE_BUILD_TYPE=Profile \ | |
| "-DCMAKE_C_FLAGS_PROFILE=-pg -g3 -ggdb -fno-inline -ftest-coverage -fprofile-arcs -DNDEBUG" \ | |
| "-DCMAKE_CXX_FLAGS_PROFILE=-pg -g3 -ggdb -fno-inline -ftest-coverage -fprofile-arcs -DNDEBUG" \ | |
| -DCMAKE_EXPORT_COMPILE_COMMANDS:BOOL=ON \ | |
| -DYARP_NO_DEPRECATED:BOOL=ON | |
| (cd build && lcov --directory . --zerocounters) | |
| (cd build && make && make CTEST_OUTPUT_ON_FAILURE=1 test) | |
| # Capture coverage info for Profile builds | |
| (cd build; lcov --directory . --capture --rc lcov_branch_coverage=1 --output-file coverage.info) | |
| # Filter out system and test code | |
| (cd build; lcov --remove coverage.info '/usr/*' 'tests/*' 'example/*' 'extern/*' 'build/*'--rc lcov_branch_coverage=1 --output-file coverage.info) | |
| # Debug before upload | |
| (cd build; lcov --list coverage.info) | |
| - name: Run codacy-coverage-reporter | |
| uses: codacy/codacy-coverage-reporter-action@master | |
| with: | |
| project-token: ${{ secrets.CODACY_TOKEN }} | |
| coverage-reports: build/coverage.info | |
| sonarcloud: | |
| environment: code-analysis | |
| name: 'SonarCloud' | |
| needs: [select_environment, run-cmake] | |
| runs-on: ubuntu-20.04 | |
| steps: | |
| - name: Clone repository | |
| uses: actions/checkout@v3 | |
| with: | |
| repository: ${{ needs.select_environment.outputs.repository }} | |
| ref: ${{ needs.select_environment.outputs.ref }} | |
| fetch-depth: 0 # Shallow clones should be disabled for a better relevancy of analysis | |
| - name: Get Sonar and Prepare Environment | |
| id: get_sonar | |
| env: | |
| SONAR_ORGANIZATION: ${{ needs.select_environment.outputs.repository_owner }} | |
| SONAR_PROJECT_KEY: ${{ needs.select_environment.outputs.repository_owner }}_${{ needs.select_environment.outputs.repository_name }} | |
| SONAR_PROJECT_NAME: ${{ needs.select_environment.outputs.repository_name }} | |
| SONAR_PROJECT_DESCRIPTION: 'Yet Another Robot Platform' | |
| SONAR_PROJECT_VERSION: ${{ needs.select_environment.outputs.yarp_version }} | |
| SONAR_LINKS_HOMEPAGE: 'https://www.yarp.it/' | |
| SONAR_SOURCES: 'src' | |
| SONAR_TESTS: 'tests' | |
| SONAR_CFAMILY_GCOV_REPORTSPATH: 'build/coverage.info' | |
| SONAR_CFAMILY_CACHE_ENABLED: true | |
| SONAR_SCANNER_VERSION: '4.6.0.2311' | |
| SONAR_THREADS: 2 | |
| run: | | |
| # Internal variables | |
| SONAR_HOME_PATH=.sonar | |
| SONAR_CACHE_PATH=${SONAR_HOME_PATH}/cache | |
| SONAR_HOME=${HOME}/${SONAR_HOME_PATH} | |
| # project name from SonarCloud projet creation page -Dsonar.projectKey=XXXX | |
| echo "SONAR_PROJECT_KEY=${SONAR_PROJECT_KEY}" >> $GITHUB_ENV | |
| # project name from SonarCloud projet creation page -Dsonar.projectKey=XXXX | |
| echo "SONAR_PROJECT_NAME=${SONAR_PROJECT_NAME}" >> $GITHUB_ENV | |
| # project name from SonarCloud projet creation page -Dsonar.projectName=XXXX | |
| echo "SONAR_ORGANIZATION=${SONAR_ORGANIZATION}" >> $GITHUB_ENV | |
| # project version | |
| [[ ! -z "${SONAR_PROJECT_VERSION}" ]] && echo "SONAR_PROJECT_VERSION=${SONAR_PROJECT_VERSION}" >> $GITHUB_ENV | |
| # Links | |
| echo "SONAR_LINKS_HOMEPAGE=${SONAR_LINKS_HOMEPAGE:-https://github.com/${GITHUB_REPOSITORY}/}" >> $GITHUB_ENV | |
| echo "SONAR_LINKS_CI=${SONAR_LINKS_CI:-https://github.com/${GITHUB_REPOSITORY}/actions/}" >> $GITHUB_ENV | |
| echo "SONAR_LINKS_ISSUE=${SONAR_LINKS_ISSUE:-https://github.com/${GITHUB_REPOSITORY}/issues/}" >> $GITHUB_ENV | |
| echo "SONAR_LINKS_SCM=${SONAR_LINKS_SCM:-https://github.com/${GITHUB_REPOSITORY}/}" >> $GITHUB_ENV | |
| # Set default to SONAR_HOST_URL in not provided | |
| echo "SONAR_HOST_URL=${SONAR_HOST_URL:-https://sonarcloud.io}" >> $GITHUB_ENV | |
| echo "SONAR_SCANNER_VERSION=${SONAR_SCANNER_VERSION}" >> $GITHUB_ENV | |
| SONAR_SCANNER_HOME=${SONAR_HOME}/sonar-scanner-${SONAR_SCANNER_VERSION}-linux | |
| echo "SONAR_SCANNER_HOME=${SONAR_SCANNER_HOME}" >> $GITHUB_ENV | |
| echo "SONAR_SCANNER_OPTS=${SONAR_SCANNER_OPTS:--server}" >> $GITHUB_ENV | |
| echo "SONAR_SOURCES=${SONAR_SOURCES:-src}" >> $GITHUB_ENV | |
| [[ -v SONAR_TESTS ]] && echo "SONAR_TESTS=${SONAR_TESTS}" >> $GITHUB_ENV | |
| echo "SONAR_SOURCEENCODING=${SONAR_SOURCEENCODING:-UTF-8}" >> $GITHUB_ENV | |
| echo "SONAR_THREADS=${SONAR_THREADS:-1}" >> $GITHUB_ENV | |
| echo "SONAR_CFAMILY_CACHE_ENABLED=$([[ $SONAR_CFAMILY_CACHE_ENABLED = true ]] && echo true || echo false)" >> $GITHUB_ENV | |
| [[ $SONAR_CFAMILY_CACHE_ENABLED = true ]] && echo "SONAR_CFAMILY_CACHE_PATH=${SONAR_CACHE_PATH}" >> $GITHUB_ENV | |
| echo "PATH=${SONAR_HOME}/build-wrapper-linux-x86:${SONAR_SCANNER_HOME}/bin:${PATH}" >> $GITHUB_ENV | |
| mkdir -p ${SONAR_HOME} | |
| mkdir -p ${SONAR_CACHE_PATH} | |
| cat $GITHUB_ENV | |
| # Download sonar-scanner | |
| curl -sSLo ${SONAR_HOME}/sonar-scanner.zip https://binaries${SONAR_HOME_PATH}source.com/Distribution/sonar-scanner-cli/sonar-scanner-cli-$SONAR_SCANNER_VERSION-linux.zip | |
| unzip -o ${SONAR_HOME}/sonar-scanner.zip -d ${SONAR_HOME}/ | |
| # Download build-wrapper | |
| curl -sSLo ${SONAR_HOME}/build-wrapper-linux-x86.zip https://sonarcloud.io/static/cpp/build-wrapper-linux-x86.zip | |
| unzip -o ${SONAR_HOME}/build-wrapper-linux-x86.zip -d ${SONAR_HOME}/ | |
| echo "sonar_path=${SONAR_HOME_PATH}" >> $GITHUB_OUTPUT | |
| echo "sonar_cache_path=${SONAR_CACHE_PATH}" >> $GITHUB_OUTPUT | |
| # This step is copied from the build step, please keep them in sync until we | |
| # find a better way to do it automatically | |
| - name: Dependencies [Linux] | |
| if: runner.os == 'Linux' | |
| shell: bash | |
| run: | | |
| # Install Robotology dependencies from robotology ppa | |
| sudo apt-add-repository -y ppa:robotology/ppa | |
| sudo apt-get install -qq -y librobottestingframework-dev | |
| # Install cmake | |
| sudo apt-get install -qq -y cmake | |
| which cmake | |
| cmake --version | |
| /usr/bin/cmake --version | |
| # Install ycm | |
| wget -nv https://github.com/robotology/ycm/releases/download/v0.15.1/ycm-cmake-modules-0.15.1-all.deb | |
| sudo dpkg -i ycm-cmake-modules-0.15.1-all.deb | |
| # Install build tools | |
| sudo apt-get install -qq -y ccache \ | |
| ninja-build \ | |
| valgrind | |
| sudo apt-get install -qq -y libace-dev \ | |
| libsqlite3-dev \ | |
| libtinyxml-dev \ | |
| libedit-dev \ | |
| qtbase5-dev \ | |
| qtdeclarative5-dev \ | |
| qtmultimedia5-dev \ | |
| libqt5opengl5-dev \ | |
| libqcustomplot-dev \ | |
| libopencv-dev \ | |
| libeigen3-dev \ | |
| libgraphviz-dev \ | |
| libgstreamer1.0-dev \ | |
| libgstreamer-plugins-base1.0-dev \ | |
| libpng-dev \ | |
| libv4l-dev \ | |
| libavcodec-dev \ | |
| libavdevice-dev \ | |
| libavformat-dev \ | |
| libavutil-dev \ | |
| portaudio19-dev \ | |
| libsdl1.2-dev \ | |
| libopenni2-dev \ | |
| libftdi-dev \ | |
| libi2c-dev \ | |
| libfuse-dev \ | |
| libjpeg-dev \ | |
| libpcl-dev | |
| # Install SWIG and bindings dependencies | |
| sudo apt-get install -qq -y swig \ | |
| mono-mcs \ | |
| liblua5.3-dev \ | |
| lua5.3 \ | |
| tcl-dev \ | |
| tk-dev \ | |
| python3-dev \ | |
| liboctave-dev \ | |
| default-jdk \ | |
| ruby-dev \ | |
| ruby \ | |
| perl | |
| # Other tools useful in github actions | |
| sudo apt-get install -qq -y jq \ | |
| wget \ | |
| curl \ | |
| lcov \ | |
| gcovr \ | |
| wget \ | |
| curl \ | |
| clang-11 \ | |
| clang-tidy-11 \ | |
| xsltproc \ | |
| libxml2-utils \ | |
| source-highlight | |
| # Remove old packages from apt cache | |
| sudo apt-get autoclean -qq | |
| - name: Prepare ccache environment variables | |
| id: init_ccache | |
| run: | | |
| CCACHE_HOME_PATH=.ccache | |
| CCACHE_BASEDIR=$GITHUB_WORKSPACE | |
| echo "CCACHE_BASEDIR=${CCACHE_BASEDIR}" >> $GITHUB_ENV | |
| echo "CCACHE_HOME_PATH=.ccache" >> $GITHUB_ENV | |
| echo "CCACHE_DIR=${CCACHE_BASEDIR}/${CCACHE_HOME_PATH}" >> $GITHUB_ENV | |
| echo "CCACHE_COMPRESS=true" >> $GITHUB_ENV | |
| echo "CCACHE_COMPRESSLEVEL=6" >> $GITHUB_ENV | |
| echo "CCACHE_MAXSIZE=400M" >> $GITHUB_ENV | |
| echo "CCACHE_CPP2=yes" >> $GITHUB_ENV | |
| echo "PATH=/usr/lib/ccache::${PATH}" >> $GITHUB_ENV | |
| cat $GITHUB_ENV | |
| echo "ccache_path=${CCACHE_HOME_PATH}" >> $GITHUB_OUTPUT | |
| - name: Print info and reset stats before build | |
| run: | | |
| set -x | |
| which ccache | |
| ccache --version | |
| ccache -p | |
| ls -la --color=always /usr/lib/ccache | |
| # Reset ccache stats before starting | |
| ccache -z | |
| gcov --version | |
| gcovr --version | |
| - name: Handle cache | |
| uses: actions/cache@v3 | |
| with: | |
| path: | | |
| ${{ steps.init_ccache.outputs.ccache_path }} | |
| ${{ steps.get_sonar.outputs.sonar_cache_path }} | |
| key: sonar-cache-${{ needs.select_environment.outputs.timestamp }} | |
| restore-keys: | | |
| sonar-cache- | |
| - name: Run CMake | |
| run: | | |
| export CLICOLOR_FORCE=1 | |
| export YARP_COLORED_OUTPUT=1 | |
| /usr/bin/cmake -S. -Bbuild \ | |
| -C .ci/initial-cache.gh.linux.cmake \ | |
| -DCMAKE_C_FLAGS=-fdiagnostics-color=always \ | |
| -DCMAKE_CXX_FLAGS=-fdiagnostics-color=always \ | |
| -DCMAKE_BUILD_TYPE=Profile \ | |
| "-DCMAKE_C_FLAGS_PROFILE=-pg -g3 -ggdb -fno-inline -ftest-coverage -fprofile-arcs -DNDEBUG" \ | |
| "-DCMAKE_CXX_FLAGS_PROFILE=-pg -g3 -ggdb -fno-inline -ftest-coverage -fprofile-arcs -DNDEBUG" \ | |
| -DCMAKE_EXE_LINKER_FLAGS_PROFILE=-lgcov \ | |
| -DCMAKE_MODULE_LINKER_FLAGS_PROFILE=-lgcov \ | |
| -DCMAKE_SHARED_LINKER_FLAGS_PROFILE=-lgcov \ | |
| -DCMAKE_STATIC_LINKER_FLAGS_PROFILE= \ | |
| -DCMAKE_EXPORT_COMPILE_COMMANDS:BOOL=ON \ | |
| -DYARP_NO_DEPRECATED:BOOL=ON \ | |
| -DYARP_COMPILE_BINDINGS:BOOL=OFF | |
| - name: Link compile_commands.json in the source directory | |
| run: | | |
| ln -s build/compile_commands.json . | |
| - name: Build inside the build-wrapper | |
| run: | | |
| build-wrapper-linux-x86-64 --out-dir build_wrapper_output_directory cmake --build build --config Profile | |
| - name: Run tests | |
| run: | | |
| # Download CTest2JUnit.xsl | |
| wget https://raw.githubusercontent.com/zanata/zanata-tests/master/scripts/CTest2JUnit.xsl -O CTest2JUnit.xsl | |
| # -T Test produces the xml output with the results | |
| (cd build && ctest -T test --rerun-failed --output-on-failure --verbose) | |
| xsltproc CTest2JUnit.xsl build/Testing/$(head -n 1 < build/Testing/TAG)/Test.xml > build/JUnitTestResults.xml | |
| - name: Print tests results file | |
| run: | | |
| xmllint --format build/JUnitTestResults.xml | source-highlight -s xml --out-format=esc -o STDOUT | |
| - name: Print ccache stats after build | |
| run: | | |
| set -x | |
| # Print ccache stats | |
| ccache -s | |
| - name: Capture coverage info | |
| run: | | |
| (cd build && gcovr --sonarqube --branches --output coverage.xml --root .. .) | |
| - name: Print coverage info file | |
| run: | | |
| xmllint --format build/coverage.xml | source-highlight -s xml --out-format=esc -o STDOUT | |
| - name: Run sonar scanner | |
| env: | |
| GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} | |
| SONAR_TOKEN: ${{ secrets.SONAR_TOKEN }} | |
| run: | | |
| # Run sonar scanner (here, arguments are passed through the command line but most of them can be written in the sonar-project.properties file) | |
| [[ -v SONAR_TOKEN ]] && SONAR_TOKEN_CMD_ARG="-Dsonar.login=${SONAR_TOKEN}" | |
| [[ -v SONAR_ORGANIZATION ]] && SONAR_ORGANIZATION_CMD_ARG="-Dsonar.organization=${SONAR_ORGANIZATION}" | |
| [[ -v SONAR_PROJECT_NAME ]] && SONAR_PROJECT_NAME_CMD_ARG="-Dsonar.projectName=${SONAR_PROJECT_NAME}" | |
| [[ -v SONAR_PROJECT_DESCRIPTION ]] && SONAR_PROJECT_DESCRIPTION_CMD_ARG="-Dsonar.projectDescription=${SONAR_PROJECT_DESCRIPTION}" | |
| [[ -v SONAR_PROJECT_VERSION ]] && SONAR_PROJECT_VERSION_CMD_ARG="-Dsonar.projectVersion=${SONAR_PROJECT_VERSION}" | |
| if [[ "$GITHUB_EVENT_NAME" = "pull_request" || "$GITHUB_EVENT_NAME" == "pull_request_target" ]]; then | |
| SONAR_PR_CMD_ARGS="\ | |
| -Dsonar.pullrequest.provider=github \ | |
| -Dsonar.pullrequest.github.repository=${SONAR_ORGANIZATION}/${SONAR_PROJECT_NAME} \ | |
| -Dsonar.pullrequest.branch=${{ needs.select_environment.outputs.head_ref }} \ | |
| -Dsonar.pullrequest.key=${{ needs.select_environment.outputs.pr_number }} \ | |
| -Dsonar.pullrequest.base=${{ needs.select_environment.outputs.base_ref }} \ | |
| -Dsonar.pullrequest.github.endpoint=https://api.github.com" | |
| fi | |
| # Paths to test files | |
| [[ -v SONAR_TESTS ]] && SONAR_TESTS_CMD_ARG="-Dsonar.tests=${SONAR_TESTS}" | |
| # Path to cache | |
| [[ -v SONAR_CFAMILY_CACHE_PATH ]] && SONAR_CFAMILY_CACHE_PATH_CMD_ARG="-Dsonar.cfamily.cache.path=${SONAR_CFAMILY_CACHE_PATH}" | |
| set -x | |
| sonar-scanner \ | |
| -Dsonar.host.url="${SONAR_HOST_URL}" \ | |
| -Dsonar.projectKey=${SONAR_PROJECT_KEY} \ | |
| -Dsonar.language=c++ \ | |
| -Dsonar.sources=${SONAR_SOURCES} \ | |
| -Dsonar.links.homepage=${SONAR_LINKS_HOMEPAGE} \ | |
| -Dsonar.links.ci=${SONAR_LINKS_CI} \ | |
| -Dsonar.links.issue=${SONAR_LINKS_ISSUE} \ | |
| -Dsonar.links.scm=${SONAR_LINKS_SCM} \ | |
| -Dsonar.cfamily.build-wrapper-output=build_wrapper_output_directory \ | |
| -Dsonar.sourceEncoding=${SONAR_SOURCEENCODING} \ | |
| -Dsonar.cfamily.threads=${SONAR_THREADS} \ | |
| -Dsonar.cfamily.cache.enabled=${SONAR_CFAMILY_CACHE_ENABLED} \ | |
| -Dsonar.coverageReportPaths=build/coverage.xml \ | |
| -Dsonar.junit.reportPaths=build/JUnitTestResults.xml \ | |
| -Dsonar.exclusions="src/yarp*/**/* src/carriers/**/* src/devices/**/* src/idls/**/* src/libyarp*/**/* src/robottestingframework-plugins/**/* tests/**/*" \ | |
| -Dsonar.coverage.exclusions="src/yarp*/**/* src/carriers/**/* src/devices/**/* src/idls/**/* src/libyarp*/**/* src/robottestingframework-plugins/**/*" \ | |
| -Dsonar.branch.longLivedBranches.regex="^(master|yarp-.+)$" \ | |
| ${SONAR_TESTS_CMD_ARG} \ | |
| ${SONAR_PROJECT_NAME_CMD_ARG} \ | |
| ${SONAR_PROJECT_DESCRIPTION_CMD_ARG} \ | |
| ${SONAR_PROJECT_VERSION_CMD_ARG} \ | |
| ${SONAR_PR_CMD_ARGS} \ | |
| ${SONAR_TOKEN_CMD_ARG} \ | |
| ${SONAR_ORGANIZATION_CMD_ARG} \ | |
| ${SONAR_CFAMILY_CACHE_PATH_CMD_ARG} |