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ci.yml
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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: v0.10.1
YCM_TAG: v0.14.2
YARP_TAG: v3.7.0
iDynTree_TAG: v8.0.0
Catch2_TAG: v2.13.4
Qhull_TAG: 2020.2
CasADi_TAG: 3.5.5.2
manif_TAG: 0.0.4
matioCpp_TAG: v0.2.0
LieGroupControllers_TAG: v0.1.1
osqp_TAG: v0.6.2
OsqpEigen_TAG: v0.7.0
tomlplusplus_TAG: v2.5.0
icub_models_TAG: v1.23.3
UnicyclePlanner_TAG: d3f6c80afe21a9958da769c8dd8a2bbfee5ea922
telemetry_TAG: v0.5.1
# Overwrite the VCPKG_INSTALLATION_ROOT env variable defined by GitHub Actions to point to our vcpkg
VCPKG_INSTALLATION_ROOT: C:\robotology\vcpkg
jobs:
check-style:
name: Find Trailing Whitespace
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v2
- 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, macos-latest]
fail-fast: false
steps:
- uses: actions/checkout@master
# 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-with-gazebo.zip
unzip vcpkg-robotology-with-gazebo.zip -d C:/
rm vcpkg-robotology-with-gazebo.zip
# Also re-bootstrap to avoid problems
cd C:/robotology/vcpkg
./bootstrap-vcpkg.bat
# Install tomlplusplus
./vcpkg.exe --overlay-ports=C:/robotology/robotology-vcpkg-ports install tomlplusplus:x64-windows
- name: Dependencies [macOS]
if: matrix.os == 'macos-latest'
run: |
brew update
brew install ace boost eigen swig qt5 orocos-kdl qhull ipopt cppad pkg-config pybind11 libmatio spdlog librealsense nlohmann-json numpy
- 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
# 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
- name: Cache Source-based Dependencies
id: cache-source-deps
uses: actions/cache@v3
with:
path: ${{ github.workspace }}/install/deps
key: blf-source-deps-${{ 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 }}-catch2-${{ env.Catch2_TAG }}-qhull-${{ env.Qhull_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 }}
- 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
# 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=${GITHUB_WORKSPACE}/install/deps -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
cmake --build . --config ${{ matrix.build_type }} --target INSTALL
# Workaround for https://github.com/robotology-dependencies/robotology-vcpkg-binary-ports/issues/3
export IPOPT_DIR=${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
# 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
# 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
# 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
# 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
# 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
# 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
# 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
# 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
# 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
- name: Source-based Dependencies [Ubuntu/macOS]
if: steps.cache-source-deps.outputs.cache-hit != 'true' && (startsWith(matrix.os, 'ubuntu') || matrix.os == 'macos-latest')
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
# YCM
cd ${GITHUB_WORKSPACE}
git clone -b ${YCM_TAG} https://github.com/robotology/ycm
cd ycm
mkdir -p build
cd build
cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
cmake --build . --config ${{ matrix.build_type }} --target install
# YARP
cd ${GITHUB_WORKSPACE}
git clone https://github.com/robotology/yarp
cd yarp
git checkout ${YARP_TAG}
mkdir -p build
cd build
cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
cmake --build . --config ${{ matrix.build_type }} --target install
# iDynTree
cd ${GITHUB_WORKSPACE}
git clone https://github.com/robotology/iDynTree
cd iDynTree
git checkout ${iDynTree_TAG}
mkdir -p build
cd build
cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
-DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
-DIDYNTREE_USES_PYTHON:BOOL=ON \
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
cmake --build . --config ${{ matrix.build_type }} --target install
# 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
# 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
# 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
# manif
cd ${GITHUB_WORKSPACE}
git clone https://github.com/artivis/manif.git
cd manif
git checkout ${manif_TAG}
mkdir build
cd build
cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
cmake --build . --config ${{ matrix.build_type }} --target install
# 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
# 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
# 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
# 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
# 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
- name: Catch2 Dependency [Ubuntu/macOS]
if: steps.cache-source-deps.outputs.cache-hit != 'true' && (startsWith(matrix.os, 'ubuntu') || matrix.os == 'macos-latest')
shell: bash
run: |
# Catch2
git clone -b ${Catch2_TAG} https://github.com/catchorg/Catch2.git
cd Catch2
mkdir -p build
cd build
cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps \
-DBUILD_TESTING=OFF ..
cmake --build . --config ${{ matrix.build_type }} --target install
- name: Catch2 Dependency [Windows]
if: matrix.os == 'windows-2019'
shell: bash
run: |
# Catch2
git clone -b ${Catch2_TAG} https://github.com/catchorg/Catch2.git
cd Catch2
mkdir -p build
cd build
cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${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 \
-DBUILD_TESTING=OFF ..
cmake --build . --config ${{ matrix.build_type }} --target install
- name: Source-based Dependencies [Ubuntu]
if: steps.cache-source-deps.outputs.cache-hit != 'true' && startsWith(matrix.os, 'ubuntu')
shell: bash
run: |
# Qhull
cd ${GITHUB_WORKSPACE}
git clone https://github.com/qhull/qhull
cd qhull
git checkout ${Qhull_TAG}
mkdir -p build
cd build
cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps \
-DCMAKE_POSITION_INDEPENDENT_CODE=ON ..
cmake --build . --config ${{ matrix.build_type }} --target install
# CppAD
git clone https://github.com/coin-or/CppAD.git
cd CppAD
mkdir -p build
cd build
cmake -Dcppad_prefix=${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
- name: Install manifpy [Ubuntu/macOS]
if: startsWith(matrix.os, 'ubuntu') || matrix.os == 'macos-latest'
run: |
git clone https://github.com/artivis/manif.git manifpy
cd manifpy
git checkout ${manif_TAG}
python3 -m pip install .
- name: Check Python setup
shell: bash
run: |
echo "Default interpreter: $(which python)"
python3 -c 'import sys; print(sys.prefix)'
- name: Extend the pythonpath [Ubuntu]
if: startsWith(matrix.os, 'ubuntu')
run: |
echo "PYTHONPATH=${GITHUB_WORKSPACE}/install/deps/lib/python3/dist-packages" >> $GITHUB_ENV
# ===================
# CMAKE-BASED PROJECT
# ===================
- name: Configure [Windows]
# Use bash also on Windows (otherwise cd, mkdir, ... do not work)
if: matrix.os == 'windows-2019'
shell: bash
run: |
mkdir -p build
cd build
cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${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=$(python -c "import sys; print(sys.prefix)") -DFRAMEWORK_USE_Python3:BOOL=ON -DFRAMEWORK_USE_pybind11:BOOL=ON \
-DENABLE_YarpRobotLoggerDevice:BOOL=ON \
-DFRAMEWORK_RUN_Valgrind_tests:BOOL=ON ..
- name: Configure [macOS]
if: matrix.os == 'macos-latest'
shell: bash
run: |
mkdir -p build
cd build
cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install \
-DCMAKE_BUILD_TYPE=${{ 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 \
-DFRAMEWORK_TEST_PYTHON_BINDINGS:BOOL=OFF \
-DBUILD_TESTING: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 icub-models; do
echo "Testing ${missing_dep} as missing dependency."
# Deselect missing dependency and build
cmake -DFRAMEWORK_USE_${missing_dep}:BOOL=OFF .
cmake --build . --config ${{ matrix.build_type }}
# Enable again dependency
cmake -DFRAMEWORK_USE_${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 ${{ matrix.build_type }}
- name: Test
shell: bash
run: |
cd build
export PATH=$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 --output-on-failure -C ${{ matrix.build_type }} .