conda-forge: Migrate from jpeg to libjpeg-turbo #4527
Workflow file for this run
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| name: CI Workflow | |
| on: | |
| workflow_dispatch: | |
| push: | |
| branches: | |
| - master | |
| - 'releases/**' | |
| tags: | |
| - v* | |
| pull_request: | |
| release: | |
| types: [published] | |
| 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 * * *' | |
| jobs: | |
| conda-build: | |
| name: '[conda:Tags:${{ matrix.project_tags }}@${{ matrix.os }}@${{ matrix.build_type }}]' | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| build_type: [Release] | |
| os: [ubuntu-latest, macos-latest, windows-2019, windows-2022] | |
| project_tags: | |
| - Default | |
| - Unstable | |
| include: | |
| - project_tags: Default | |
| project_tags_cmake_options: "" | |
| - project_tags: Unstable | |
| project_tags_cmake_options: "-DROBOTOLOGY_PROJECT_TAGS=Unstable" | |
| steps: | |
| - uses: actions/checkout@v4 | |
| - uses: conda-incubator/setup-miniconda@v2 | |
| with: | |
| miniforge-variant: Mambaforge | |
| miniforge-version: latest | |
| - name: Install files to enable compilation of mex files [Conda/Linux] | |
| if: contains(matrix.os, 'ubuntu') | |
| run: | | |
| curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020b_mexa64.zip | |
| unzip msdk_R2020b_mexa64.zip | |
| rm msdk_R2020b_mexa64.zip | |
| echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020b_mexa64" >> $GITHUB_ENV | |
| echo "GHA_Matlab_MEX_EXTENSION=mexa64" >> $GITHUB_ENV | |
| - name: Install files to enable compilation of mex files [Conda/macOS] | |
| if: contains(matrix.os, 'macos') | |
| run: | | |
| curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020a_mexmaci64.zip | |
| unzip msdk_R2020a_mexmaci64.zip | |
| rm msdk_R2020a_mexmaci64.zip | |
| echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020a_mexmaci64" >> $GITHUB_ENV | |
| echo "GHA_Matlab_MEX_EXTENSION=mexmaci64" >> $GITHUB_ENV | |
| - name: Install files to enable compilation of mex files [Conda/Windows] | |
| if: contains(matrix.os, 'windows') | |
| shell: bash | |
| run: | | |
| curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020a_mexw64.zip | |
| unzip msdk_R2020a_mexw64.zip | |
| rm msdk_R2020a_mexw64.zip | |
| echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020a_mexw64" >> $GITHUB_ENV | |
| echo "GHA_Matlab_MEX_EXTENSION=mexw64" >> $GITHUB_ENV | |
| - name: Dependencies [Conda] | |
| shell: bash -l {0} | |
| run: | | |
| # Dependencies | |
| mamba install ace asio assimp boost eigen freetype gazebo glew glfw glm graphviz gsl ipopt irrlicht libjpeg-turbo libmatio libode libxml2 nlohmann_json pcl vtk opencv portaudio qt-main sdl sdl2 sqlite tinyxml spdlog lua soxr cmake compilers make ninja pkg-config tomlplusplus libzlib ffmpeg | |
| # Python | |
| mamba install python numpy swig pybind11 pyqt matplotlib h5py tornado u-msgpack-python pyzmq ipython gst-plugins-good gst-plugins-bad | |
| # Additional dependencies useful only on Linux | |
| - name: Dependencies [Conda/Linux] | |
| if: contains(matrix.os, 'ubuntu') | |
| shell: bash -l {0} | |
| run: | | |
| # Additional dependencies only useful on Linux | |
| # See https://github.com/robotology/robotology-superbuild/issues/477 | |
| mamba install bash-completion expat-cos7-x86_64 freeglut libdc1394 libi2c libselinux-cos7-x86_64 libxau-cos7-x86_64 libxcb-cos7-x86_64 libxdamage-cos7-x86_64 libxext-cos7-x86_64 libxfixes-cos7-x86_64 libxxf86vm-cos7-x86_64 mesa-libgl-cos7-x86_64 mesa-libgl-devel-cos7-x86_64 libxshmfence-cos7-x86_64 libxshmfence-devel-cos7-x86_64 | |
| # Ignition Gazebo | |
| mamba install libignition-gazebo6 | |
| # Additional dependencies useful only on Windows | |
| - name: Dependencies [Conda/Windows] | |
| if: contains(matrix.os, 'windows') | |
| shell: bash -l {0} | |
| run: | | |
| # Additional dependencies only useful on Windows | |
| mamba install -c conda-forge -c robotology esdcan freeglut | |
| - name: Print used environment [Conda] | |
| shell: bash -l {0} | |
| run: | | |
| mamba list | |
| env | |
| - name: Set CMake generator [Conda/Linux and macOs] | |
| if: contains(matrix.os, 'ubuntu') || contains(matrix.os, 'macos') | |
| shell: bash -l {0} | |
| run: | | |
| echo "GHA_CMAKE_GENERATOR=Ninja" >> $GITHUB_ENV | |
| - name: Set CMake generator [Conda/Windows 2022] | |
| if: contains(matrix.os, 'windows-2022') | |
| shell: bash -l {0} | |
| run: | | |
| echo "GHA_CMAKE_GENERATOR=Visual Studio 17 2022" >> $GITHUB_ENV | |
| - name: Set CMake generator [Conda/Windows 2019] | |
| if: contains(matrix.os, 'windows-2019') | |
| shell: bash -l {0} | |
| run: | | |
| echo "GHA_CMAKE_GENERATOR=Visual Studio 16 2019" >> $GITHUB_ENV | |
| - name: Configure [Conda] | |
| shell: bash -l {0} | |
| run: | | |
| set | |
| mkdir -p build | |
| cd build | |
| cmake -G"${GHA_CMAKE_GENERATOR}" -C ${GITHUB_WORKSPACE}/.ci/initial-cache.gh.cmake -DYCM_EP_ADDITIONAL_CMAKE_ARGS:STRING="-DMatlab_ROOT_DIR:PATH=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION}" -DROBOTOLOGY_USES_MATLAB:BOOL=ON -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ${{ matrix.project_tags_cmake_options }} .. | |
| # Disable options not tested on Conda for now | |
| cmake -DROBOTOLOGY_USES_OCTAVE:BOOL=OFF . | |
| - name: Disable options not suppored on Visual Studio 2019 [Conda/Windows 2019] | |
| if: contains(matrix.os, 'windows-2019') | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| cmake -DROBOTOLOGY_USES_MUJOCO:BOOL=OFF . | |
| - name: Configure Extra [Conda/Linux] | |
| if: contains(matrix.os, 'ubuntu') | |
| shell: bash -l {0} | |
| run: cmake -S . -B build/ -DROBOTOLOGY_USES_IGNITION:BOOL=ON | |
| # For some reason, the Strawberry perl's pkg-config is found | |
| # instead of the conda's one, so let's delete the /c/Strawberry directory | |
| - name: Debug pkg-config problem | |
| if: contains(matrix.os, 'windows') | |
| shell: bash -l {0} | |
| run: | | |
| rm -rf /c/Strawberry | |
| - name: Build [Conda] | |
| shell: bash -l {0} | |
| run: | | |
| cd build | |
| cmake --build . --config ${{ matrix.build_type }} | |
| docker-build: | |
| name: '[docker:Tags:${{ matrix.project_tags }}@${{ matrix.docker_image }}@${{ matrix.build_type }}]' | |
| runs-on: ubuntu-20.04 | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| build_type: [Debug] | |
| cmake_generator: | |
| - "Ninja" | |
| docker_image: | |
| - "ubuntu:focal" | |
| - "ubuntu:jammy" | |
| - "debian:buster-backports" | |
| - "debian:bullseye" | |
| project_tags: | |
| - Default | |
| - Unstable | |
| include: | |
| - project_tags: Default | |
| project_tags_cmake_options: "" | |
| - project_tags: Unstable | |
| project_tags_cmake_options: "-DROBOTOLOGY_PROJECT_TAGS=Unstable" | |
| container: | |
| image: ${{ matrix.docker_image }} | |
| volumes: | |
| - /usr/local:/host_usr_local | |
| steps: | |
| - uses: actions/[email protected] | |
| - name: Free disk space in host machine | |
| run: | | |
| rm -rf /host_usr_local/graalvm/ | |
| rm -rf /host_usr_local/.ghcup/ | |
| rm -rf /host_usr_local/share/powershell | |
| rm -rf /host_usr_local/share/chromium | |
| rm -rf /host_usr_local/lib/android | |
| rm -rf /host_usr_local/lib/node_modules | |
| - name: Upgrade apt packages Debian Testing [Debian Testing] | |
| if: matrix.docker_image == 'debian:testing' | |
| run: | | |
| # The Debian testing docker image is generated only | |
| # once a month, so to actually test with the latest | |
| # packages we need to manually upgrade the packages | |
| apt-get -y upgrade | |
| - name: Dependencies [Docker] | |
| run: | | |
| chmod +x ./.ci/install_debian.sh | |
| bash ./.ci/install_debian.sh | |
| - name: Install CMake 3.16 [Docker/Debian Buster] | |
| if: matrix.docker_image == 'debian:buster-backports' | |
| run: | | |
| apt-get -y -t buster-backports install cmake | |
| - name: Configure [Docker] | |
| run: | | |
| mkdir -p build | |
| cd build | |
| cmake -C ${GITHUB_WORKSPACE}/.ci/initial-cache.gh.cmake -G"${{ matrix.cmake_generator }}" -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ${{ matrix.project_tags_cmake_options }} .. | |
| - name: Disable profiles that are not supported in docker for now [Docker debian-testing and debian-buster] | |
| if: (matrix.docker_image == 'debian:testing' || matrix.docker_image == 'debian:buster-backports') | |
| run: | | |
| cd build | |
| cmake -DROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS:BOOL=OFF -DROBOTOLOGY_USES_MUJOCO:BOOL=OFF -DROBOTOLOGY_ENABLE_ROBOT_TESTING:BOOL=OFF -DROBOTOLOGY_USES_PYTHON:BOOL=OFF . | |
| - name: Disable profiles that are not supported in Debian Buster [Docker debian:buster-backports] | |
| if: (matrix.docker_image == 'debian:buster-backports') | |
| run: | | |
| cd build | |
| cmake -DROBOTOLOGY_ENABLE_TELEOPERATION:BOOL=OFF -DROBOTOLOGY_USES_MUJOCO:BOOL=OFF -DROBOTOLOGY_ENABLE_EVENT_DRIVEN:BOOL=OFF . | |
| - name: Disable MuJoCo for other distros released before 2022 [Docker ubuntu:focal and debian:bullseye] | |
| if: (matrix.docker_image == 'ubuntu:focal' || matrix.docker_image == 'debian:bullseye') | |
| run: | | |
| cd build | |
| cmake -DROBOTOLOGY_USES_MUJOCO:BOOL=OFF . | |
| - name: Build [Docker] | |
| run: | | |
| cd build | |
| cmake --build . --config ${{ matrix.build_type }} | |
| normal-build: | |
| name: '[Tags:${{ matrix.project_tags }}@${{ matrix.os }}@${{ matrix.build_type }}]' | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| build_type: [Release] | |
| os: [ubuntu-20.04, windows-2019] | |
| project_tags: [Default, Unstable, LatestReleases] | |
| include: | |
| - os: ubuntu-20.04 | |
| build_type: Release | |
| cmake_generator: "Ninja" | |
| - os: macos-latest | |
| build_type: Release | |
| cmake_generator: "Ninja" | |
| - project_tags: Default | |
| project_tags_cmake_options: "" | |
| - project_tags: Unstable | |
| project_tags_cmake_options: "-DROBOTOLOGY_PROJECT_TAGS=Unstable" | |
| - project_tags: LatestReleases | |
| project_tags_cmake_options: "-DROBOTOLOGY_PROJECT_TAGS=Custom -DROBOTOLOGY_PROJECT_TAGS_CUSTOM_FILE=${GITHUB_WORKSPACE}/releases/latest.releases.yaml" | |
| steps: | |
| - uses: actions/checkout@master | |
| - name: Install files to enable compilation of mex files [Linux] | |
| if: contains(matrix.os, 'ubuntu') | |
| run: | | |
| curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020b_mexa64.zip | |
| unzip msdk_R2020b_mexa64.zip | |
| rm msdk_R2020b_mexa64.zip | |
| echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020b_mexa64" >> $GITHUB_ENV | |
| echo "GHA_Matlab_MEX_EXTENSION=mexa64" >> $GITHUB_ENV | |
| - name: Move robotology-superbuild in C under Windows | |
| if: contains(matrix.os, 'windows') | |
| shell: bash | |
| run: | | |
| ls /d/ | |
| cp -r ${GITHUB_WORKSPACE} /c/ | |
| - name: Define ROBOTOLOGY_SUPERBUILD_SOURCE_DIR | |
| if: contains(matrix.os, 'windows') | |
| shell: bash | |
| run: | | |
| echo "ROBOTOLOGY_SUPERBUILD_SOURCE_DIR=/c/robotology-superbuild" >> $GITHUB_ENV | |
| - name: Define ROBOTOLOGY_SUPERBUILD_SOURCE_DIR | |
| if: contains(matrix.os, 'ubuntu') | |
| shell: bash | |
| run: | | |
| echo "ROBOTOLOGY_SUPERBUILD_SOURCE_DIR=${GITHUB_WORKSPACE}" >> $GITHUB_ENV | |
| - name: Check free space | |
| shell: bash | |
| run: | | |
| df -h | |
| # Print environment variables to simplify development and debugging | |
| - 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: contains(matrix.os, 'ubuntu') | |
| run: | | |
| for apt_file in `grep -lr microsoft /etc/apt/sources.list.d/`; do sudo rm $apt_file; done | |
| # symlinks disabled are the default setting on Windows, but unfortunatly GitHub Actions enabled them | |
| # See: | |
| # * https://github.com/robotology/robotology-superbuild/issues/429 | |
| # * https://github.com/actions/virtual-environments/pull/1186 | |
| - name: Disable Git symlinks on Windows | |
| if: contains(matrix.os, 'windows') | |
| run: git config --global core.symlinks false | |
| # ============ | |
| # DEPENDENCIES | |
| # ============ | |
| # Waiting a github action that installs dependencies in a | |
| # multiplatform setup (likely using TS or JS), we install | |
| # packages with os-specific steps. | |
| - name: Dependencies [Ubuntu] | |
| if: contains(matrix.os, 'ubuntu') | |
| run: | | |
| cd $ROBOTOLOGY_SUPERBUILD_SOURCE_DIR | |
| chmod +x ./.ci/install_debian.sh | |
| sudo bash ./.ci/install_debian.sh | |
| - name: Dependencies [Windows] | |
| if: contains(matrix.os, 'windows') | |
| run: | | |
| cd ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR} | |
| # To avoid spending a huge time compiling vcpkg dependencies, we download an archive 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 directory | |
| # that has been used to create the pre-compiled archive | |
| cd C:/ | |
| wget https://github.com/robotology/robotology-superbuild-dependencies-vcpkg/releases/latest/download/vcpkg-robotology-with-gazebo.zip | |
| unzip vcpkg-robotology-with-gazebo.zip -d C:/ | |
| rm vcpkg-robotology-with-gazebo.zip | |
| # =================== | |
| # CMAKE-BASED PROJECT | |
| # =================== | |
| - name: Configure [Ubuntu] | |
| if: contains(matrix.os, 'ubuntu') | |
| shell: bash | |
| run: | | |
| cd ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR} | |
| mkdir -p build | |
| cd build | |
| cmake -C ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/.ci/initial-cache.gh.cmake -G"${{ matrix.cmake_generator }}" -DYCM_EP_ADDITIONAL_CMAKE_ARGS:STRING="-DMatlab_ROOT_DIR:PATH=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION}" -DROBOTOLOGY_USES_MATLAB:BOOL=ON -DYCM_BOOTSTRAP_VERBOSE=ON -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ${{ matrix.project_tags_cmake_options }} .. | |
| - name: Configure [Windows] | |
| if: contains(matrix.os, 'windows') | |
| shell: bash | |
| run: | | |
| # Workaround for https://gitlab.kitware.com/cmake/cmake/-/merge_requests/7721 | |
| mv C:/robotology/vcpkg/installed/x64-windows/tools/pkgconf/pkgconf.exe C:/robotology/vcpkg/installed/x64-windows/tools/pkgconf/pkgconfback.exe | |
| cd ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR} | |
| # Make sure that Gazebo packages can be found by CMake | |
| source /c/robotology/scripts/setup-deps.sh | |
| mkdir -p build | |
| cd build | |
| # ROBOTOLOGY_ENABLE_TELEOPERATION is OFF as it is unsupported on vcpkg | |
| cmake -C ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/.ci/initial-cache.gh.cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=C:/robotology/vcpkg/scripts/buildsystems/vcpkg.cmake -DROBOTOLOGY_USES_MATLAB:BOOL=OFF -DYCM_BOOTSTRAP_VERBOSE=ON -DYCM_EP_INSTALL_DIR=C:/robotology/robotology -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=Debug ${{ matrix.project_tags_cmake_options }} .. | |
| cmake -DROBOTOLOGY_ENABLE_TELEOPERATION:BOOL=OFF . | |
| - name: Disable options unsupported on Ubuntu 20.04 and vcpkg | |
| if: contains(matrix.os, '20.04') || contains(matrix.os, 'windows') | |
| shell: bash | |
| run: | | |
| cd ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR} | |
| cd build | |
| cmake -DROBOTOLOGY_USES_MUJOCO:BOOL=OFF . | |
| - name: Build [Ubuntu] | |
| if: contains(matrix.os, 'ubuntu') | |
| shell: bash | |
| run: | | |
| cd build | |
| cmake --build . --config ${{ matrix.build_type }} | |
| # Just for release jobs we also compile Windows in Release, to ensure that Release libraries are included in the installer | |
| - name: Build (Release) [Windows] | |
| if: github.event_name == 'release' && matrix.project_tags == 'Default' && contains(matrix.os, 'windows') | |
| shell: bash | |
| run: | | |
| cd ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR} | |
| cd build | |
| # Make sure that vcpkg's ace .dll are on the PATH | |
| source /c/robotology/scripts/setup-deps.sh | |
| cmake --build . --config Release | |
| # Cleanup build directories to avoid to fill the disk | |
| rm -rf ./robotology | |
| - name: Build (Debug) [Windows] | |
| if: contains(matrix.os, 'windows') | |
| shell: bash | |
| run: | | |
| cd ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR} | |
| cd build | |
| # Make sure that vcpkg's ace .dll are on the PATH | |
| source /c/robotology/scripts/setup-deps.sh | |
| cmake --build . --config Debug | |
| # Cleanup build directories to avoid to fill the disk | |
| rm -rf ./robotology | |
| # Just for release builds we generate the installer | |
| - name: Generate installer [Windows] | |
| if: github.event_name == 'release' && matrix.project_tags == 'Default' && matrix.os == 'windows-2019' | |
| shell: bash | |
| run: | | |
| # Download QtIFW | |
| cd /c | |
| certutil.exe -urlcache -split -f https://github.com/robotology-dependencies/qtifw-binaries/releases/download/v3.1.1/QtIFW-3.1.1.zip QtIFW-3.1.1.zip | |
| 7z.exe x QtIFW-3.1.1.zip | |
| export PATH=$PATH:/c/QtIFW-3.1.1/bin | |
| # As we need a lot of space, we build the installer in the C:\ drive | |
| # that has more space of the D:\ drive in GitHub Actions | |
| mkdir /c/build-installer-full | |
| cd /c/build-installer-full | |
| cmake -A x64 -DRI_BUILD_FULL_INSTALLER:BOOL=ON ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/packaging/windows | |
| cmake --build . --config Release --target PACKAGE | |
| # Move installer in installer directory with a fixed name | |
| mv *.exe /c/robotology-full-installer-win64.exe | |
| # Cleanup and build dependencies installer | |
| cd /c | |
| rm -rf /c/build-installer-full | |
| mkdir /c/build-installer-dependencies | |
| cd /c/build-installer-dependencies | |
| cmake -A x64 -DRI_BUILD_FULL_INSTALLER:BOOL=OFF ${ROBOTOLOGY_SUPERBUILD_SOURCE_DIR}/packaging/windows | |
| cmake --build . --config Release --target PACKAGE | |
| # Move installer in installer directory with a fixed name | |
| mv *.exe /c/robotology-dependencies-installer-win64.exe | |
| - name: Upload Full Installer [Windows] | |
| if: github.event_name == 'release' && matrix.project_tags == 'Default' && matrix.os == 'windows-2019' | |
| uses: actions/[email protected] | |
| env: | |
| GITHUB_TOKEN: ${{ secrets.ACCESS_TOKEN }} | |
| with: | |
| upload_url: ${{ github.event.release.upload_url }} | |
| asset_path: C:/robotology-full-installer-win64.exe | |
| asset_name: robotology-full-installer-win64.exe | |
| asset_content_type: application/octet-stream | |
| - name: Upload Dependencies installer [Windows] | |
| if: github.event_name == 'release' && matrix.project_tags == 'Default' && matrix.os == 'windows-2019' | |
| uses: actions/[email protected] | |
| env: | |
| GITHUB_TOKEN: ${{ secrets.ACCESS_TOKEN }} | |
| with: | |
| upload_url: ${{ github.event.release.upload_url }} | |
| asset_path: C:/robotology-dependencies-installer-win64.exe | |
| asset_name: robotology-dependencies-installer-win64.exe | |
| asset_content_type: application/octet-stream |