Continuous Integration with tests on Ubuntu using apt dependencies #1035
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name: Continuous Integration with tests on Ubuntu using apt dependencies | |
on: | |
push: | |
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: | |
YCM_TAG: v0.14.0 | |
YARP_TAG: v3.6.0 | |
OPENXR_TAG: main | |
MONADO_TAG: main | |
jobs: | |
build: | |
name: '[${{ matrix.os }}@${{ matrix.build_type }}]' | |
runs-on: ${{ matrix.os }} | |
strategy: | |
matrix: | |
build_type: [Release, Debug] | |
os: [ubuntu-22.04] | |
steps: | |
- uses: actions/checkout@master | |
- name: Display environment variables | |
shell: bash | |
run: env | |
# 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 | |
run: | | |
for apt_file in `grep -lr microsoft /etc/apt/sources.list.d/`; do sudo rm $apt_file; done | |
# ============ | |
# DEPENDENCIES | |
# ============ | |
- name: System dependencies | |
run: | | |
sudo apt update | |
# Common dependencies | |
sudo apt install build-essential git cmake | |
# OpenXR dependencies | |
sudo apt install libgl1-mesa-dev libvulkan-dev libx11-xcb-dev libxcb-dri2-0-dev libxcb-glx0-dev libxcb-icccm4-dev libxcb-keysyms1-dev libxcb-randr0-dev libxrandr-dev libxxf86vm-dev mesa-common-dev | |
# Yarp dependencies | |
sudo apt install libace-dev | |
# yarp-device-openxrheadset dependencies | |
sudo apt install libeigen3-dev libglm-dev libglfw3-dev libglew-dev | |
# Monado additional dependencies (just for testing) | |
sudo apt install wget unzip ninja-build curl patch python3 pkg-config libx11-dev glslang-tools libglvnd-dev ca-certificates libusb-1.0-0-dev libudev-dev libhidapi-dev libwayland-dev libuvc-dev libavcodec-dev libopencv-dev libv4l-dev libcjson-dev libsdl2-dev libegl1-mesa-dev | |
#Xvfb, just to have a dummy screen | |
sudo apt install xvfb vulkan-tools mesa-vulkan-drivers | |
- name: Vulkan extensions | |
shell: bash -l {0} | |
run: | | |
LIBGL_ALWAYS_SOFTWARE=1 __GLX_VENDOR_LIBRARY_NAME=mesa VK_ICD_FILENAMES=/usr/share/vulkan/icd.d/lvp_icd.i686.json:/usr/share/vulkan/icd.d/lvp_icd.x86_64.json vulkaninfo | |
- name: Source-based OpenXR installation | |
shell: bash -l {0} | |
run: | | |
cd ${GITHUB_WORKSPACE} | |
git clone https://github.com/KhronosGroup/OpenXR-SDK.git --depth 1 --branch ${OPENXR_TAG} | |
cd OpenXR-SDK && mkdir -p build && cd build | |
cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=Release .. | |
make install | |
- name: Source-based monado installation | |
shell: bash -l {0} | |
run: | | |
cd ${GITHUB_WORKSPACE} | |
git clone https://gitlab.freedesktop.org/monado/monado.git --depth 1 --branch ${MONADO_TAG} | |
cd monado && mkdir -p build && cd build | |
cmake -G Ninja -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=Release -DXRT_FEATURE_SERVICE:BOOL=OFF -DXRT_OPENXR_INSTALL_ACTIVE_RUNTIME=OFF .. | |
ninja install | |
- name: Source-based YARP installation | |
shell: bash -l {0} | |
run: | | |
# YCM | |
cd ${GITHUB_WORKSPACE} | |
git clone -b ${YCM_TAG} https://github.com/robotology/ycm | |
cd ycm && mkdir -p build && cd build | |
cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=Release .. | |
make install | |
cd ${GITHUB_WORKSPACE} | |
git clone https://github.com/robotology/yarp.git --depth 1 --branch ${YARP_TAG} | |
cd yarp && mkdir -p build && cd build | |
cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=Release .. | |
make install | |
# =================== | |
# CMAKE-BASED PROJECT | |
# =================== | |
- name: Configure | |
shell: bash -l {0} | |
run: | | |
mkdir -p build | |
cd build | |
cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \ | |
-DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DBUILD_TESTING:BOOL=ON .. | |
- name: Build | |
shell: bash -l {0} | |
run: | | |
cd build | |
make | |
- name: Install | |
shell: bash -l {0} | |
run: | | |
cd build | |
make install | |
- name: Test | |
shell: bash -l {0} | |
#if : false #Disabling until https://gitlab.freedesktop.org/monado/monado/-/issues/170 is fixed | |
run: | | |
export PATH=$PATH:${GITHUB_WORKSPACE}/install/bin | |
yarpserver --write & | |
cd build | |
#lavapipe (software Vulkan) settings | |
export LIBGL_ALWAYS_SOFTWARE=1 | |
export __GLX_VENDOR_LIBRARY_NAME=mesa | |
export VK_ICD_FILENAMES=/usr/share/vulkan/icd.d/lvp_icd.i686.json:/usr/share/vulkan/icd.d/lvp_icd.x86_64.json | |
#Monado settings | |
export XRT_COMPOSITOR_FORCE_XCB=1 | |
export XR_RUNTIME_JSON=${GITHUB_WORKSPACE}/install/share/openxr/1/openxr_monado.json | |
#Run ctest on a virtual X server environment (xvfb-run) | |
xvfb-run ctest --output-on-failure -C ${{ matrix.build_type }} . | |