C++ CI Workflow #6845
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name: C++ CI Workflow | |
on: | |
push: | |
branches: | |
- master | |
pull_request: | |
schedule: | |
# * is a special character in YAML so you have to quote this string | |
# Execute a "nightly" build at 2 AM UTC | |
- cron: '0 2 * * *' | |
env: | |
vcpkg_robotology_TAG: v0.11.0 | |
YCM_TAG: v0.15.3 | |
YARP_TAG: v3.8.0 | |
iDynTree_TAG: v12.3.3 | |
CasADi_TAG: 3.5.5.2 | |
manif_TAG: 0.0.5 | |
matioCpp_TAG: v0.2.5 | |
LieGroupControllers_TAG: v0.2.0 | |
osqp_TAG: v0.6.3 | |
OsqpEigen_TAG: v0.7.0 | |
tomlplusplus_TAG: v3.0.1 | |
icub_models_TAG: v2.4.0 | |
UnicyclePlanner_TAG: v0.7.0 | |
telemetry_TAG: v1.2.0 | |
bayes_filters_TAG: 53124b1d85fc00c8cd44d572a1e482d7e58c0f50 | |
# Overwrite the VCPKG_INSTALLATION_ROOT env variable defined by GitHub Actions to point to our vcpkg | |
VCPKG_INSTALLATION_ROOT: C:\robotology\vcpkg | |
# Default number of cores set to one | |
NUM_CORES_FOR_CMAKE_BUILD: 1 | |
jobs: | |
check-style: | |
name: Find Trailing Whitespace | |
runs-on: ubuntu-latest | |
steps: | |
- uses: actions/checkout@v4 | |
- name: Find Trailing Whitespace | |
run: | | |
set +e | |
lines=$(git grep --cached -In '[[:blank:]]$') | |
if [ ! -z "$lines" ]; then | |
echo -e "\n The following lines contain trailing whitespace: \n" | |
echo -e "${lines}" | |
echo -e "\nFailed.\n" | |
exit 1 | |
fi | |
exit 0 | |
build: | |
needs: check-style | |
name: '[${{ matrix.os }}@${{ matrix.build_type }}]' | |
runs-on: ${{ matrix.os }} | |
strategy: | |
matrix: | |
build_type: [Release, Debug] | |
os: [ubuntu-20.04, windows-2019] | |
fail-fast: false | |
steps: | |
- uses: actions/checkout@v4 | |
# Print environment variables to simplify development and debugging | |
- name: Environment Variables | |
shell: bash | |
run: env | |
# ============ | |
# DEPENDENCIES | |
# ============ | |
# Remove apt repos that are known to break from time to time | |
# See https://github.com/actions/virtual-environments/issues/323 | |
- name: Remove broken apt repos [Ubuntu] | |
if: startsWith(matrix.os, 'ubuntu') | |
run: | | |
for apt_file in `grep -lr microsoft /etc/apt/sources.list.d/`; do sudo rm $apt_file; done | |
- name: Dependencies [Windows] | |
if: matrix.os == 'windows-2019' | |
run: | | |
# To avoid spending a huge time compiling vcpkg dependencies, we download a root that comes precompiled with all the ports that we need | |
choco install -y wget unzip | |
# To avoid problems with non-relocatable packages, we unzip the archive exactly in the same C:/robotology/vcpkg | |
# that has been used to create the pre-compiled archive | |
cd C:/ | |
wget https://github.com/robotology/robotology-superbuild-dependencies-vcpkg/releases/download/${env:vcpkg_robotology_TAG}/vcpkg-robotology.zip | |
unzip vcpkg-robotology.zip -d C:/ | |
rm vcpkg-robotology.zip | |
- name: Dependencies [Ubuntu] | |
if: startsWith(matrix.os, 'ubuntu') | |
run: | | |
sudo apt-get update | |
sudo apt-get install git build-essential cmake libace-dev coinor-libipopt-dev \ | |
libboost-system-dev libboost-filesystem-dev libboost-thread-dev \ | |
liborocos-kdl-dev libeigen3-dev swig qtbase5-dev qtdeclarative5-dev \ | |
qtmultimedia5-dev libxml2-dev liburdfdom-dev libtinyxml-dev \ | |
liburdfdom-dev liboctave-dev python3-dev valgrind coinor-libipopt-dev \ | |
libmatio-dev python3-pytest python3-numpy python3-scipy \ | |
python3-setuptools libspdlog-dev libopencv-dev libpcl-dev \ | |
python3-pybind11 nlohmann-json3-dev libassimp-dev libqhull-dev | |
# install realsense from apt (see https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages) | |
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCD | |
sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u | |
# please see https://github.com/IntelRealSense/realsense-ros/blob/a161efb84c9cf8077fbd37d6a78ef1fad0b677d0/.travis.yml#L17-L19 | |
sudo apt-get update -qq | |
# please see https://github.com/IntelRealSense/librealsense/issues/9607#issuecomment-896789179 | |
mkdir -p /usr/share/librealsense2/presets | |
sudo apt-get install librealsense2-dev | |
# Get the number of cores | |
- name: Get number of cores to speed up cmake build and test to skip [Windows] | |
if: matrix.os == 'windows-2019' | |
run: | | |
echo "NUM_CORES_FOR_CMAKE_BUILD=$((Get-CimInstance Win32_ComputerSystem).NumberOfLogicalProcessors)" >> $env:GITHUB_ENV | |
echo "BLF_TEST_TO_SKIP=YarpRobotLoggerDeviceUnitTests" >> $env:GITHUB_ENV | |
- name: Get number of cores to speed up cmake build and test to suppress [Ubuntu] | |
if: startsWith(matrix.os, 'ubuntu') | |
run: | | |
echo "NUM_CORES_FOR_CMAKE_BUILD=`nproc --all`" >> $GITHUB_ENV | |
echo "BLF_TEST_TO_SKIP=" >> $env:GITHUB_ENV | |
- name: Cache Source-based Dependencies | |
id: cache-source-deps | |
uses: actions/cache@v3 | |
with: | |
path: ${{ github.workspace }}/install/deps | |
key: source-deps-${{ runner.os }}-os-${{ matrix.os }}-build-type-${{ matrix.build_type }}-vcpkg-robotology-${{ env.vcpkg_robotology_TAG }}-ycm-${{ env.YCM_TAG }}-yarp-${{ env.YARP_TAG }}-iDynTree-${{ env.iDynTree_TAG }}-casADi-${{ env.CasADi_TAG }}-manif-${{ env.manif_TAG }}-matioCpp-${{ env.matioCpp_TAG }}-LieGroupControllers-${{ env.LieGroupControllers_TAG }}-osqp-${{ env.osqp_TAG }}-osqp-eigen-${{ env.OsqpEigen_TAG }}-tomlplusplus-${{ env.tomlplusplus_TAG }}-unicycle-${{ env.UnicyclePlanner_TAG }}-icub-models-${{ env.icub_models_TAG }}-robometry-${{ env.telemetry_TAG }}-bayes-filters-${{ env.bayes_filters_TAG }} | |
- name: Source-based Dependencies [Windows] | |
if: steps.cache-source-deps.outputs.cache-hit != 'true' && matrix.os == 'windows-2019' | |
shell: bash | |
run: | | |
# YCM | |
cd ${GITHUB_WORKSPACE} | |
git clone -b ${YCM_TAG} https://github.com/robotology/ycm | |
cd ycm | |
mkdir -p build | |
cd build | |
cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
cmake --build . --config ${{ matrix.build_type }} --target INSTALL -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
# YARP | |
cd ${GITHUB_WORKSPACE} | |
git clone https://github.com/robotology/yarp | |
cd yarp | |
git checkout ${YARP_TAG} | |
mkdir -p build | |
cd build | |
cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
-DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DYARP_COMPILE_GUIS:BOOL=OFF -DYARP_COMPILE_ALL_FAKE_DEVICES:BOOL=ON \ | |
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
cmake --build . --config ${{ matrix.build_type }} --target INSTALL -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
# Workaround for https://github.com/robotology-dependencies/robotology-vcpkg-binary-ports/issues/3 | |
export IPOPT_DIR=${VCPKG_INSTALLATION_ROOT}/installed/x64-windows | |
# iDynTree | |
cd ${GITHUB_WORKSPACE} | |
git clone https://github.com/robotology/iDynTree | |
cd iDynTree | |
git checkout ${iDynTree_TAG} | |
mkdir -p build | |
cd build | |
cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
-DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
# osqp | |
cd ${GITHUB_WORKSPACE} | |
git clone --recursive -b ${osqp_TAG} https://github.com/oxfordcontrol/osqp | |
cd osqp | |
mkdir -p build | |
cd build | |
cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
-DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
# osqp-eigen | |
cd ${GITHUB_WORKSPACE} | |
git clone https://github.com/robotology/osqp-eigen | |
cd osqp-eigen | |
git checkout ${OsqpEigen_TAG} | |
mkdir -p build | |
cd build | |
cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
-DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
# CasADi | |
# We override the casadi installation structure to be compliant with the folder structure used for | |
# the other dependencies. Please check: | |
# https://github.com/casadi/casadi/blob/6f122ca22e2a869903628c5738f154c8ac0f7455/CMakeLists.txt#L317 | |
cd ${GITHUB_WORKSPACE} | |
git clone https://github.com/ami-iit/casadi.git -b ${CasADi_TAG} casadi | |
cd casadi | |
mkdir build | |
cd build | |
cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
-DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps \ | |
-DINCLUDE_PREFIX:PATH="include" \ | |
-DCMAKE_PREFIX:PATH="lib/cmake/casadi" \ | |
-DLIB_PREFIX:PATH="lib" \ | |
-DBIN_PREFIX:PATH="bin" \ | |
-DWITH_IPOPT=BOOL:ON \ | |
-DWITH_OSQP:BOOL=ON -DUSE_SYSTEM_WISE_OSQP=BOOL:ON .. | |
cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
# manif | |
cd ${GITHUB_WORKSPACE} | |
git clone https://github.com/artivis/manif.git | |
cd manif | |
git checkout ${manif_TAG} | |
mkdir build | |
cd build | |
cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
-DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
# matioCpp | |
cd ${GITHUB_WORKSPACE} | |
git clone https://github.com/ami-iit/matio-cpp | |
cd matio-cpp | |
git checkout ${matioCpp_TAG} | |
mkdir build | |
cd build | |
cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
-DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
# LieGroupControllers | |
cd ${GITHUB_WORKSPACE} | |
git clone https://github.com/ami-iit/lie-group-controllers | |
cd lie-group-controllers | |
git checkout ${LieGroupControllers_TAG} | |
mkdir build | |
cd build | |
cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
-DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
# UnicycleFootstepPlanner | |
cd ${GITHUB_WORKSPACE} | |
git clone https://github.com/robotology/unicycle-footstep-planner | |
cd unicycle-footstep-planner | |
git checkout ${UnicyclePlanner_TAG} | |
mkdir build | |
cd build | |
cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
-DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
# icub-models | |
cd ${GITHUB_WORKSPACE} | |
git clone https://github.com/robotology/icub-models | |
cd icub-models | |
git checkout ${icub_models_TAG} | |
mkdir build | |
cd build | |
cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
-DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps \ | |
-DICUB_MODELS_USES_PYTHON:BOOL=ON .. | |
cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
# robometry | |
cd ${GITHUB_WORKSPACE} | |
git clone https://github.com/robotology/robometry | |
cd robometry | |
git checkout ${telemetry_TAG} | |
mkdir build | |
cd build | |
cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
-DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
# bayes-filters | |
cd ${GITHUB_WORKSPACE} | |
git clone https://github.com/robotology/bayes-filters-lib | |
cd bayes-filters-lib | |
git checkout ${bayes_filters_TAG} | |
mkdir build | |
cd build | |
cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
-DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
- name: Source-based Dependencies [Ubuntu] | |
if: steps.cache-source-deps.outputs.cache-hit != 'true' && startsWith(matrix.os, 'ubuntu') | |
shell: bash | |
run: | | |
# Tomlplusplus | |
cd ${GITHUB_WORKSPACE} | |
git clone https://github.com/marzer/tomlplusplus | |
cd tomlplusplus | |
git checkout ${tomlplusplus_TAG} | |
mkdir -p build | |
cd build | |
cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
# YCM | |
cd ${GITHUB_WORKSPACE} | |
git clone -b ${YCM_TAG} https://github.com/robotology/ycm | |
cd ycm | |
mkdir -p build | |
cd build | |
cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
# YARP | |
cd ${GITHUB_WORKSPACE} | |
git clone https://github.com/robotology/yarp | |
cd yarp | |
git checkout ${YARP_TAG} | |
mkdir -p build | |
cd build | |
cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps -DYARP_COMPILE_ALL_FAKE_DEVICES:BOOL=ON .. | |
cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
# iDynTree | |
cd ${GITHUB_WORKSPACE} | |
git clone https://github.com/robotology/iDynTree | |
cd iDynTree | |
git checkout ${iDynTree_TAG} | |
mkdir -p build | |
cd build | |
cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
-DIDYNTREE_USES_PYTHON:BOOL=ON \ | |
-DIDYNTREE_USES_ASSIMP:BOOL=ON \ | |
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
# osqp | |
cd ${GITHUB_WORKSPACE} | |
git clone --recursive -b ${osqp_TAG} https://github.com/oxfordcontrol/osqp | |
cd osqp | |
mkdir -p build | |
cd build | |
cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
# osqp-eigen | |
cd ${GITHUB_WORKSPACE} | |
git clone https://github.com/robotology/osqp-eigen | |
cd osqp-eigen | |
git checkout ${OsqpEigen_TAG} | |
mkdir -p build | |
cd build | |
cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
# CasADi | |
cd ${GITHUB_WORKSPACE} | |
git clone https://github.com/ami-iit/casadi.git -b ${CasADi_TAG} casadi | |
cd casadi | |
mkdir build | |
cd build | |
cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps -DWITH_IPOPT=BOOL:ON \ | |
-DWITH_OSQP:BOOL=ON -DUSE_SYSTEM_WISE_OSQP=BOOL:ON .. | |
cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
# manif | |
cd ${GITHUB_WORKSPACE} | |
git clone https://github.com/artivis/manif.git | |
cd manif | |
git checkout ${manif_TAG} | |
mkdir build | |
cd build | |
cmake -DBUILD_PYTHON_BINDINGS:BOOL=ON -DMANIFPY_PKGDIR:PATH=${GITHUB_WORKSPACE}/install/deps/lib/python3/dist-packages -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
# matioCpp | |
cd ${GITHUB_WORKSPACE} | |
git clone https://github.com/ami-iit/matio-cpp | |
cd matio-cpp | |
git checkout ${matioCpp_TAG} | |
mkdir build | |
cd build | |
cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
# LieGroupControllers | |
cd ${GITHUB_WORKSPACE} | |
git clone https://github.com/ami-iit/lie-group-controllers | |
cd lie-group-controllers | |
git checkout ${LieGroupControllers_TAG} | |
mkdir build | |
cd build | |
cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
# UnicycleFootstepPlanner | |
cd ${GITHUB_WORKSPACE} | |
git clone https://github.com/robotology/unicycle-footstep-planner | |
cd unicycle-footstep-planner | |
git checkout ${UnicyclePlanner_TAG} | |
mkdir build | |
cd build | |
cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
# icub-models | |
cd ${GITHUB_WORKSPACE} | |
git clone https://github.com/robotology/icub-models | |
cd icub-models | |
git checkout ${icub_models_TAG} | |
mkdir build | |
cd build | |
cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps -DICUB_MODELS_USES_PYTHON:BOOL=ON .. | |
cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
# robometry | |
cd ${GITHUB_WORKSPACE} | |
git clone https://github.com/robotology/robometry | |
cd robometry | |
git checkout ${telemetry_TAG} | |
mkdir build && cd build | |
cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
# bayes-filters | |
cd ${GITHUB_WORKSPACE} | |
git clone https://github.com/robotology/bayes-filters-lib | |
cd bayes-filters-lib | |
git checkout ${bayes_filters_TAG} | |
mkdir build && cd build | |
cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps .. | |
cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
- name: Source-based Dependencies [Ubuntu] | |
if: steps.cache-source-deps.outputs.cache-hit != 'true' && startsWith(matrix.os, 'ubuntu') | |
shell: bash | |
run: | | |
# CppAD | |
git clone https://github.com/coin-or/CppAD.git | |
cd CppAD | |
mkdir -p build | |
cd build | |
cmake -Dcppad_prefix=${GITHUB_WORKSPACE}/install/deps \ | |
-DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps \ | |
-DBUILD_TESTING=OFF .. | |
cmake --build . --config ${{ matrix.build_type }} --target install -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
- name: Check Python setup | |
shell: bash | |
run: | | |
echo "Default interpreter: $(which python)" | |
python3 -c 'import sys; print(sys.prefix)' | |
- name: Extend the pythonpath and LD_LIBRARY_PATH [Ubuntu] | |
if: startsWith(matrix.os, 'ubuntu') | |
run: | | |
echo "PYTHONPATH=${GITHUB_WORKSPACE}/install/deps/lib/python3/dist-packages" >> $GITHUB_ENV | |
echo "LD_LIBRARY_PATH=${LD_LIBRARY_PATH:+${LD_LIBRARY_PATH}:}${GITHUB_WORKSPACE}/install/deps/lib" >> $GITHUB_ENV | |
# =================== | |
# CMAKE-BASED PROJECT | |
# =================== | |
- name: Configure [Windows] | |
# Use bash also on Windows (otherwise cd, mkdir, ... do not work) | |
if: matrix.os == 'windows-2019' | |
shell: bash | |
run: | | |
mkdir -p build | |
cd build | |
cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \ | |
-DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \ | |
-DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=OFF \ | |
-DBUILD_TESTING:BOOL=ON .. | |
- name: Configure [Ubuntu] | |
if: startsWith(matrix.os, 'ubuntu') | |
shell: bash | |
run: | | |
mkdir -p build | |
cd build | |
cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \ | |
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \ | |
-DBUILD_TESTING:BOOL=ON \ | |
-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
-DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=ON \ | |
-DPython3_ROOT_DIR=$(python -c "import sys; print(sys.prefix)") -DFRAMEWORK_USE_Python3:BOOL=ON -DFRAMEWORK_USE_pybind11:BOOL=ON \ | |
-DENABLE_YarpRobotLoggerDevice:BOOL=ON \ | |
-DFRAMEWORK_RUN_Valgrind_tests:BOOL=ON .. | |
- name: Check build if some dependencies are not enabled [Ubuntu] | |
if: github.event_name != 'push' && github.event_name != 'release' && matrix.os == 'ubuntu-20.04' | |
shell: bash | |
run: | | |
cd build | |
for missing_dep in YARP Qhull casadi cppad manif Python3 pybind11 pytest matioCpp LieGroupControllers nlohmann_json UnicyclePlanner icub-models BayesFilters; do | |
echo "Testing ${missing_dep} as missing dependency." | |
# Deselect missing dependencies and build | |
cmake -DFRAMEWORK_USE_${missing_dep}:BOOL=OFF . | |
cmake --build . --config ${{ matrix.build_type }} -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
# Enable again dependency | |
cmake -DFRAMEWORK_USE_${missing_dep}:BOOL=ON . | |
done | |
- name: Build | |
shell: bash | |
run: | | |
cd build | |
# Attempt of fix for using YARP idl generators (that link ACE) in Windows | |
# See https://github.com/robotology/idyntree/issues/569 | |
export PATH=$PATH:/d/a/bipedal-locomotion-framework/bipedal-locomotion-framework/install/bin:/d/a/bipedal-locomotion-framework/bipedal-locomotion-framework/install/deps/bin:/c/robotology/vcpkg/installed/x64-windows/bin:/c/robotology/vcpkg/installed/x64-windows/debug/bin | |
cmake --build . --config ${{ matrix.build_type }} -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} | |
- name: Test | |
shell: bash | |
run: | | |
cd build | |
export PATH=$PATH:/d/a/bipedal-locomotion-framework/bipedal-locomotion-framework/install/bin:/d/a/bipedal-locomotion-framework/bipedal-locomotion-framework/install/deps/bin:/c/robotology/vcpkg/installed/x64-windows/bin:/c/robotology/vcpkg/installed/x64-windows/debug/bin | |
ctest -E "${BLF_TEST_TO_SKIP}" --output-on-failure -C ${{ matrix.build_type }} -j${{env.NUM_CORES_FOR_CMAKE_BUILD}} . |