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ci.yml
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name: CI Workflow
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: v0.15.1
YARP_TAG: v3.8.0
ICUB_TAG: v2.1.1
jobs:
build-with-conda-dependencies:
name: '[conda:${{ matrix.os }}]'
runs-on: ${{ matrix.os }}
strategy:
fail-fast: false
matrix:
build_type: [Release]
os: [ubuntu-20.04, macos-12, windows-2019]
steps:
- uses: actions/checkout@v3
- name: Print used environment (no conda) [Conda]
shell: bash
run: |
env
- name: Get current week
id: week
run: echo "week=$(date +%Y-%U)" >> "${GITHUB_OUTPUT}"
- uses: mamba-org/setup-micromamba@v1
with:
environment-file: ci_env.yml
cache-environment-key: environment-${{ steps.week.outputs.week }}
- 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" >> $GITHUB_ENV
- name: Configure VS Toolchain (Windows)
if: contains(matrix.os, 'windows')
uses: ilammy/msvc-dev-cmd@v1.12.1
- name: Setup compilation env variables [Conda/Windows]
if: contains(matrix.os, 'windows')
shell: bash -l {0}
run: |
bash_vc_install=${VCToolsInstallDir//\\//}
compiler_path=${bash_vc_install}bin/Hostx64/x64/cl.exe
echo "CC=${compiler_path}" >> $GITHUB_ENV
echo "CXX=${compiler_path}" >> $GITHUB_ENV
echo "CONDA_CXX_LIBRARIES_INSTALL_PREFIX=${CONDA_PREFIX}\Library" >> $GITHUB_ENV
# Visualizer tests excluded as a workaround for https://github.com/robotology/idyntree/issues/808
# Python tests excluded as a workaround for https://github.com/robotology/idyntree/issues/939
# InverseKinematics tests are excluded as a workaround for https://github.com/robotology/idyntree/issues/1019
# ConsistencyTestiKin tests are excluded as a workaround for https://github.com/robotology/idyntree/issues/1029
echo "IDYNTREE_TEST_TO_SKIP=Visualizer|matlab|Python|pybind|InverseKinematics|ConsistencyTestiKin" >> $GITHUB_ENV
- name: Setup compilation env variables [Conda/Linux&macOS]
if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
shell: bash -l {0}
run: |
echo "CONDA_CXX_LIBRARIES_INSTALL_PREFIX=${CONDA_PREFIX}" >> $GITHUB_ENV
# Visualizer tests excluded as a workaround for https://github.com/robotology/idyntree/issues/808
echo "IDYNTREE_TEST_TO_SKIP=Visualizer|matlab" >> $GITHUB_ENV
# Additional dependencies useful only on Linux
- name: Dependencies [Conda/Linux]
if: contains(matrix.os, 'ubuntu')
shell: bash -l {0}
run: |
# Additional dependencies only useful on Linux
# See https://github.com/robotology/robotology-superbuild/issues/477
micromamba install xorg-libx11 xorg-libxrandr freeglut mesa-libgl-cos6-x86_64 mesa-libgl-devel-cos6-x86_64
- name: Print used environment [Conda]
shell: bash -l {0}
run: |
micromamba list
env
- name: Configure [Conda]
shell: bash -l {0}
run: |
mkdir build
cd build
cmake -GNinja -DCMAKE_INSTALL_PREFIX=${CONDA_CXX_LIBRARIES_INSTALL_PREFIX} -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DMATLAB_FIND_DEBUG:BOOL=ON -DIDYNTREE_USES_MATLAB:BOOL=ON -DMatlab_ROOT_DIR=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION} -DIDYNTREE_DISABLE_MATLAB_TESTS:BOOL=ON -DBUILD_TESTING:BOOL=ON -DIDYNTREE_USES_ASSIMP:BOOL=ON -DIDYNTREE_USES_IPOPT:BOOL=ON -DIDYNTREE_USES_IRRLICHT:BOOL=ON -DIDYNTREE_USES_YARP:BOOL=ON -DIDYNTREE_USES_ICUB_MAIN:BOOL=ON -DIDYNTREE_USES_OSQPEIGEN:BOOL=ON -DIDYNTREE_USES_PYTHON:BOOL=ON -DIDYNTREE_USES_PYTHON_PYBIND11:BOOL=ON ..
- name: Build [Conda]
shell: bash -l {0}
run: |
cd build
cmake --build . --config ${{ matrix.build_type }}
- name: Inspect libraries linked by iDynTreeMEX.mexa64 [Conda/Linux]
if: contains(matrix.os, 'ubuntu')
shell: bash -l {0}
run: |
cd build
ldd ./lib/iDynTreeMEX.mexa64
- name: Test [Conda]
if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
shell: bash -l {0}
run: |
cd build
ctest --output-on-failure -C ${{ matrix.build_type }} -E "${IDYNTREE_TEST_TO_SKIP}" .
- name: Install [Conda]
shell: bash -l {0}
run: |
cd build
cmake --install . --config ${{ matrix.build_type }}
- name: Test standalone installation of MATLAB bindings [Conda]
if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
shell: bash -l {0}
run: |
cd bindings
mkdir build
cd build
cmake -GNinja -DCMAKE_INSTALL_PREFIX=${CONDA_CXX_LIBRARIES_INSTALL_PREFIX}/idyntree_bindings_install_test -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DMATLAB_FIND_DEBUG:BOOL=ON -DIDYNTREE_USES_MATLAB:BOOL=ON -DMatlab_ROOT_DIR=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION} -DIDYNTREE_DISABLE_MATLAB_TESTS:BOOL=ON ..
cmake --build . --config ${{ matrix.build_type }}
cmake --install . --config ${{ matrix.build_type }}
build-with-apt-dependencies:
name: '[apt:${{ matrix.docker_image }}@${{ matrix.build_type }}]'
runs-on: ${{ matrix.os }}
strategy:
fail-fast: false
matrix:
build_type: [Release]
os:
- ubuntu-latest
docker_image:
- "ubuntu:20.04"
- "ubuntu:22.04"
container:
image: ${{ matrix.docker_image }}
steps:
- uses: actions/checkout@v3
- name: Dependencies [apt]
run: |
# See https://stackoverflow.com/questions/44331836/apt-get-install-tzdata-noninteractive,
# only required by Ubuntu 20.04
export DEBIAN_FRONTEND=noninteractive
apt-get -y update
apt-get -y install \
git build-essential cmake libace-dev coinor-libipopt-dev libeigen3-dev swig \
libxml2-dev liboctave-dev python3-dev python3-numpy valgrind libassimp-dev libirrlicht-dev curl unzip libglfw3-dev
- name: Install files to enable compilation of mex files [apt]
run: |
curl -L -O https://github.com/robotology/robotology-vcpkg-ports/releases/download/storage/msdk_R2020b_mexa64.zip
unzip msdk_R2020b_mexa64.zip
rm msdk_R2020b_mexa64.zip
echo "GHA_Matlab_ROOT_DIR=${GITHUB_WORKSPACE}/msdk_R2020b_mexa64" >> $GITHUB_ENV
echo "GHA_Matlab_MEX_EXTENSION=mexa64" >> $GITHUB_ENV
# Print environment variables to simplify development and debugging
- name: Environment Variables
shell: bash
run: env
- name: Cache Source-based Dependencies
id: cache-source-deps
uses: actions/cache@v3
with:
path: ${{ github.workspace }}/install/deps
key: source-deps-${{ matrix.docker_image }}-ycm-${{ env.YCM_TAG }}-yarp-${{ env.YARP_TAG }}-icub-${{ env.ICUB_TAG }}
- name: Source-based Dependencies [apt]
if: steps.cache-source-deps.outputs.cache-hit != 'true' && contains(matrix.os, 'ubuntu')
shell: bash
run: |
# YCM
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
git clone -b ${YARP_TAG} https://github.com/robotology/yarp
cd yarp
mkdir -p build
cd build
cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
cmake --build . --config ${{ matrix.build_type }} --target install
# ICUB
git clone -b ${ICUB_TAG} https://github.com/robotology/icub-main
cd icub-main
mkdir -p build
cd build
cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
cmake --build . --config ${{ matrix.build_type }} --target install
# ===================
# CMAKE-BASED PROJECT
# ===================
- name: Configure [apt]
shell: bash
run: |
mkdir -p build
cd build
cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DBUILD_TESTING:BOOL=ON -DIDYNTREE_USES_YARP:BOOL=ON \
-DIDYNTREE_USES_ICUB_MAIN:BOOL=ON -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DIDYNTREE_USES_ASSIMP:BOOL=ON \
-DIDYNTREE_USES_MATLAB:BOOL=ON -DMatlab_ROOT_DIR=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION} -DIDYNTREE_DISABLE_MATLAB_TESTS:BOOL=ON \
-DIDYNTREE_USES_IPOPT:BOOL=ON -DIDYNTREE_USES_PYTHON:BOOL=ON -DIDYNTREE_RUN_VALGRIND_TESTS:BOOL=ON -DIDYNTREE_USES_OCTAVE:BOOL=ON -DIDYNTREE_USES_IRRLICHT:BOOL=ON -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..
- name: Build
shell: bash
run: |
cd build
cmake --build . --config ${{ matrix.build_type }}
- name: Test
shell: bash
run: |
cd build
# Visualizer tests excluded as a workaround for https://github.com/robotology/idyntree/issues/808
ctest --output-on-failure -C ${{ matrix.build_type }} -E "Visualizer|matlab" .
- name: Install [apt]
shell: bash
run: |
cd build
cmake --build . --config ${{ matrix.build_type }} --target install
- name: Compile Examples [apt]
shell: bash
run: |
cd examples
mkdir -p build
cd build
cmake -DCMAKE_PREFIX_PATH="${GITHUB_WORKSPACE}/install/deps;${GITHUB_WORKSPACE}/install" ..
cmake --build . --config ${{ matrix.build_type }}
- name: Check build if some dependencies are not enabled [apt]
shell: bash
run: |
cd build
for missing_dep in ASSIMP IPOPT; do
echo "Testing ${missing_dep} as missing dependency."
# Deselect missing dependency and build
cmake -DIDYNTREE_USES_${missing_dep}:BOOL=OFF .
cmake --build . --config ${{ matrix.build_type }}
# Enable again dependency
cmake -DIDYNTREE_USES_${missing_dep}:BOOL=ON .
done