ci.yml

name: CI Workflow

on:
  push:
    branches:
    - master
    - devel
  pull_request:
    types: [opened, reopened, synchronize, ready_for_review]
  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 * * *'
  workflow_dispatch:

jobs:
  build:
    name: '[${{ matrix.os }}@${{ matrix.build_type }}@BUILD_SHARED_LIBS:${{ matrix.build_shared_libs }}]'
    runs-on: ${{ matrix.os }}
    strategy:
      matrix:
        build_type: [Release]
        os: [ubuntu-latest, windows-latest]
        build_shared_libs: [ON, OFF]

    steps:
    - name: Checkout the code
      uses: actions/checkout@main

    - name: 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 [Ubuntu]
      if: matrix.os == 'ubuntu-latest'
      shell: bash
      run: |
        for apt_file in `grep -lr microsoft /etc/apt/sources.list.d/`; do sudo rm $apt_file; done

    # ============
    # DEPENDENCIES
    # ============
    - name: Dependencies [Windows]
      if: matrix.os == 'windows-latest'
      shell: pwsh
      run: |
        $response = gh api --paginate -H "Accept: application/vnd.github.v3+json" /repos/robotology/robotology-superbuild-dependencies-vcpkg/releases/latest
        $latest_tag = ($response | ConvertFrom-Json).tag_name
        echo "Installing robotology-superbuild-dependencies-vcpkg@$latest_tag"
        iwr -Uri https://github.com/robotology/robotology-superbuild-dependencies-vcpkg/releases/download/$latest_tag/vcpkg-robotology.zip -OutFile C:/vcpkg-robotology.zip
        7z x C:/vcpkg-robotology.zip -oC:/
        "VCPKG_INSTALLATION_ROOT=C:/robotology/vcpkg" >> $env:GITHUB_ENV
      env:
        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} 

    - name: Dependencies [Ubuntu]
      if: matrix.os == 'ubuntu-latest'
      shell: bash
      run: |
        sudo apt update
        sudo apt install -y git build-essential cmake libace-dev coinor-libipopt-dev libeigen3-dev libopencv-dev qtbase5-dev \
                            qtdeclarative5-dev qtmultimedia5-dev libtinyxml-dev libgsl-dev libpython3-dev

      # regression documented in https://github.com/robotology/robotology-superbuild/blob/master/cmake/RobotologySuperbuildLogic.cmake#L39-L64
    - name: Install Custom SWIG 4.2.1 [Ubuntu]
      if: matrix.os == 'ubuntu-latest'
      shell: bash
      run: |
        sudo apt remove swig
        cd ${GITHUB_WORKSPACE}
        wget https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/swig_4_2_1_ubuntu_24_04.zip
        unzip swig_4_2_1_ubuntu_24_04.zip
        echo "${{ github.workspace }}/swig_4_2_1_ubuntu_24_04_install/bin" >> $GITHUB_PATH
        echo "SWIG_LIB=${{ github.workspace }}/swig_4_2_1_ubuntu_24_04_install/share/swig/4.2.1" >> $GITHUB_ENV

    - name: Check SWIG version
      run: swig -version

    - name: Determine YCM and YARP required versions
      shell: bash
      run: |
        grep -m 1 YCM_REQUIRED_VERSION CMakeLists.txt | sed "s/[^0-9.]//g" > YCM_VERSION.txt
        grep -m 1 YARP_REQUIRED_VERSION CMakeLists.txt | sed "s/[^0-9.]//g" > YARP_VERSION.txt
        cat YARP_VERSION.txt | awk -F '.' '{ print $1 }' > YARP_VERSION_MAJOR.txt
        cat YARP_VERSION.txt | awk -F '.' '{ print $2 }' > YARP_VERSION_MINOR.txt
        echo "ycm_version=$(cat YCM_VERSION.txt)" >> $GITHUB_ENV
        echo "yarp_branch=yarp-$(cat YARP_VERSION_MAJOR.txt).$(cat YARP_VERSION_MINOR.txt)" >> $GITHUB_ENV

    - name: Determine icub-firmware-shared required branch
      shell: bash
      run: |
        grep -m 1 icub_firmware_shared_VERSION conf/iCubFindDependencies.cmake | sed "s/[^0-9.]//g" > icub_firmware_shared_VERSION.txt
        gh --repo robotology/icub-firmware-shared release list > icub_firmware_shared_RELEASES.txt
        if grep -q $(cat icub_firmware_shared_VERSION.txt) icub_firmware_shared_RELEASES.txt; then
          echo "icub_firmware_shared_branch=v$(cat icub_firmware_shared_VERSION.txt)" >> $GITHUB_ENV
        elif [[ "${{ github.event_name }}" == "schedule" || "${{ github.ref }}" == "refs/heads/master" || "${{ github.base_ref }}" == "master" || "${{ github.head_ref }}" == "master" ]]; then
          echo "icub_firmware_shared_branch=master" >> $GITHUB_ENV
        else
          echo "icub_firmware_shared_branch=devel" >> $GITHUB_ENV
        fi
      env:
        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}  

    - name: Source-based Dependencies [Windows]
      if: matrix.os == 'windows-latest'
      shell: bash
      run: |
        # YCM
        cd ${GITHUB_WORKSPACE}
        git clone https://github.com/robotology/ycm.git --depth 1 --branch v${{ env.ycm_version }}
        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 ..
        cmake --build . --config ${{ matrix.build_type }} --target INSTALL
        # YARP
        cd ${GITHUB_WORKSPACE}
        git clone https://github.com/robotology/yarp.git --depth 1 --branch ${{ env.yarp_branch }}
        cd yarp && mkdir -p build && cd build
        cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake -DYARP_COMPILE_GUIS:BOOL=OFF \
              -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..
        cmake --build . --config ${{ matrix.build_type }} --target INSTALL
        # icub-firmware-shared
        cd ${GITHUB_WORKSPACE}
        git clone https://github.com/robotology/icub-firmware-shared.git --depth 1 --branch ${{ env.icub_firmware_shared_branch }}
        cd icub-firmware-shared && mkdir -p build && cd build
        cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \
              -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..
        cmake --build . --config ${{ matrix.build_type }} --target INSTALL

    - name: Source-based Dependencies [Ubuntu]
      if: matrix.os == 'ubuntu-latest'
      shell: bash
      run: |
        # YCM
        cd ${GITHUB_WORKSPACE}
        git clone https://github.com/robotology/ycm.git --depth 1 --branch v${{ env.ycm_version }}
        cd ycm && mkdir -p build && cd build
        cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..
        cmake --build . --config ${{ matrix.build_type }} --target install
        # YARP
        cd ${GITHUB_WORKSPACE}
        git clone https://github.com/robotology/yarp.git --depth 1 --branch ${{ env.yarp_branch }}
        cd yarp && mkdir -p build && cd build
        cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install -DYARP_COMPILE_GUIS:BOOL=OFF ..
        cmake --build . --config ${{ matrix.build_type }} --target install
        # icub-firmware-shared
        cd ${GITHUB_WORKSPACE}
        git clone https://github.com/robotology/icub-firmware-shared.git --depth 1 --branch ${{ env.icub_firmware_shared_branch }}
        cd icub-firmware-shared && mkdir -p build && cd build
        cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..
        cmake --build . --config ${{ matrix.build_type }} --target install

    # ===================
    # CMAKE-BASED PROJECT
    # ===================
    - name: Configure [Windows]
      # Use bash also on Windows (otherwise cd, mkdir, ... do not work)
      if: matrix.os == 'windows-latest'
      shell: bash
      run: |
        mkdir -p build
        cd build
        cmake --preset robot -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \
              -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install \
              -DBUILD_SHARED_LIBS:BOOL=${{ matrix.build_shared_libs }} \
              -DBUILD_TESTING:BOOL=ON \
              -DICUB_SHARED_LIBRARY=OFF \
              -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..

    - name: Configure [Ubuntu]
      if: matrix.os == 'ubuntu-latest'
      shell: bash
      run: |
        mkdir -p build
        cd build
        cmake --preset robot \
              -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install \
              -DBUILD_SHARED_LIBS:BOOL=${{ matrix.build_shared_libs }} \
              -DBUILD_TESTING:BOOL=ON \
              -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..

    - name: Enable python bindings on Ubuntu
      if: matrix.os == 'ubuntu-latest'
      shell: bash
      run: |
        cd build
        # Enable ICUB_COMPILE_BINDINGS in Ubuntu
        cmake -DICUB_COMPILE_BINDINGS:BOOL=ON -DCREATE_PYTHON:BOOL=ON .

    - name: Extend Path
      shell: bash
      run: |
        echo "${{ github.workspace }}/install/bin" >> $GITHUB_PATH
        echo "${{ github.workspace }}/install/lib/yarp" >> $GITHUB_PATH
        # Fix for using YARP idl generators (that link ACE) in Windows (https://github.com/robotology/idyntree/issues/569)
        echo "${VCPKG_INSTALLATION_ROOT}/installed/x64-windows/bin" >> $GITHUB_PATH

    - name: Build
      shell: bash
      run: |
        cd build
        cmake --build . --config ${{ matrix.build_type }}

    - name: Install
      shell: bash
      run: |
        cd build
        cmake --build . --config ${{ matrix.build_type }} --target install

    - name: Test
      shell: bash
      run: |
        cd build
        ctest run_unit_test --output-on-failure -C ${{ matrix.build_type }} .