continuous-integration #151
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: continuous-integration | |
| # syntax https://help.github.com/en/articles/workflow-syntax-for-github-actions | |
| on: | |
| # Run at 2am every night. | |
| schedule: | |
| - cron: '0 2 * * *' | |
| pull_request: | |
| branches: | |
| - '*' | |
| push: | |
| branches: | |
| - main | |
| tags: | |
| - '*' | |
| jobs: | |
| windows: | |
| name: Windows | |
| runs-on: windows-2019 | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - name: Install Doxygen | |
| # choco install doxygen.portable # <-- too unreliable. | |
| run: | | |
| (New-Object System.Net.WebClient).DownloadFile("https://sourceforge.net/projects/myosin/files/doxygen-1.8.14.windows.x64.bin.zip/download", "doxygen.zip") | |
| 7z x $env:GITHUB_WORKSPACE/doxygen.zip -odoxygen | |
| echo "$env:GITHUB_WORKSPACE\\doxygen" >> $GITHUB_PATH | |
| - name: Install Python packages | |
| uses: actions/setup-python@v4 | |
| with: | |
| python-version: '3.10' | |
| - name: Install numpy | |
| #Need numpy to use SWIG numpy typemaps. | |
| run: python3 -m pip install numpy==1.25 | |
| - name: Install SWIG | |
| run: | | |
| choco install swig --version 4.1.1 --yes --limit-output --allow-downgrade | |
| swig -swiglib | |
| - name: Cache dependencies | |
| id: cache-dependencies | |
| uses: actions/cache@v3 | |
| with: | |
| path: ~/opensim_dependencies_install | |
| # Every time a cache is created, it's stored with this key. | |
| # In subsequent runs, if the key matches the key of an existing cache, | |
| # then the cache is used. We chose for this key to depend on the | |
| # operating system and a hash of the hashes of all files in the | |
| # dependencies directory (non-recursive). | |
| # https://help.github.com/en/actions/automating-your-workflow-with-github-actions/caching-dependencies-to-speed-up-workflows#matching-a-cache-key | |
| key: ${{ runner.os }}-dependencies-${{ hashFiles('dependencies/*') }} | |
| - name: Build dependencies | |
| if: steps.cache-dependencies.outputs.cache-hit != 'true' | |
| run: | | |
| echo $env:GITHUB_WORKSPACE\\build_deps | |
| mkdir $env:GITHUB_WORKSPACE\\build_deps | |
| chdir $env:GITHUB_WORKSPACE\\build_deps | |
| # /W0 disables warnings. | |
| # https://msdn.microsoft.com/en-us/library/19z1t1wy.aspx | |
| # TODO: CMake provides /W3, which overrides our /W0 | |
| cmake -E env CXXFLAGS="/W0" cmake $env:GITHUB_WORKSPACE/dependencies -LAH -G"Visual Studio 16 2019" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install -DSUPERBUILD_ezc3d=ON -DOPENSIM_WITH_TROPTER=ON -DOPENSIM_WITH_CASADI=ON | |
| cmake --build . --config Release -- /maxcpucount:4 | |
| - name: Configure opensim-core | |
| id: configure | |
| run: | | |
| mkdir $env:GITHUB_WORKSPACE\\build | |
| chdir $env:GITHUB_WORKSPACE\\build | |
| # TODO: Can remove /WX when we use that in CMakeLists.txt. | |
| # Set the CXXFLAGS environment variable to turn warnings into errors. | |
| # Skip timing test section included by default. | |
| cmake -E env CXXFLAGS="/WX -DSKIP_TIMING" cmake $env:GITHUB_WORKSPACE -LAH -G"Visual Studio 16 2019" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim-core-install -DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install -DOPENSIM_C3D_PARSER=ezc3d -DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on -DOPENSIM_WITH_TROPTER=on -DPython3_ROOT_DIR=C:\hostedtoolcache\windows\Python\3.10.11\x64 | |
| $env:match = cmake -L . | Select-String -Pattern OPENSIM_QUALIFIED_VERSION | |
| $version = $env:match.split('=')[1] | |
| echo $version | |
| echo "VERSION=$version" >> $GITHUB_ENV | |
| echo "version=$version" >> $env:GITHUB_OUTPUT | |
| - name: Build opensim-core | |
| # Install now to avoid building bindings twice (issue when using Visual Studio 2019). | |
| run: | | |
| chdir $env:GITHUB_WORKSPACE\\build | |
| cmake --build . --config Release --target doxygen -- /maxcpucount:4 | |
| cmake --build . --config Release --target install -- /maxcpucount:4 | |
| - name: Test opensim-core | |
| run: | | |
| chdir $env:GITHUB_WORKSPACE\\build | |
| ctest --parallel 4 --output-on-failure --build-config Release | |
| - name: Install opensim-core | |
| # TODO: This is where we wish to do the installing, but it's done above for now. | |
| run: | | |
| chdir $env:GITHUB_WORKSPACE\\build | |
| chdir $env:GITHUB_WORKSPACE | |
| Copy-Item -Path "~/opensim-core-install" -Destination "opensim-core-${{ steps.configure.outputs.version }}" -Recurse | |
| 7z a "opensim-core-${{ steps.configure.outputs.version }}.zip" "opensim-core-${{ steps.configure.outputs.version }}" | |
| - name: Test Python bindings | |
| run: | | |
| echo "PYTHONPATH= $env:USERPROFILE/opensim-core-install/bin">> $GITHUB_ENV | |
| # Move to the installed location of the python package. | |
| cd ~/opensim-core-install/sdk/python | |
| # Run python tests. | |
| python -m unittest discover --start-directory opensim/tests --verbose | |
| - name: Upload opensim-core | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: opensim-core-${{ steps.configure.outputs.version }}-win-2019 | |
| path: opensim-core-${{ steps.configure.outputs.version }}.zip | |
| # TODO: Must be relative to the workspace? | |
| # - name: Upload opensim-moco dependencies | |
| # uses: actions/[email protected] | |
| # with: | |
| # name: opensim-core-dependencies | |
| # path: opensim_dependencies_install.zip | |
| # - name: Create release | |
| # id: create-release | |
| # uses: actions/[email protected] | |
| # env: | |
| # GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} | |
| # with: | |
| # tag_name: ${{ github.ref }} | |
| # release_name: OpenSim Core ${{ github.ref }} | |
| # draft: true | |
| # prerelease: false | |
| # - name: Zip opensim-core | |
| # run: | | |
| # 7z a opensim-core-$VERSION.zip opensim-core-${VERSION} | |
| # - name: Upload release asset | |
| # id: upload-release-asset | |
| # uses: actions/[email protected] | |
| # env: | |
| # GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} | |
| # with: | |
| # upload_url: ${{ steps.create-release.outputs.upload_url }} | |
| # asset_path: ./opensim-core-${{ github.ref }}.zip | |
| # asset_name: opensim-core-${{ github.ref }}.zip | |
| # asset_content_type: application/zip | |
| windows2022_target: | |
| name: Windows2022 [target] | |
| if: ${{ contains(github.event.pull_request.title, '[perf-win]') || contains(github.event.pull_request.body, '[perf-win]') }} | |
| runs-on: windows-2022 | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| ref: ${{ github.event.pull_request.base.ref }} | |
| - name: Install Doxygen | |
| # choco install doxygen.portable # <-- too unreliable. | |
| run: | | |
| (New-Object System.Net.WebClient).DownloadFile("https://sourceforge.net/projects/myosin/files/doxygen-1.8.14.windows.x64.bin.zip/download", "doxygen.zip") | |
| 7z x $env:GITHUB_WORKSPACE/doxygen.zip -odoxygen | |
| echo "$env:GITHUB_WORKSPACE\\doxygen" >> $GITHUB_PATH | |
| - name: Install Python packages | |
| uses: actions/setup-python@v4 | |
| with: | |
| python-version: '3.10' | |
| - name: Install numpy | |
| #Need numpy to use SWIG numpy typemaps. | |
| run: python3 -m pip install numpy==1.25 | |
| - name: Install SWIG | |
| run: | | |
| choco install swig --version 4.1.1 --yes --limit-output --allow-downgrade | |
| swig -swiglib | |
| - name: Cache dependencies | |
| id: cache-dependencies | |
| uses: actions/cache@v3 | |
| with: | |
| path: ~/opensim_dependencies_install | |
| # Every time a cache is created, it's stored with this key. | |
| # In subsequent runs, if the key matches the key of an existing cache, | |
| # then the cache is used. We chose for this key to depend on the | |
| # operating system and a hash of the hashes of all files in the | |
| # dependencies directory (non-recursive). | |
| # https://help.github.com/en/actions/automating-your-workflow-with-github-actions/caching-dependencies-to-speed-up-workflows#matching-a-cache-key | |
| key: ${{ runner.os }}-dependencies-${{ hashFiles('dependencies/*') }} | |
| - name: Build dependencies | |
| if: steps.cache-dependencies.outputs.cache-hit != 'true' | |
| run: | | |
| echo $env:GITHUB_WORKSPACE\\build_deps | |
| mkdir $env:GITHUB_WORKSPACE\\build_deps | |
| chdir $env:GITHUB_WORKSPACE\\build_deps | |
| # /W0 disables warnings. | |
| # https://msdn.microsoft.com/en-us/library/19z1t1wy.aspx | |
| # TODO: CMake provides /W3, which overrides our /W0 | |
| cmake -E env CXXFLAGS="/W0" cmake $env:GITHUB_WORKSPACE/dependencies -LAH -G"Visual Studio 17 2022" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install -DSUPERBUILD_ezc3d=ON -DOPENSIM_WITH_TROPTER=ON -DOPENSIM_WITH_CASADI=ON | |
| cmake --build . --config Release -- /maxcpucount:4 | |
| - name: Configure opensim-core | |
| id: configure | |
| run: | | |
| mkdir $env:GITHUB_WORKSPACE\\build | |
| chdir $env:GITHUB_WORKSPACE\\build | |
| # TODO: Can remove /WX when we use that in CMakeLists.txt. | |
| # Set the CXXFLAGS environment variable to turn warnings into errors. | |
| # Skip timing test section included by default. | |
| cmake -E env CXXFLAGS="/WX -DSKIP_TIMING" cmake $env:GITHUB_WORKSPACE -LAH -G"Visual Studio 17 2022" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim-core-install -DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install -DOPENSIM_C3D_PARSER=ezc3d -DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on -DPython3_ROOT_DIR=C:\hostedtoolcache\windows\Python\3.10.11\x64 | |
| $env:match = cmake -L . | Select-String -Pattern OPENSIM_QUALIFIED_VERSION | |
| $version = $env:match.split('=')[1] | |
| echo $version | |
| echo "VERSION=$version" >> $GITHUB_ENV | |
| echo "version=$version" >> $env:GITHUB_OUTPUT | |
| - name: Build opensim-core | |
| # Install now to avoid building bindings twice (TODO: issue when using Visual Studio 2019, is this an issue too in Visual Studio 2022?). | |
| run: | | |
| chdir $env:GITHUB_WORKSPACE\\build | |
| cmake --build . --config Release --target doxygen -- /maxcpucount:4 | |
| cmake --build . --config Release --target install -- /maxcpucount:4 | |
| - name: Test opensim-core | |
| run: | | |
| chdir $env:GITHUB_WORKSPACE\\build | |
| ctest --parallel 4 --output-on-failure --build-config Release -E Java_* | |
| - name: Install opensim-core | |
| # TODO: This is where we wish to do the installing, but it's done above for now. | |
| run: | | |
| chdir $env:GITHUB_WORKSPACE\\build | |
| chdir $env:GITHUB_WORKSPACE | |
| Copy-Item -Path "~/opensim-core-install" -Destination "opensim-core-${{ github.event.pull_request.base.ref }}" -Recurse | |
| 7z a "opensim-core-${{ github.event.pull_request.base.ref }}.zip" "opensim-core-${{ github.event.pull_request.base.ref }}" | |
| - name: Test Python bindings | |
| run: | | |
| echo "PYTHONPATH= $env:USERPROFILE/opensim-core-install/bin">> $GITHUB_ENV | |
| # Move to the installed location of the python package. | |
| cd ~/opensim-core-install/sdk/python | |
| # Run python tests. | |
| python -m unittest discover --start-directory opensim/tests --verbose | |
| - name: Upload opensim-core | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: opensim-core-${{ github.event.pull_request.base.ref }}-win | |
| path: opensim-core-${{ github.event.pull_request.base.ref }}.zip | |
| windows2022_source: | |
| runs-on: windows-2022 | |
| name: ${{ (contains(github.event.pull_request.title, '[perf-win]') || contains(github.event.pull_request.body, '[perf-win]')) && 'Windows2022 [source]' || 'Windows2022' }} | |
| outputs: | |
| version: ${{ steps.configure.outputs.version }} | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - name: Install Doxygen | |
| # choco install doxygen.portable # <-- too unreliable. | |
| run: | | |
| (New-Object System.Net.WebClient).DownloadFile("https://sourceforge.net/projects/myosin/files/doxygen-1.8.14.windows.x64.bin.zip/download", "doxygen.zip") | |
| 7z x $env:GITHUB_WORKSPACE/doxygen.zip -odoxygen | |
| echo "$env:GITHUB_WORKSPACE\\doxygen" >> $GITHUB_PATH | |
| - name: Install Python packages | |
| uses: actions/setup-python@v4 | |
| with: | |
| python-version: '3.10' | |
| - name: Install numpy | |
| #Need numpy to use SWIG numpy typemaps. | |
| run: python3 -m pip install numpy==1.25 | |
| - name: Install SWIG | |
| run: | | |
| choco install swig --version 4.1.1 --yes --limit-output --allow-downgrade | |
| swig -swiglib | |
| - name: Cache dependencies | |
| id: cache-dependencies | |
| uses: actions/cache@v3 | |
| with: | |
| path: ~/opensim_dependencies_install | |
| # Every time a cache is created, it's stored with this key. | |
| # In subsequent runs, if the key matches the key of an existing cache, | |
| # then the cache is used. We chose for this key to depend on the | |
| # operating system and a hash of the hashes of all files in the | |
| # dependencies directory (non-recursive). | |
| # https://help.github.com/en/actions/automating-your-workflow-with-github-actions/caching-dependencies-to-speed-up-workflows#matching-a-cache-key | |
| key: ${{ runner.os }}-dependencies-${{ hashFiles('dependencies/*') }} | |
| - name: Build dependencies | |
| if: steps.cache-dependencies.outputs.cache-hit != 'true' | |
| run: | | |
| echo $env:GITHUB_WORKSPACE\\build_deps | |
| mkdir $env:GITHUB_WORKSPACE\\build_deps | |
| chdir $env:GITHUB_WORKSPACE\\build_deps | |
| # /W0 disables warnings. | |
| # https://msdn.microsoft.com/en-us/library/19z1t1wy.aspx | |
| # TODO: CMake provides /W3, which overrides our /W0 | |
| cmake -E env CXXFLAGS="/W0" cmake $env:GITHUB_WORKSPACE/dependencies -LAH -G"Visual Studio 17 2022" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install -DSUPERBUILD_ezc3d=ON -DOPENSIM_WITH_TROPTER=ON -DOPENSIM_WITH_CASADI=ON | |
| cmake --build . --config Release -- /maxcpucount:4 | |
| - name: Configure opensim-core | |
| id: configure | |
| run: | | |
| mkdir $env:GITHUB_WORKSPACE\\build | |
| chdir $env:GITHUB_WORKSPACE\\build | |
| # TODO: Can remove /WX when we use that in CMakeLists.txt. | |
| # Set the CXXFLAGS environment variable to turn warnings into errors. | |
| # Skip timing test section included by default. | |
| cmake -E env CXXFLAGS="/WX -DSKIP_TIMING" cmake $env:GITHUB_WORKSPACE -LAH -G"Visual Studio 17 2022" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim-core-install -DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install -DOPENSIM_C3D_PARSER=ezc3d -DOPENSIM_WITH_TROPTER=on -DOPENSIM_WITH_CASADI=on -DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on -DPython3_ROOT_DIR=C:\hostedtoolcache\windows\Python\3.10.11\x64 | |
| $env:match = cmake -L . | Select-String -Pattern OPENSIM_QUALIFIED_VERSION | |
| $version = $env:match.split('=')[1] | |
| echo $version | |
| echo "VERSION=$version" >> $GITHUB_ENV | |
| echo "version=$version" >> $env:GITHUB_OUTPUT | |
| - name: Build opensim-core | |
| # Install now to avoid building bindings twice (TODO: issue when using Visual Studio 2019, is this an issue too in Visual Studio 2022?). | |
| run: | | |
| chdir $env:GITHUB_WORKSPACE\\build | |
| cmake --build . --config Release --target doxygen -- /maxcpucount:4 | |
| cmake --build . --config Release --target install -- /maxcpucount:4 | |
| - name: Test opensim-core | |
| run: | | |
| chdir $env:GITHUB_WORKSPACE\\build | |
| ctest --parallel 4 --output-on-failure --build-config Release -E Java_* | |
| - name: Install opensim-core | |
| # TODO: This is where we wish to do the installing, but it's done above for now. | |
| run: | | |
| chdir $env:GITHUB_WORKSPACE\\build | |
| chdir $env:GITHUB_WORKSPACE | |
| Copy-Item -Path "~/opensim-core-install" -Destination "opensim-core-${{ steps.configure.outputs.version }}" -Recurse | |
| 7z a "opensim-core-${{ steps.configure.outputs.version }}.zip" "opensim-core-${{ steps.configure.outputs.version }}" | |
| - name: Test Python bindings | |
| run: | | |
| echo "PYTHONPATH= $env:USERPROFILE/opensim-core-install/bin">> $GITHUB_ENV | |
| # Move to the installed location of the python package. | |
| cd ~/opensim-core-install/sdk/python | |
| # Run python tests. | |
| python -m unittest discover --start-directory opensim/tests --verbose | |
| - name: Upload opensim-core | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: opensim-core-${{ steps.configure.outputs.version }}-win | |
| path: opensim-core-${{ steps.configure.outputs.version }}.zip | |
| mac_target: | |
| name: Mac [target] | |
| runs-on: macos-12 | |
| if: ${{ contains(github.event.pull_request.title, '[perf-mac]') || contains(github.event.pull_request.body, '[perf-mac]') }} | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| ref: ${{ github.event.pull_request.base.ref }} | |
| - name: Install Python packages | |
| uses: actions/setup-python@v4 | |
| with: | |
| python-version: '3.10' | |
| - name: Install Homebrew packages | |
| # Save the gfortran version to a file so we can use it in the cache key. | |
| run: | | |
| brew install cmake pkgconfig autoconf libtool automake wget pcre doxygen llvm | |
| brew reinstall gcc | |
| pip3 install numpy==1.25 | |
| gfortran -v | |
| mkdir gfortran_version | |
| gfortran -v &> gfortran_version/gfortran_version.txt | |
| - name: Cache SWIG | |
| id: cache-swig | |
| uses: actions/cache@v3 | |
| with: | |
| path: ~/swig | |
| key: ${{ runner.os }}-swig | |
| - name: Install SWIG | |
| # if: steps.cache-swig.outputs.cache-hit != 'true' | |
| run: | | |
| mkdir ~/swig-source && cd ~/swig-source | |
| wget https://github.com/swig/swig/archive/refs/tags/v4.1.1.tar.gz | |
| tar xzf v4.1.1.tar.gz && cd swig-4.1.1 | |
| sh autogen.sh && ./configure --prefix=$HOME/swig --disable-ccache | |
| make && make -j4 install | |
| - name: Cache dependencies | |
| id: cache-dependencies | |
| uses: actions/cache@v3 | |
| with: | |
| path: ~/opensim_dependencies_install | |
| # If Homebrew updates the gcc package, then our cache of IPOPT is invalid. | |
| # Specifically, the pkgcfg_lib_IPOPT_gfortran CMake variable becomes | |
| # undefined. | |
| key: ${{ runner.os }}-dependencies-${{ hashFiles('dependencies/*') }}-${{ hashFiles('gfortran_version/*') }} | |
| - name: Build dependencies | |
| if: steps.cache-dependencies.outputs.cache-hit != 'true' | |
| run: | | |
| mkdir $GITHUB_WORKSPACE/../build_deps | |
| cd $GITHUB_WORKSPACE/../build_deps | |
| DEP_CMAKE_ARGS=($GITHUB_WORKSPACE/dependencies -LAH) | |
| DEP_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install) | |
| DEP_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release) | |
| DEP_CMAKE_ARGS+=(-DSUPERBUILD_ezc3d=ON) | |
| DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_TROPTER=ON) | |
| DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_CASADI=ON) | |
| DEP_CMAKE_ARGS+=(-DOPENSIM_DISABLE_LOG_FILE=ON) | |
| DEP_CMAKE_ARGS+=(-DCMAKE_OSX_DEPLOYMENT_TARGET=11) | |
| printf '%s\n' "${DEP_CMAKE_ARGS[@]}" | |
| cmake "${DEP_CMAKE_ARGS[@]}" | |
| make --jobs 4 | |
| - name: Configure opensim-core | |
| id: configure | |
| run: | | |
| mkdir $GITHUB_WORKSPACE/../build | |
| cd $GITHUB_WORKSPACE/../build | |
| OSIM_CMAKE_ARGS=($GITHUB_WORKSPACE -LAH) | |
| OSIM_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/../opensim-core-install) | |
| OSIM_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release) | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install) | |
| OSIM_CMAKE_ARGS+=(-DCMAKE_OSX_DEPLOYMENT_TARGET=11) | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_C3D_PARSER=ezc3d) | |
| OSIM_CMAKE_ARGS+=(-DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on) | |
| OSIM_CMAKE_ARGS+=(-DSWIG_EXECUTABLE=$HOME/swig/bin/swig) | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_INSTALL_UNIX_FHS=OFF) | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_DOXYGEN_USE_MATHJAX=off) | |
| # TODO: Update to simbody.github.io/latest | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_SIMBODY_DOXYGEN_LOCATION="https://simbody.github.io/simtk.org/api_docs/simbody/latest/") | |
| OSIM_CMAKE_ARGS+=(-DCMAKE_CXX_FLAGS="-Werror, -Wdeprecated-copy") | |
| printf '%s\n' "${OSIM_CMAKE_ARGS[@]}" | |
| cmake "${OSIM_CMAKE_ARGS[@]}" | |
| VERSION=`cmake -L . | grep OPENSIM_QUALIFIED_VERSION | cut -d "=" -f2` | |
| echo $VERSION | |
| echo "VERSION=$VERSION" >> $GITHUB_ENV | |
| echo "version=$VERSION" >> $GITHUB_OUTPUT | |
| - name: Build opensim-core | |
| run: | | |
| cd $GITHUB_WORKSPACE/../build | |
| make --jobs 4 | |
| - name: Test opensim-core | |
| run: | | |
| cd $GITHUB_WORKSPACE/../build | |
| ctest --parallel 4 --output-on-failure | |
| - name: Install opensim-core | |
| run: | | |
| cd $GITHUB_WORKSPACE/../build | |
| make doxygen | |
| make install | |
| cd $GITHUB_WORKSPACE | |
| mv $GITHUB_WORKSPACE/../opensim-core-install opensim-core-${{ github.event.pull_request.base.ref }} | |
| zip --symlinks --recurse-paths --quiet opensim-core-${{ github.event.pull_request.base.ref }}.zip opensim-core-${{ github.event.pull_request.base.ref }} | |
| mv opensim-core-${{ github.event.pull_request.base.ref }} $GITHUB_WORKSPACE/../opensim-core-install | |
| - name: Test Python bindings | |
| run: | | |
| cd $GITHUB_WORKSPACE/../opensim-core-install/sdk/Python | |
| # Run the python tests, verbosely. | |
| python3 -m unittest discover --start-directory opensim/tests --verbose | |
| - name: Upload opensim-core | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| # The upload-artifact zipping does not preserve symlinks or executable | |
| # bits. So we zip ourselves, even though this causes a double-zip. | |
| name: opensim-core-${{ github.event.pull_request.base.ref }}-mac | |
| path: opensim-core-${{ github.event.pull_request.base.ref }}.zip | |
| mac_source: | |
| runs-on: macos-12 | |
| name: ${{ (contains(github.event.pull_request.title, '[perf-mac]') || contains(github.event.pull_request.body, '[perf-mac]')) && 'Mac [source]' || 'Mac' }} | |
| outputs: | |
| version: ${{ steps.configure.outputs.version }} | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - name: Install Python packages | |
| uses: actions/setup-python@v4 | |
| with: | |
| python-version: '3.10' | |
| - name: Install Homebrew packages | |
| # Save the gfortran version to a file so we can use it in the cache key. | |
| run: | | |
| brew install cmake pkgconfig autoconf libtool automake wget pcre doxygen llvm | |
| brew reinstall gcc | |
| pip3 install numpy==1.25 | |
| gfortran -v | |
| mkdir gfortran_version | |
| gfortran -v &> gfortran_version/gfortran_version.txt | |
| - name: Cache SWIG | |
| id: cache-swig | |
| uses: actions/cache@v3 | |
| with: | |
| path: ~/swig | |
| key: ${{ runner.os }}-swig | |
| - name: Install SWIG | |
| # if: steps.cache-swig.outputs.cache-hit != 'true' | |
| run: | | |
| mkdir ~/swig-source && cd ~/swig-source | |
| wget https://github.com/swig/swig/archive/refs/tags/v4.1.1.tar.gz | |
| tar xzf v4.1.1.tar.gz && cd swig-4.1.1 | |
| sh autogen.sh && ./configure --prefix=$HOME/swig --disable-ccache | |
| make && make -j4 install | |
| - name: Cache dependencies | |
| id: cache-dependencies | |
| uses: actions/cache@v3 | |
| with: | |
| path: ~/opensim_dependencies_install | |
| # If Homebrew updates the gcc package, then our cache of IPOPT is invalid. | |
| # Specifically, the pkgcfg_lib_IPOPT_gfortran CMake variable becomes | |
| # undefined. | |
| key: ${{ runner.os }}-dependencies-${{ hashFiles('dependencies/*') }}-${{ hashFiles('gfortran_version/*') }} | |
| - name: Build dependencies | |
| if: steps.cache-dependencies.outputs.cache-hit != 'true' | |
| run: | | |
| mkdir $GITHUB_WORKSPACE/../build_deps | |
| cd $GITHUB_WORKSPACE/../build_deps | |
| DEP_CMAKE_ARGS=($GITHUB_WORKSPACE/dependencies -LAH) | |
| DEP_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install) | |
| DEP_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release) | |
| DEP_CMAKE_ARGS+=(-DSUPERBUILD_ezc3d=ON) | |
| DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_TROPTER=ON) | |
| DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_CASADI=ON) | |
| DEP_CMAKE_ARGS+=(-DOPENSIM_DISABLE_LOG_FILE=ON) | |
| DEP_CMAKE_ARGS+=(-DCMAKE_OSX_DEPLOYMENT_TARGET=11) | |
| printf '%s\n' "${DEP_CMAKE_ARGS[@]}" | |
| cmake "${DEP_CMAKE_ARGS[@]}" | |
| make --jobs 4 | |
| - name: Configure opensim-core | |
| id: configure | |
| run: | | |
| mkdir $GITHUB_WORKSPACE/../build | |
| cd $GITHUB_WORKSPACE/../build | |
| OSIM_CMAKE_ARGS=($GITHUB_WORKSPACE -LAH) | |
| OSIM_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/../opensim-core-install) | |
| OSIM_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release) | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install) | |
| OSIM_CMAKE_ARGS+=(-DCMAKE_OSX_DEPLOYMENT_TARGET=11) | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_C3D_PARSER=ezc3d) | |
| OSIM_CMAKE_ARGS+=(-DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on) | |
| OSIM_CMAKE_ARGS+=(-DSWIG_EXECUTABLE=$HOME/swig/bin/swig) | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_INSTALL_UNIX_FHS=OFF) | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_DOXYGEN_USE_MATHJAX=off) | |
| # TODO: Update to simbody.github.io/latest | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_SIMBODY_DOXYGEN_LOCATION="https://simbody.github.io/simtk.org/api_docs/simbody/latest/") | |
| OSIM_CMAKE_ARGS+=(-DCMAKE_CXX_FLAGS="-Werror, -Wdeprecated-copy") | |
| printf '%s\n' "${OSIM_CMAKE_ARGS[@]}" | |
| cmake "${OSIM_CMAKE_ARGS[@]}" | |
| VERSION=`cmake -L . | grep OPENSIM_QUALIFIED_VERSION | cut -d "=" -f2` | |
| echo $VERSION | |
| echo "VERSION=$VERSION" >> $GITHUB_ENV | |
| echo "version=$VERSION" >> $GITHUB_OUTPUT | |
| - name: Build opensim-core | |
| run: | | |
| cd $GITHUB_WORKSPACE/../build | |
| make --jobs 4 | |
| - name: Test opensim-core | |
| run: | | |
| cd $GITHUB_WORKSPACE/../build | |
| ctest --parallel 4 --output-on-failure | |
| - name: Install opensim-core | |
| run: | | |
| cd $GITHUB_WORKSPACE/../build | |
| make doxygen | |
| make install | |
| cd $GITHUB_WORKSPACE | |
| mv $GITHUB_WORKSPACE/../opensim-core-install opensim-core-${{ steps.configure.outputs.version }} | |
| zip --symlinks --recurse-paths --quiet opensim-core-${{ steps.configure.outputs.version }}.zip opensim-core-${{ steps.configure.outputs.version }} | |
| mv opensim-core-${{ steps.configure.outputs.version }} $GITHUB_WORKSPACE/../opensim-core-install | |
| - name: Test Python bindings | |
| run: | | |
| cd $GITHUB_WORKSPACE/../opensim-core-install/sdk/Python | |
| # Run the python tests, verbosely. | |
| python3 -m unittest discover --start-directory opensim/tests --verbose | |
| - name: Upload opensim-core | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| # The upload-artifact zipping does not preserve symlinks or executable | |
| # bits. So we zip ourselves, even though this causes a double-zip. | |
| name: opensim-core-${{ steps.configure.outputs.version }}-mac | |
| path: opensim-core-${{ steps.configure.outputs.version }}.zip | |
| performance_analysis_win: | |
| name: Performance Analysis (Windows) | |
| env: | |
| GH_TOKEN: ${{ github.token }} | |
| needs: | |
| - windows2022_target | |
| - windows2022_source | |
| runs-on: macos-12 | |
| if: ${{ contains(github.event.pull_request.title, '[perf-win]') || contains(github.event.pull_request.body, '[perf-win]') }} | |
| steps: | |
| - name: Trigger opensim-perf workflow | |
| uses: Codex-/[email protected] | |
| id: return_dispatch | |
| with: | |
| token: ${{ secrets.PERF_DISPATCH_PAT }} | |
| repo: opensim-perf | |
| owner: opensim-org | |
| ref: main | |
| workflow: performance_analysis_win.yml | |
| workflow_inputs: '{"commit_sha": "${{ github.event.pull_request.head.sha }}", "target_artifact_name": "opensim-core-${{ github.event.pull_request.base.ref }}-win", "source_artifact_name": "opensim-core-${{ needs.windows2022_source.outputs.version }}-win", "target_artifact_zip": "opensim-core-${{ github.event.pull_request.base.ref }}.zip", "source_artifact_zip": "opensim-core-${{ needs.windows2022_source.outputs.version }}.zip"}' | |
| - name: Await opensim-perf workflow | |
| uses: Codex-/[email protected] | |
| with: | |
| token: ${{ secrets.PERF_DISPATCH_PAT }} | |
| repo: opensim-perf | |
| owner: opensim-org | |
| run_id: ${{ steps.return_dispatch.outputs.run_id }} | |
| run_timeout_seconds: 10000 | |
| - name: Download performance analysis results | |
| id: download-artifact | |
| uses: dawidd6/[email protected] | |
| with: | |
| github_token: ${{ secrets.PERF_DISPATCH_PAT }} | |
| run_id: ${{ steps.return_dispatch.outputs.run_id }} | |
| workflow: performance_analysis_win.yml | |
| name: performance-results | |
| path: results | |
| repo: opensim-org/opensim-perf | |
| - name: Post results to pull request description | |
| run: | | |
| PR_NUMBER=$(jq --raw-output .pull_request.number "$GITHUB_EVENT_PATH") | |
| EXISTING_COMMENT_CONTENT=$(gh api /repos/opensim-org/opensim-core/pulls/${PR_NUMBER} | jq -r '.body') | |
| CUSTOM_HEADER="### Performance analysis" | |
| REVIEWABLE_TAG="<!-- Reviewable:start -->" | |
| REVIEWABLE_CONTENT="" | |
| if [[ $EXISTING_COMMENT_CONTENT == *"$REVIEWABLE_TAG"* ]]; then | |
| REVIEWABLE_CONTENT=$(echo "$EXISTING_COMMENT_CONTENT" | awk "/$REVIEWABLE_TAG/,0") | |
| fi | |
| if [[ $EXISTING_COMMENT_CONTENT == *"$CUSTOM_HEADER"* ]]; then | |
| CONTENT_TO_REPLACE=$(echo "$EXISTING_COMMENT_CONTENT" | awk "/$CUSTOM_HEADER/,0") | |
| else | |
| CONTENT_TO_REPLACE=${REVIEWABLE_CONTENT} | |
| fi | |
| NEW_CONTENT="${CUSTOM_HEADER} | |
| Platform: Windows, self-hosted runner | |
| $(cat results/performance_results.md) | |
| ${REVIEWABLE_CONTENT} | |
| " | |
| NEW_COMMENT_BODY="${EXISTING_COMMENT_CONTENT/"${CONTENT_TO_REPLACE}"/${NEW_CONTENT}}" | |
| # Update the existing description | |
| gh api \ | |
| --method PATCH \ | |
| -H "Content-Type: application/json" \ | |
| -H "Accept: application/vnd.github.v3+json" \ | |
| -H "Authorization: Bearer ${{ secrets.GITHUB_TOKEN }}" \ | |
| repos/opensim-org/opensim-core/pulls/${PR_NUMBER} \ | |
| -f "body=${NEW_COMMENT_BODY}" | |
| performance_analysis_mac: | |
| name: Performance Analysis (Mac) | |
| env: | |
| GH_TOKEN: ${{ github.token }} | |
| needs: | |
| - mac_target | |
| - mac_source | |
| runs-on: macos-12 | |
| if: ${{ contains(github.event.pull_request.title, '[perf-mac]') || contains(github.event.pull_request.body, '[perf-mac]') }} | |
| steps: | |
| - name: Trigger opensim-perf workflow | |
| uses: Codex-/[email protected] | |
| id: return_dispatch | |
| with: | |
| token: ${{ secrets.PERF_DISPATCH_PAT }} | |
| repo: opensim-perf | |
| owner: opensim-org | |
| ref: main | |
| workflow: performance_analysis_mac.yml | |
| workflow_inputs: '{"commit_sha": "${{ github.event.pull_request.head.sha }}", "target_artifact_name": "opensim-core-${{ github.event.pull_request.base.ref }}-mac", "source_artifact_name": "opensim-core-${{ needs.mac_source.outputs.version }}-mac", "target_artifact_zip": "opensim-core-${{ github.event.pull_request.base.ref }}.zip", "source_artifact_zip": "opensim-core-${{ needs.mac_source.outputs.version }}.zip"}' | |
| - name: Await opensim-perf workflow | |
| uses: Codex-/[email protected] | |
| with: | |
| token: ${{ secrets.PERF_DISPATCH_PAT }} | |
| repo: opensim-perf | |
| owner: opensim-org | |
| run_id: ${{ steps.return_dispatch.outputs.run_id }} | |
| run_timeout_seconds: 10000 | |
| - name: Download performance analysis results | |
| id: download-artifact | |
| uses: dawidd6/[email protected] | |
| with: | |
| github_token: ${{ secrets.PERF_DISPATCH_PAT }} | |
| run_id: ${{ steps.return_dispatch.outputs.run_id }} | |
| workflow: performance_analysis_mac.yml | |
| name: performance-results | |
| path: results | |
| repo: opensim-org/opensim-perf | |
| - name: Post results to pull request description | |
| run: | | |
| PR_NUMBER=$(jq --raw-output .pull_request.number "$GITHUB_EVENT_PATH") | |
| EXISTING_COMMENT_CONTENT=$(gh api /repos/opensim-org/opensim-core/pulls/${PR_NUMBER} | jq -r '.body') | |
| CUSTOM_HEADER="### Performance analysis" | |
| REVIEWABLE_TAG="<!-- Reviewable:start -->" | |
| REVIEWABLE_CONTENT="" | |
| if [[ $EXISTING_COMMENT_CONTENT == *"$REVIEWABLE_TAG"* ]]; then | |
| REVIEWABLE_CONTENT=$(echo "$EXISTING_COMMENT_CONTENT" | awk "/$REVIEWABLE_TAG/,0") | |
| fi | |
| if [[ $EXISTING_COMMENT_CONTENT == *"$CUSTOM_HEADER"* ]]; then | |
| CONTENT_TO_REPLACE=$(echo "$EXISTING_COMMENT_CONTENT" | awk "/$CUSTOM_HEADER/,0") | |
| else | |
| CONTENT_TO_REPLACE=${REVIEWABLE_CONTENT} | |
| fi | |
| NEW_CONTENT="${CUSTOM_HEADER} | |
| Platform: Mac, GitHub Actions runner | |
| $(cat results/performance_results.md) | |
| ${REVIEWABLE_CONTENT} | |
| " | |
| NEW_COMMENT_BODY="${EXISTING_COMMENT_CONTENT/"${CONTENT_TO_REPLACE}"/${NEW_CONTENT}}" | |
| # Update the existing description | |
| gh api \ | |
| --method PATCH \ | |
| -H "Content-Type: application/json" \ | |
| -H "Accept: application/vnd.github.v3+json" \ | |
| -H "Authorization: Bearer ${{ secrets.GITHUB_TOKEN }}" \ | |
| repos/opensim-org/opensim-core/pulls/${PR_NUMBER} \ | |
| -f "body=${NEW_COMMENT_BODY}" | |
| ubuntu20: | |
| name: Ubuntu2004 | |
| runs-on: ubuntu-20.04 | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - name: Install Python packages | |
| uses: actions/setup-python@v4 | |
| with: | |
| python-version: '3.10' | |
| - name: Install Numpy | |
| run: | | |
| pip install pip --upgrade | |
| pip install numpy==1.25 | |
| - name: Install packages | |
| run: sudo apt-get update && sudo apt-get install --yes build-essential libtool autoconf pkg-config gfortran libopenblas-dev liblapack-dev freeglut3-dev libxi-dev libxmu-dev doxygen patchelf | |
| - name: Install SWIG | |
| # if: steps.cache-swig.outputs.cache-hit != 'true' | |
| run: | | |
| mkdir ~/swig-source && cd ~/swig-source | |
| wget https://github.com/swig/swig/archive/refs/tags/v4.1.1.tar.gz | |
| tar xzf v4.1.1.tar.gz && cd swig-4.1.1 | |
| sh autogen.sh && ./configure --prefix=$HOME/swig --disable-ccache | |
| make && make -j4 install | |
| - name: Cache dependencies | |
| id: cache-dependencies | |
| uses: actions/cache@v3 | |
| with: | |
| path: ~/opensim_dependencies_install | |
| key: ${{ runner.os }}-dependencies-${{ hashFiles('dependencies/*') }} | |
| - name: Build dependencies | |
| # if: steps.cache-dependencies.outputs.cache-hit != 'true' | |
| run: | | |
| mkdir $GITHUB_WORKSPACE/../build_deps | |
| cd $GITHUB_WORKSPACE/../build_deps | |
| DEP_CMAKE_ARGS=($GITHUB_WORKSPACE/dependencies -LAH) | |
| DEP_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install) | |
| DEP_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release) | |
| DEP_CMAKE_ARGS+=(-DSUPERBUILD_ezc3d=ON) | |
| DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_TROPTER=ON) | |
| DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_CASADI=ON) | |
| printf '%s\n' "${DEP_CMAKE_ARGS[@]}" | |
| cmake "${DEP_CMAKE_ARGS[@]}" | |
| make --jobs 4 | |
| - name: Configure opensim-core | |
| id: configure | |
| run: | | |
| mkdir $GITHUB_WORKSPACE/../build | |
| cd $GITHUB_WORKSPACE/../build | |
| OSIM_CMAKE_ARGS=($GITHUB_WORKSPACE -LAH) | |
| OSIM_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/../opensim-core-install) | |
| OSIM_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release) | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install) | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_C3D_PARSER=ezc3d) | |
| OSIM_CMAKE_ARGS+=(-DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on) | |
| OSIM_CMAKE_ARGS+=(-DSWIG_DIR=~/swig/share/swig) | |
| OSIM_CMAKE_ARGS+=(-DSWIG_EXECUTABLE=~/swig/bin/swig) | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_INSTALL_UNIX_FHS=OFF) | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_DOXYGEN_USE_MATHJAX=off) | |
| # TODO: Update to simbody.github.io/latest | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_SIMBODY_DOXYGEN_LOCATION="https://simbody.github.io/simtk.org/api_docs/simbody/latest/") | |
| OSIM_CMAKE_ARGS+=(-DCMAKE_CXX_FLAGS="-Werror") | |
| printf '%s\n' "${OSIM_CMAKE_ARGS[@]}" | |
| cmake "${OSIM_CMAKE_ARGS[@]}" | |
| VERSION=`cmake -L . | grep OPENSIM_QUALIFIED_VERSION | cut -d "=" -f2` | |
| echo $VERSION | |
| echo "VERSION=$VERSION" >> $GITHUB_ENV | |
| echo "version=$VERSION" >> $GITHUB_OUTPUT | |
| - name: Build opensim-core | |
| run: | | |
| cd $GITHUB_WORKSPACE/../build | |
| make --jobs 4 | |
| - name: Test opensim-core | |
| run: | | |
| cd $GITHUB_WORKSPACE/../build | |
| # TODO: Temporary for python to find Simbody libraries. | |
| export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$HOME/opensim_dependencies_install/simbody/lib | |
| ctest --parallel 4 --output-on-failure | |
| - name: Install opensim-core | |
| run: | | |
| cd $GITHUB_WORKSPACE/../build | |
| make doxygen | |
| make --jobs 4 install | |
| cd $GITHUB_WORKSPACE | |
| mv $GITHUB_WORKSPACE/../opensim-core-install opensim-core-${{ steps.configure.outputs.version }} | |
| zip --symlinks --recurse-paths --quiet opensim-core-${{ steps.configure.outputs.version }}-ub20.zip opensim-core-${{ steps.configure.outputs.version }} | |
| mv opensim-core-${{ steps.configure.outputs.version }} $GITHUB_WORKSPACE/../opensim-core-install | |
| # - name: Test Python bindings | |
| # run: | | |
| # echo "TODO: Skipping Python tests." | |
| # # cd $GITHUB_WORKSPACE/../opensim-core-install/sdk/Python | |
| # # Run the python tests, verbosely. | |
| # # python3 -m unittest discover --start-directory opensim/tests --verbose | |
| - name: Upload opensim-core | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| # The upload-artifact zipping does not preserve symlinks or executable | |
| # bits. So we zip ourselves, even though this causes a double-zip. | |
| name: opensim-core-${{ steps.configure.outputs.version }}-ub20-linux | |
| path: opensim-core-${{ steps.configure.outputs.version }}-ub20.zip | |
| ubuntu20-nomoco: | |
| name: Ubuntu2004-nomoco | |
| runs-on: ubuntu-20.04 | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - name: Install Python packages | |
| uses: actions/setup-python@v4 | |
| with: | |
| python-version: '3.10' | |
| - name: Install Numpy | |
| run: | | |
| pip install pip --upgrade | |
| pip install numpy==1.25 | |
| - name: Install packages | |
| run: sudo apt-get update && sudo apt-get install --yes build-essential libtool autoconf pkg-config gfortran libopenblas-dev liblapack-dev freeglut3-dev libxi-dev libxmu-dev doxygen patchelf | |
| - name: Install SWIG | |
| # if: steps.cache-swig.outputs.cache-hit != 'true' | |
| run: | | |
| mkdir ~/swig-source && cd ~/swig-source | |
| wget https://github.com/swig/swig/archive/refs/tags/v4.1.1.tar.gz | |
| tar xzf v4.1.1.tar.gz && cd swig-4.1.1 | |
| sh autogen.sh && ./configure --prefix=$HOME/swig --disable-ccache | |
| make && make -j4 install | |
| - name: Cache dependencies | |
| id: cache-dependencies | |
| uses: actions/cache@v3 | |
| with: | |
| path: ~/opensim_dependencies_install | |
| key: ${{ runner.os }}-dependencies-${{ hashFiles('dependencies/*') }} | |
| - name: Build dependencies | |
| if: steps.cache-dependencies.outputs.cache-hit != 'true' | |
| run: | | |
| mkdir $GITHUB_WORKSPACE/../build_deps | |
| cd $GITHUB_WORKSPACE/../build_deps | |
| DEP_CMAKE_ARGS=($GITHUB_WORKSPACE/dependencies -LAH) | |
| DEP_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install) | |
| DEP_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release) | |
| DEP_CMAKE_ARGS+=(-DSUPERBUILD_ezc3d=ON) | |
| DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_TROPTER=OFF) | |
| DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_CASADI=OFF) | |
| printf '%s\n' "${DEP_CMAKE_ARGS[@]}" | |
| cmake "${DEP_CMAKE_ARGS[@]}" | |
| make --jobs 4 | |
| - name: Configure opensim-core | |
| id: configure | |
| run: | | |
| mkdir $GITHUB_WORKSPACE/../build | |
| cd $GITHUB_WORKSPACE/../build | |
| OSIM_CMAKE_ARGS=($GITHUB_WORKSPACE -LAH) | |
| OSIM_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/../opensim-core-install) | |
| OSIM_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release) | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install) | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_C3D_PARSER=ezc3d) | |
| OSIM_CMAKE_ARGS+=(-DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on) | |
| OSIM_CMAKE_ARGS+=(-DSWIG_DIR=~/swig/share/swig) | |
| OSIM_CMAKE_ARGS+=(-DSWIG_EXECUTABLE=~/swig/bin/swig) | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_INSTALL_UNIX_FHS=OFF) | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_DOXYGEN_USE_MATHJAX=off) | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_WITH_TROPTER=off) | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_WITH_CASADI=off) | |
| # TODO: Update to simbody.github.io/latest | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_SIMBODY_DOXYGEN_LOCATION="https://simbody.github.io/simtk.org/api_docs/simbody/latest/") | |
| OSIM_CMAKE_ARGS+=(-DCMAKE_CXX_FLAGS="-Werror") | |
| printf '%s\n' "${OSIM_CMAKE_ARGS[@]}" | |
| cmake "${OSIM_CMAKE_ARGS[@]}" | |
| VERSION=`cmake -L . | grep OPENSIM_QUALIFIED_VERSION | cut -d "=" -f2` | |
| echo $VERSION | |
| echo "VERSION=$VERSION" >> $GITHUB_ENV | |
| echo "version=$VERSION" >> $GITHUB_OUTPUT | |
| - name: Build opensim-core | |
| run: | | |
| cd $GITHUB_WORKSPACE/../build | |
| make --jobs 4 | |
| - name: Test opensim-core | |
| run: | | |
| cd $GITHUB_WORKSPACE/../build | |
| # TODO: Temporary for python to find Simbody libraries. | |
| export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$HOME/opensim_dependencies_install/simbody/lib | |
| # ctest --parallel 4 --output-on-failure | |
| - name: Install opensim-core | |
| run: | | |
| cd $GITHUB_WORKSPACE/../build | |
| make doxygen | |
| make --jobs 4 install | |
| cd $GITHUB_WORKSPACE | |
| mv $GITHUB_WORKSPACE/../opensim-core-install opensim-core-${{ steps.configure.outputs.version }} | |
| zip --symlinks --recurse-paths --quiet opensim-core-${{ steps.configure.outputs.version }}-ub20.zip opensim-core-${{ steps.configure.outputs.version }} | |
| mv opensim-core-${{ steps.configure.outputs.version }} $GITHUB_WORKSPACE/../opensim-core-install | |
| # - name: Test Python bindings | |
| # run: | | |
| # echo "TODO: Skipping Python tests." | |
| # # cd $GITHUB_WORKSPACE/../opensim-core-install/sdk/Python | |
| # # Run the python tests, verbosely. | |
| # # python3 -m unittest discover --start-directory opensim/tests --verbose | |
| - name: Upload opensim-core | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| # The upload-artifact zipping does not preserve symlinks or executable | |
| # bits. So we zip ourselves, even though this causes a double-zip. | |
| name: opensim-core-${{ steps.configure.outputs.version }}-ub20-nomoco-linux | |
| path: opensim-core-${{ steps.configure.outputs.version }}-ub20.zip | |
| windows2022-gui: | |
| name: Windows2022-gui | |
| runs-on: windows-2022 | |
| env: | |
| GH_TOKEN: ${{ github.token }} | |
| if: ${{ contains(github.event.pull_request.title, '[build-gui]') || contains(github.event.pull_request.body, '[build-gui]') }} | |
| steps: | |
| - name: Dispatch opensim-gui workflow and get the run ID | |
| uses: codex-/return-dispatch@v1 | |
| id: return_dispatch | |
| with: | |
| token: ${{ secrets.ACTION_SECRET }} | |
| ref: refs/heads/main | |
| repo: opensim-gui | |
| owner: opensim-org | |
| workflow: build-on-core-pr.yml | |
| - name: Use the output run ID | |
| run: echo ${{steps.return_dispatch.outputs.run_id}} | |
| - name: Await opensim-gui workflow | |
| uses: Codex-/[email protected] | |
| with: | |
| token: ${{ secrets.ACTION_SECRET }} | |
| repo: opensim-gui | |
| owner: opensim-org | |
| run_id: ${{ steps.return_dispatch.outputs.run_id }} | |
| run_timeout_seconds: 10000 | |
| style: | |
| name: Style | |
| runs-on: ubuntu-20.04 | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - name: Check for tabs | |
| # Ensure that there are no tabs in source code. | |
| # GREP returns 0 (true) if there are any matches, and | |
| # we don't want any matches. If there are matches, | |
| # print a helpful message, and make the test fail by using "false". | |
| # The GREP command here checks for any tab characters in the the files | |
| # that match the specified pattern. GREP does not pick up explicit tabs | |
| # (e.g., literally a \t in a source file). | |
| run: if grep --line-num --recursive --exclude-dir="*dependencies*" --exclude-dir="*snopt*" --include={CMakeLists.txt,*.cpp,*.c,*.h} -P "\t" . ; then echo "Tabs found in the lines shown above. See CONTRIBUTING.md about tabs."; false; fi |